CN108513649B

CN108513649B - Flight control method, flight control device, machine-readable storage medium, and flight control system

Info

Publication number: CN108513649B
Application number: CN201780005487.4A
Authority: CN
Inventors: 苏冠华; 缪宝杰; 钱杰; 胡骁
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-05-24
Filing date: 2017-05-24
Publication date: 2022-04-05
Anticipated expiration: 2037-05-24
Also published as: CN114510069A; WO2018214068A1; CN108513649A

Abstract

A flight control method, apparatus, machine-readable storage medium, and system, the flight control method comprising: in the autonomous flight mode, acquiring a first operation command from a user for changing flight parameters of the unmanned aerial vehicle; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy, the first operating command being for changing the flight parameters in the specific strategy (201); flight parameters of the drone are changed (202) according to the first operating command. When unmanned aerial vehicle flies under the mode of independently flying, on the basis that unmanned aerial vehicle independently flies, the user can adjust unmanned aerial vehicle's flight parameter to can control unmanned aerial vehicle's flight, improve the user and use experience.

Description

Flight control method, flight control device, machine-readable storage medium, and flight control system

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method, flight control equipment, a machine readable storage medium and a system.

Background

Unmanned vehicles, such as Unmanned Aerial Vehicles (UAVs), have been developed for use in various fields, including consumer applications and industrial applications, among others. For example, drones can be manipulated for entertainment, photography/video, surveillance, delivery, or other applications, which expand the aspects of personal life.

When unmanned aerial vehicle flies under the mode of independently flying, unmanned aerial vehicle can fly independently to reach certain flight purpose. However, the user can not control the flight of the unmanned aerial vehicle, and the user experience is influenced.

Disclosure of Invention

The invention provides a flight control method, a flight control device, a machine-readable storage medium and a flight control system.

In a first aspect of the present invention, a flight control method applied to an unmanned aerial vehicle is provided, including:

in an autonomous flight mode, acquiring a first operation command from a user for changing flight parameters of the unmanned aerial vehicle; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing the flight parameters in the particular strategy;

and changing the flight parameters of the unmanned aerial vehicle according to the first operation command.

In a second aspect of the present invention, there is provided another flight control method applied to a control device, including:

generating, in an autonomous flight mode, a first operating command for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing the flight parameters in the particular strategy;

sending the first operation command to the unmanned aerial vehicle so that the unmanned aerial vehicle changes the flight parameters of the unmanned aerial vehicle according to the first operation command.

In a third aspect of the present invention, there is provided a drone, comprising:

a processor configured to obtain, in an autonomous flight mode, a first operation command from a user for changing a flight parameter of the drone; in the autonomous flight mode, the unmanned aerial vehicle autonomously flies according to flight parameters in a specific strategy, and the first operation command is used for changing the flight parameters in the specific strategy;

the processor is further configured to change a flight parameter of the drone according to the first operating command.

In a fourth aspect of the present invention, there is provided a control apparatus comprising:

a processor for generating, in an autonomous flight mode, a first operating command for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing the flight parameters in the particular strategy;

the processor is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.

In a fifth aspect of the present invention, a machine-readable storage medium is provided, having stored thereon computer instructions, which when executed perform the following:

in an autonomous flight mode, acquiring a first operation command from a user for changing flight parameters of the unmanned aerial vehicle; in the autonomous flight mode, the unmanned aerial vehicle autonomously flies according to flight parameters in a specific strategy, and the first operation command is used for changing the flight parameters in the specific strategy;

In a sixth aspect of the present invention, a machine-readable storage medium is provided, having stored thereon computer instructions, which when executed perform the following:

In a seventh aspect of the present invention, a flight control system is provided, which includes an unmanned aerial vehicle and a control device;

the control device is used for generating a first operation command for changing the flight parameters of the unmanned aerial vehicle in an autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing the flight parameters in the particular strategy;

the control device is further configured to send the first operation command to the drone;

the unmanned aerial vehicle is used for acquiring a first operation command from a user for changing the flight parameters of the unmanned aerial vehicle in an autonomous flight mode; and changing the flight parameters of the unmanned aerial vehicle according to the first operation command.

Based on the technical scheme, in the embodiment of the invention, when the unmanned aerial vehicle flies in the autonomous flight mode, on the basis of autonomous flight of the unmanned aerial vehicle, a user can adjust the flight parameters of the unmanned aerial vehicle, so that the flight of the unmanned aerial vehicle can be controlled, and the use experience of the user is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings may be obtained according to the drawings of the embodiments of the present invention.

FIG. 1 is a schematic diagram of an application scenario of an embodiment;

FIG. 2 is a schematic diagram of an embodiment of a flight control method;

FIG. 3 is a schematic view of another embodiment of a flight control method;

FIG. 4A is a schematic diagram of an embodiment of another flight control method;

FIGS. 4B, 4C and 4D are application scenario diagrams;

FIG. 5A is a schematic view of an embodiment of another flight control method;

FIGS. 5B, 5C and 5D are application scenario diagrams;

fig. 6 is a block diagram of one embodiment of a drone;

FIG. 7 is a block diagram of one embodiment of a control device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the features in the embodiments and the examples described below may be combined with each other without conflict.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein and in the claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and/or" as used herein is meant to encompass any and all possible combinations of one or more of the associated listed items.

Although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, moreover, the word "if" may be used is interpreted as "at … …," or "at … …," or "in response to a determination.

The embodiment of the invention provides a flight control method, which can be applied to a system comprising control equipment and an unmanned aerial vehicle, wherein the control equipment can be a remote controller, a mobile terminal (such as a mobile phone), a bracelet, an intelligent watch and the like, and the type of the control equipment is not limited. Referring to fig. 1, an application scenario diagram of the flight control method is shown. The control device can communicate with the drone, and the connection mode between the control device and the drone may include but is not limited to wired connection or wireless connection, which is not limited to this connection mode, and fig. 1 illustrates wireless connection (such as WiFi, OcuSync, Lightbridge, Auxiliary, etc.).

Referring to fig. 2, a flow chart of the flight control method is shown, and the method can be applied to an unmanned aerial vehicle.

In the autonomous flight mode, a first operation command for changing flight parameters of the drone is obtained from a user, step 201. In the autonomous flight mode, the drone may fly autonomously according to flight parameters in a particular strategy, and the first operating command is used to change the flight parameters in the particular strategy.

And step 202, changing the flight parameters of the unmanned aerial vehicle according to the first operation command.

In one example, the autonomous flight mode may include, but is not limited to: an intelligent following mode; or, a pointing flight mode. Wherein, the intelligent following mode may refer to: after a shooting object (such as a certain user) is determined, the unmanned aerial vehicle locks the shooting object, and the shooting object is always positioned in a shooting picture of the unmanned aerial vehicle by following the shooting object. For example, the surround following in the smart following mode may be that the drone flies around the photographic subject, such as to follow the photographic subject counterclockwise or follow the photographic subject clockwise. For example, in the smart following mode, the unmanned aerial vehicle may follow the photographic subject in a spiral-up manner, and the photographic subject is always located in a photographic screen of the unmanned aerial vehicle. For another example, in the intelligent following mode, the unmanned aerial vehicle may follow the shooting object in a manner that the unmanned aerial vehicle is farther and farther from the shooting object, but the shooting object is also located in a shooting picture of the unmanned aerial vehicle.

Furthermore, the pointing flight mode may refer to: after determining the flight destination (which may also be referred to as a flight target), the drone always flies toward the flight destination until the drone reaches the flight destination. Alternatively, in the case where the flight destination is not determined, a flight direction may also be determined, i.e., the drone always flies in the flight direction until the user controls the drone to stop flying.

In one example, the flight parameters may include, but are not limited to, one or any combination of the following: direction of motion, speed of motion, altitude of flight, nose direction, etc. Based on this, the specific strategies can be the strategies related to the flight modes and flight parameters, and can be configured according to practical experience.

For example, the flight strategy in a particular strategy a may include: the flight mode is the surrounding following in the intelligent following mode, or the spiral rising following, or the far target following, etc. Flight parameters in a particular strategy a may include: the moving direction follows the shooting object along the anticlockwise direction, the moving speed is 6 m/s, the flying height is 10 m, the head direction is right ahead, the distance between the unmanned aerial vehicle and the shooting object is 6 m, and the like; of course, the flight parameters are not limited to the above, and the flight parameters are not limited to the above. Based on this, unmanned aerial vehicle can be according to the flight strategy and the flight parameter of specific strategy A independently fly, if adopt to encircle to follow independently flight, the direction of motion is for following the shooting object along anticlockwise, and the rate of motion is 6 meters per second, and the flying height is 10 meters, and the aircraft nose direction is the dead ahead, and unmanned aerial vehicle is 6 meters etc. with the distance of shooting the object.

Further, the first operation command may change the flight parameters in the specific strategy a, for example, the first operation command may carry flight control parameters, and the flight control parameters are used for changing the flight parameters in the specific strategy. For example, the flight control parameter is used to change the direction of movement from following the photographic subject in the counterclockwise direction to following the photographic subject in the clockwise direction; changing the moving speed to 6 m/s to 5 m/s; the flying height of 10 meters is changed into the flying height of 12 meters. By analogy, the subsequent steps describe the process in detail.

As another example, the flight strategy in the particular strategy B may include: the flight mode is a flight toward a flight destination in a point flight mode, a flight after one flight direction is determined, or the like. Furthermore, the flight parameters in a particular strategy B may include: the moving direction can be forward, the moving speed is 6 m/s, the flying height is 10 m, the nose direction is right ahead, and the like. However, the flight parameters are not limited to the above, and the flight parameters are not limited to the above. Based on the above, the unmanned aerial vehicle can fly autonomously according to the flight strategy and flight parameters in the specific strategy B, for example, the unmanned aerial vehicle flies autonomously in a pointing flight mode, the motion direction is forward flight, the motion speed is 6 m/s, the flight height is 10 m, and the nose direction is right ahead.

Further, the first operation command may change the flight parameters in the specific strategy B, for example, the first operation command may carry flight control parameters, and the flight control parameters are used for changing the flight parameters in the specific strategy B. The process of changing the flight parameters will be described in detail in the subsequent process.

In one example, for the process of "obtaining a first operation command from a user for changing a flight parameter of a drone", the following may be included, but not limited to: the method comprises the steps of obtaining attitude information of a user, and obtaining a first operation command for changing flight parameters of the unmanned aerial vehicle according to the attitude information. And a second mode is to receive a first operation command which is sent by the control equipment and is used for changing the flight parameters of the unmanned aerial vehicle.

To mode one, unmanned aerial vehicle can gather user's gesture information through camera device, if the user lifts up the right hand, the user lifts up the left hand etc.. The unmanned aerial vehicle can obtain a first operation command corresponding to the attitude information by inquiring the attitude table, and the attitude table is used for recording the corresponding relation between the attitude information and the operation command.

For example, the attitude table is used to record the corresponding relationship between attitude information a (such as the user lifting the right hand) and operation command a (such as accelerating flight), and the corresponding relationship between attitude information B (such as the user lifting the left hand) and operation command B (such as decelerating flight). Based on this, when unmanned aerial vehicle gathered the gesture information and lifted the right hand for the user, through inquiry gesture table, obtained the first operating command that is used for carrying out the flight with higher speed to unmanned aerial vehicle.

For the second mode, since the control device may include but is not limited to a remote controller, a mobile terminal, a bracelet, a smart watch, and the like, the processing procedure of the second mode may be classified into the following cases:

in the first case, the first operation command is transmitted by the control device after the attitude information of the control device is detected. Specifically, when the control device is a mobile terminal, a bracelet, an intelligent watch and other devices, the control device can detect attitude information of the control device and generate a first operation command for changing flight parameters of the unmanned aerial vehicle according to the attitude information. For example, when the attitude information of the control device is attitude information a, a first operation command for accelerating flight of the unmanned aerial vehicle is generated, and when the attitude information of the control device is attitude information B, a first operation command for decelerating flight of the unmanned aerial vehicle is generated.

In case two, the first operating command is sent by the control device after detecting the operation of the joystick by the user. Specifically, when the control device is a remote controller, the remote controller can detect the operation mode of the user on the rocker, and generate a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the operation mode. For example, when the user operates the joystick in an operation a (e.g., pushing up the joystick), a first operation command for accelerating the flight of the drone is generated, and when the user operates the joystick in an operation B (e.g., pushing down the joystick), a first operation command for decelerating the flight of the drone is generated.

And in the third case, the first operation command is sent by the mobile terminal after the operation of the user on the operation interface is detected. When the control device is a mobile terminal, the mobile terminal can detect the operation mode of the user on the operation interface, and generate a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the operation mode. For example, when the user operates the operation interface in an operation manner a (e.g., sliding to the right), a first operation command for accelerating the flight of the unmanned aerial vehicle is generated, and when the user operates the operation interface in an operation manner B (e.g., sliding to the left), a first operation command for decelerating the flight of the unmanned aerial vehicle is generated.

Of course, in practical applications, the manner of "obtaining the first operation command for changing the flight parameter of the drone from the user" is not limited to the above manner, and the drone may also detect the sound information of the user and obtain the first operation command for changing the flight parameter of the drone according to the sound information. The manner of acquiring the first operation command is not limited as long as the first operation command can be acquired.

In one example, the process for "changing the flight parameters of the drone according to this first operating command" may include, but is not limited to, if the mode: during the process of changing the motion direction of the unmanned aerial vehicle according to the first operation command, the unmanned aerial vehicle can be turned to the left and/or the unmanned aerial vehicle can be turned to the right according to the first operation command; further, when the autonomous flight mode is the intelligent following mode, the moving direction may include following the photographic subject counterclockwise and/or following the photographic subject clockwise; therefore, the unmanned aerial vehicle can be rotated to the left according to the first operation command to follow the shooting object clockwise, and the unmanned aerial vehicle can be rotated to the right according to the first operation command to follow the shooting object anticlockwise. In the process of changing the movement speed of the unmanned aerial vehicle according to the first operation command, the unmanned aerial vehicle can be accelerated and/or decelerated according to the first operation command; further, the movement speed may also include a flight speed value; therefore, when the unmanned aerial vehicle is accelerated and/or decelerated according to the first operation command, the movement speed can be adjusted to the flight speed value.

In changing the flight altitude of the drone according to the first operating command, the drone may be biased high (e.g., flying 1 meter high) and/or biased low (e.g., flying 1 meter low) according to the first operating command. In the process of changing the direction of the head of the unmanned aerial vehicle according to the first operation command, the head of the unmanned aerial vehicle can be turned left and/or turned right according to the first operation command; through turning left the aircraft nose with unmanned aerial vehicle and/or aircraft nose right turn, can be so that shoot the target in unmanned aerial vehicle's shooting picture all the time, guarantee to shoot the effect.

When the yaw axis (namely the yaw angle) of the holder is fixed with the yaw axis of the unmanned aerial vehicle, the yaw angle of the unmanned aerial vehicle can be controlled by turning the head of the unmanned aerial vehicle left and/or turning the head right, so that the purpose of controlling the yaw angle of the holder can be achieved. That is to say, through adjustment unmanned aerial vehicle's aircraft nose direction, reach the purpose of adjustment cloud platform for shoot the target in the shooting picture of cloud platform. In addition, if the yaw axis of cloud platform and unmanned aerial vehicle's yaw axis decoupling zero, then need not adjust unmanned aerial vehicle's aircraft nose direction, can directly change the gesture of cloud platform on the unmanned aerial vehicle to make and shoot the target in the shooting picture of cloud platform.

The following describes in detail a process of changing the attitude of the pan/tilt head on the unmanned aerial vehicle, with reference to a specific embodiment.

In one example, in the pointing flight mode, the drone may further acquire a second operation command from the user for changing the attitude of the cradle head on the drone, and change the attitude of the cradle head on the drone according to the second operation command. Wherein, to the process of "obtaining the second operating command who is used for changing the gesture of cloud platform on the unmanned aerial vehicle from the user", unmanned aerial vehicle can receive the second operating command that is used for changing the gesture of cloud platform on the unmanned aerial vehicle that controlgear sent, and this controlgear includes the remote controller, perhaps, mobile terminal.

Referring to fig. 3, a flow chart of a flight control method, which may be applied to a control device, is shown.

In the autonomous flight mode, a first operation command for changing a flight parameter of the drone is generated, step 301. In the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, and the first operating command is used to change the flight parameters in the particular strategy.

Step 302, sending the first operation command to the drone, so that the drone changes the flight parameters of the drone according to the first operation command, where a specific change process may refer to a flow shown in fig. 2.

In one example, the control device may also acquire flight control parameters prior to generating the first operating command for changing the flight parameters of the drone. The first operation command can also carry the acquired flight control parameters, and the flight control parameters are used for enabling the unmanned aerial vehicle to change the flight parameters of the unmanned aerial vehicle according to the flight control parameters. Further, flight control parameters may include, but are not limited to, one or any combination of the following: flight control parameters for turning the drone left and/or right; flight control parameters for accelerated and/or decelerated flight of the drone; flight control parameters for high and/or low excursions of the drone; and flight control parameters for turning the head of the unmanned aerial vehicle to the left and/or turning the head to the right.

In one example, the process of "the control device obtaining the flight control parameters, and generating the first operation command for changing the flight parameters of the drone according to the flight control parameters" includes but is not limited to:

the mode one, when the controlgear was equipment such as mobile terminal, bracelet, intelligent wrist-watch, the controlgear can detect this controlgear's attitude information, obtains the flight control parameter according to this attitude information, generates the first operating command that is used for changing unmanned aerial vehicle's flight parameter according to this flight control parameter. If the attitude information of the control equipment is attitude information A, determining the flight control parameters as flight control parameters for accelerating the unmanned aerial vehicle, and generating a first operation command for accelerating the unmanned aerial vehicle.

And in a second mode, when the control equipment is a remote controller, the remote controller can detect the operation mode of the user on the rocker, acquire the flight control parameters according to the operation mode and generate a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters. For example, when the user operates the joystick in the operation manner a (e.g., pushes up the joystick), the flight control parameter is determined as a flight control parameter for accelerating the flight of the drone, and a first operation command for accelerating the flight of the drone is generated.

And when the control equipment is the mobile terminal, the mobile terminal can detect the operation mode of the user on the operation interface, acquire the flight control parameters according to the operation mode, and generate a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters. For example, when the operation mode of the user on the operation interface is operation a (e.g., sliding to the right), the flight control parameter is determined to be a flight control parameter for accelerating flight of the unmanned aerial vehicle, and a first operation command for accelerating flight of the unmanned aerial vehicle is generated.

For convenience of description, the following takes the operation of a virtual joystick (such as a subsequent joystick control bar, a first virtual joystick, a second virtual joystick, and the like) on the operation interface as an example.

Of course, in practical applications, the method of generating the "first operation command for changing the flight parameter of the unmanned aerial vehicle" is not limited to the above method, and the method of generating the first operation command is not limited.

In one example, when the autonomous flight mode is the intelligent following mode and the control device is a mobile terminal, a rocker control bar can be displayed on the operation interface; and determining the motion direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar. Further, for the process of "determining the movement direction of the drone according to the operation of the user on the rocker control bar", the method may include: when receiving an operation that a user moves the joystick control bar to the right, determining that the motion direction of the unmanned aerial vehicle follows the shooting object along the anticlockwise direction, or follows the shooting object along the clockwise direction; after receiving the operation that the user moved the rocker control bar to the left, it is determined that the unmanned aerial vehicle moves in a direction of following the shooting object clockwise, or following the shooting object counterclockwise.

In one example, when the autonomous flight mode is the intelligent following mode and the control device is the mobile terminal, a rocker control bar can be displayed on the operation interface, and the movement speed of the unmanned aerial vehicle is determined according to the operation of the user on the rocker control bar. Further, for the process of "determining the movement speed of the drone according to the operation of the user on the joystick control bar", the method may include: after receiving an operation that a user clicks the rocker control bar or moves on the rocker control bar, determining the position of the user operation, and determining the movement speed of the unmanned aerial vehicle as a flight speed value corresponding to the position of the operation; wherein different positions of the rocker control bar correspond to different flight speed values, for example, position 1 corresponds to a flight speed value of 6 m/s.

In an example, after determining that the movement speed of the unmanned aerial vehicle is the flight speed value corresponding to the position of the operation, the mobile terminal may further display the flight speed value corresponding to the position of the operation on the operation interface.

In one example, when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal, the mobile terminal can display a first virtual rocker on the operation interface; and determining the head direction and/or the flying height of the unmanned aerial vehicle according to the operation of the user on the first virtual rocker. Further, for the process of "determining the head direction and/or the flying height of the drone according to the operation of the user on the first virtual rocker", the process may include: when receiving the operation that a user slides to the right in the first virtual rocker, clicks on the right side, or presses for a long time (for example, presses for 3 seconds) on the right side, determining that the head direction of the unmanned aerial vehicle is the head right turn; or, after receiving an operation of sliding left, clicking left, or long pressing on left (e.g. pressing for 3 seconds) by the user on the first virtual rocker, determining the direction of the head of the unmanned aerial vehicle as a left turn of the head, wherein the length of sliding left, the number of times of clicking on left, or the length of long pressing on left can control the left turn degree of the head, for example, the larger the length of sliding left, the larger the left turn degree of the head; or, after receiving an operation of sliding downwards, clicking downwards, or long pressing downwards (for example, pressing for 3 seconds) by the user on the first virtual rocker, determining the flight height of the unmanned aerial vehicle as a low deviation, wherein the length of sliding downwards, the number of clicks downwards, or the length of long pressing downwards can control the degree of low deviation of the unmanned aerial vehicle, for example, the larger the length of sliding leftwards, the larger the degree of low deviation of the unmanned aerial vehicle; or, after receiving an operation of sliding upwards, clicking upwards, or long pressing upwards (for example, pressing for 3 seconds) by the user on the first virtual joystick, determining the flying height of the drone as a high deviation, where the length of sliding upwards, the number of times of clicking upwards, or the length of long pressing upwards may control the degree of deviation of the drone towards the high, for example, the greater the length of sliding upwards, the greater the degree of deviation of the drone towards the high.

In one example, when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal, displaying a second virtual joystick on the operation interface; then, the movement speed of the unmanned aerial vehicle is determined according to the operation of the user on the second virtual rocker. Further, for the process of "determining the movement speed of the drone according to the operation of the user on the second virtual joystick", the method may include: after receiving a command that a user slides to the right on the second virtual rocker, or clicks on the right side, or presses for a long time (such as pressing for 3 seconds) on the right side, or slides upwards on the second virtual rocker, or clicks on the upper side, or presses for a long time (such as pressing for 3 seconds) on the upper side, determining the movement speed of the unmanned aerial vehicle as accelerated flight; or when a command that the user slides to the left on the second virtual rocker, clicks on the left side, or presses for a long time on the left side (such as pressing for 3 seconds), or slides downwards on the second virtual rocker, or clicks below the second virtual rocker, or presses for a long time (such as pressing for 3 seconds) is received, the movement speed of the unmanned aerial vehicle is determined to be decelerated flight.

In one example, in the pointing flight mode, the control device may further generate a second operation command for changing the attitude of the cradle head on the drone, and transmit the second operation command to the drone, so that the drone may change the attitude of the cradle head on the drone according to the second operation command.

Before generating a second operation command for changing the posture of the cradle head on the unmanned aerial vehicle, the control equipment can also acquire cradle head control parameters, the second operation command can carry the cradle head control parameters, and the cradle head control parameters are used for enabling the unmanned aerial vehicle to change the posture of the cradle head on the unmanned aerial vehicle according to the cradle head control parameters.

In an example, when the control device is a mobile terminal, the operation mode of the user on the operation interface may be detected, and the pan-tilt control parameter may be obtained according to the operation mode, and a second operation command for changing the posture of the pan-tilt on the unmanned aerial vehicle may be generated. Furthermore, the mobile terminal can display a third virtual rocker on the operation interface, and after receiving the sliding operation of the user on the third virtual rocker (namely, the operation mode of the user on the operation interface), the sliding direction of the user is determined to be the same as the control direction of the pan-tilt on the unmanned aerial vehicle.

In one example, when the control device is a mobile terminal, a bracelet, a smart watch, or the like, the control device may detect attitude information of the control device, generate a second operation command for changing an attitude of a cradle head on the unmanned aerial vehicle according to the attitude information, and send the second operation command to the unmanned aerial vehicle. Specifically, the control device may obtain the pan/tilt control parameter according to the attitude information, and generate the second operation command for changing the attitude of the pan/tilt on the unmanned aerial vehicle according to the pan/tilt control parameter. For example, the moving direction of the mobile terminal is detected, and the moving direction of the mobile terminal is determined to be the same as the control direction of the pan-tilt on the unmanned aerial vehicle.

The above-mentioned flight control method is described in detail below with reference to several specific application scenarios.

In the application scenario 1, the control device is taken as a mobile terminal, and the autonomous flight mode is an intelligent following mode (e.g., a surround following mode in the intelligent following mode). Referring to FIG. 4A, a flow chart of a flight control method is shown.

Step 401, the user pulls/clicks the shooting object, and locks the shooting object. As shown in fig. 4B, the schematic diagram of the user locking the frame on the FPV screen of the shot object indicates that the specific strategy is the intelligent following mode.

In step 402, the mobile terminal displays a joystick control bar (i.e., a virtual joystick control bar) on the operation interface.

As shown in fig. 4C, when the user moves the joystick control bar to the right, it indicates that the photographic subject is followed counterclockwise; when the user moves the joystick control bar to the left, it indicates that the photographic subject is followed clockwise. In addition, different positions of the rocker control bar correspond to different flight speed values, and when a user clicks a specified position of the rocker control bar, the flight speed value (such as 6 m/s) corresponding to the position is determined based on the position clicked by the user. When the user clicks on the designated location of the rocker control bar, the corresponding flight speed value may also be displayed.

As shown in fig. 4D, the mobile terminal may further display a reset button on the moving rocker control bar after the user releases the finger, which when clicked by the user indicates that the value of the flight speed is adjusted to 0.

In step 403, the mobile terminal determines flight control parameters according to the operation of the user on the rocker control bar.

For example, after receiving an operation of moving the joystick control bar to the right by the user, the mobile terminal determines that the movement direction of the unmanned aerial vehicle is to follow the photographic object counterclockwise, that is, the flight control parameter is a parameter for setting the movement direction of the unmanned aerial vehicle to follow the photographic object counterclockwise; after receiving the operation that the user moved the rocker control strip to the left, mobile terminal confirms that the direction of motion of unmanned aerial vehicle is for following the shooting object along clockwise, and flight control parameter is the parameter that is used for setting up the direction of motion of unmanned aerial vehicle for following the shooting object along clockwise promptly. After receiving the operation of clicking the rocker control bar by the user, the mobile terminal determines the position of the user operation and determines the movement speed of the unmanned aerial vehicle as the flight speed value corresponding to the position, namely, the flight control parameter is a parameter for setting the movement speed of the unmanned aerial vehicle as the flight speed value, and so on.

In step 404, the mobile terminal generates a first operation command according to the flight control parameter.

Step 405, the mobile terminal sends the first operation command to the unmanned aerial vehicle.

In step 406, the unmanned aerial vehicle receives a first operation command sent by the mobile terminal.

Step 407, the mobile terminal changes the flight parameters of the unmanned aerial vehicle according to the first operation command.

In application scenario 2, the control device is taken as a mobile terminal, and the autonomous flight mode is taken as a pointing flight mode for determining a flight destination. Referring to FIG. 5A, an example of a flow chart of a flight control method is shown.

Step 501, a user clicks a specific area (such as the ground), and the unmanned aerial vehicle flies to a flight destination.

As shown in fig. 5B, when the user clicks the ground of the operation interface, the mobile terminal pops up the button go, and when the user clicks the button go, the unmanned aerial vehicle can fly to the flight destination at the default speed according to the current altitude.

Step 502, the mobile terminal displays a first virtual joystick and a second virtual joystick on an operation interface.

As shown in fig. 5C, the virtual rocker located on the left side is a first virtual rocker, and when the user slides to the right on the first virtual rocker, the machine head direction of the unmanned aerial vehicle is the machine head right turn; when the user slides leftwards on the first virtual rocker, the direction of the machine head of the unmanned aerial vehicle is shown as the left turn of the machine head; when the user slides downwards on the first virtual rocker, the flight height of the unmanned aerial vehicle is represented to be deviated downwards; when the user slides upwards on the first virtual rocker, the flying height of the unmanned aerial vehicle is deviated to the high position. In addition, the virtual rocker on the right side is a second virtual rocker, and when a user slides upwards on the second virtual rocker, the movement speed of the unmanned aerial vehicle is accelerated flight; when the user slides downwards at the second virtual rocker, the movement speed of the unmanned aerial vehicle is shown to be decelerated flight.

In one example, as shown in fig. 5D, when the user clicks a shooting object in the operation interface, the mobile terminal may control the drone to always locate the shooting object within a shooting screen of the drone.

Step 503, the mobile terminal determines flight control parameters according to the operation of the first virtual rocker and/or the second virtual rocker by the user.

For example, after receiving an operation that a user slides to the right on the first virtual rocker, the mobile terminal determines that the head direction of the unmanned aerial vehicle is a head right turn, that is, the flight control parameter is a parameter for setting the head direction of the unmanned aerial vehicle as a head right turn; after receiving an operation that a user slides leftwards on the first virtual rocker, the mobile terminal determines that the head direction of the unmanned aerial vehicle is head left-turn, namely, the flight control parameters are parameters for setting the head direction of the unmanned aerial vehicle as head left-turn; after receiving an operation that a user slides downwards on the first virtual rocker, the mobile terminal determines that the flying height of the unmanned aerial vehicle deviates downwards, namely, the flight control parameter is a parameter for setting the flying height of the unmanned aerial vehicle to deviate downwards; after receiving the operation of sliding upwards on the first virtual rocker by the user, the mobile terminal determines that the flying height of the unmanned aerial vehicle is deviated to the high position, that is, the flight control parameter is a parameter for setting the flying height of the unmanned aerial vehicle to be deviated to the high position.

For another example, after receiving a command that the user slides up on the second virtual joystick, the mobile terminal determines the movement speed of the drone as an accelerated flight, that is, the flight control parameter is a parameter for setting the flight movement speed of the drone as an accelerated flight. After receiving a command that the user slides downwards on the second virtual rocker, the mobile terminal determines that the movement speed of the unmanned aerial vehicle is deceleration flight, namely, the flight control parameter is a parameter for setting the flight movement speed of the unmanned aerial vehicle to be deceleration flight.

And step 504, the mobile terminal generates a first operation command according to the flight control parameter.

And step 505, the mobile terminal sends the first operation command to the unmanned aerial vehicle.

Step 506, the unmanned aerial vehicle receives a first operation command sent by the mobile terminal.

And step 507, the mobile terminal changes the flight parameters of the unmanned aerial vehicle according to the first operation command.

Based on the same inventive concept as the above method, an embodiment of the present invention further provides an unmanned aerial vehicle, as shown in fig. 6, the unmanned aerial vehicle includes:

a processor 601, configured to obtain, in an autonomous flight mode, a first operation command from a user for changing a flight parameter of the drone; in the autonomous flight mode, the unmanned aerial vehicle autonomously flies according to flight parameters in a specific strategy, and the first operation command is used for changing the flight parameters in the specific strategy; the processor is further configured to change a flight parameter of the drone according to the first operating command.

The drone may further include a receiver 602, where the receiver may obtain a first operation command for changing a flight parameter of the drone and send the first operation command for changing the flight parameter of the drone to the processor, so that the processor obtains the first operation command.

The processor 601 is further configured to, in the process of acquiring a first operation command from a user for changing the flight parameters of the unmanned aerial vehicle, acquire attitude information of the user, and acquire the first operation command for changing the flight parameters of the unmanned aerial vehicle according to the attitude information; alternatively, the first and second electrodes may be,

receiving a first operation command sent by a control device for changing the flight parameters of the unmanned aerial vehicle.

The flight parameters include one or any combination of the following: the moving direction, the moving speed, the flying height and the nose direction; the processor is further configured to turn the drone to the left and/or turn the drone to the right according to the first operation command during the process of changing the direction of motion of the drone according to the first operation command; in the process of changing the movement speed of the unmanned aerial vehicle according to the first operation command, performing accelerated flight and/or decelerated flight on the unmanned aerial vehicle according to the first operation command;

during the process of changing the flight altitude of the unmanned aerial vehicle according to the first operation command, carrying out high deviation and/or low deviation on the unmanned aerial vehicle according to the first operation command;

and in the process of changing the direction of the head of the unmanned aerial vehicle according to the first operation command, turning the head of the unmanned aerial vehicle to the left and/or turning the head to the right according to the first operation command.

In pointing flight mode: the processor 601 is further configured to obtain a second operation command from the user for changing the attitude of the pan/tilt on the unmanned aerial vehicle; changing the attitude of the holder on the unmanned aerial vehicle according to the second operation command; the processor is further used for receiving a second operation command which is sent by the control equipment and used for changing the attitude of the tripod head on the unmanned aerial vehicle in the process of acquiring the second operation command which is sent by the user and used for changing the attitude of the tripod head on the unmanned aerial vehicle; the control device comprises a remote controller or a mobile terminal.

Based on the same inventive concept as the above method, an embodiment of the present invention further provides a control apparatus, as shown in fig. 7, the control apparatus including:

a processor 701 configured to generate, in an autonomous flight mode, a first operation command for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing the flight parameters in the particular strategy;

the processor 701 is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.

Wherein the control device may further comprise a transmitter 702, and the processor may send the first operation command to the transmitter, which sends the first operation command to the drone.

In one example, the processor 701 is further configured to obtain flight control parameters before generating a first operation command for changing flight parameters of the drone; the first operation command also carries acquired flight control parameters, and the flight control parameters are used for enabling the unmanned aerial vehicle to change the flight parameters of the unmanned aerial vehicle according to the flight control parameters; wherein the flight parameters include one or any combination of the following: the moving direction, the moving speed, the flying height and the nose direction; the flight control parameters comprise one or any combination of the following: flight control parameters for turning the drone left and/or right; flight control parameters for accelerated and/or decelerated flight of the drone; flight control parameters for high and/or low excursions of the drone; and the flight control parameters are used for controlling the left turn of the head and/or the right turn of the head of the unmanned aerial vehicle.

The processor 701 is further configured to detect attitude information of the control device, acquire a flight control parameter according to the attitude information, and generate a first operation command for changing a flight parameter of the unmanned aerial vehicle according to the flight control parameter; or when the control equipment is a remote controller, detecting the operation mode of a user on the rocker, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a mobile terminal, detecting an operation mode of a user on an operation interface, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

When the autonomous flight mode is the intelligent following mode and the control equipment is a mobile terminal:

the processor 701 is further configured to display a rocker control bar on an operation interface; determining the motion direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar; in the process of determining the movement direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar, after receiving the operation that the user moves the rocker control bar rightwards, determining the movement direction of the unmanned aerial vehicle as following a shooting object along the anticlockwise direction, or following the shooting object along the clockwise direction; when receiving an operation that a user moves the rocker control bar leftwards, determining that the motion direction of the unmanned aerial vehicle is clockwise following the shooting object, or anticlockwise following the shooting object;

the processor 701 is further configured to display a rocker control bar on an operation interface; determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the rocker control bar; in the process of determining the movement speed of the unmanned aerial vehicle according to the operation of a user on the rocker control bar, after receiving the operation that the user clicks the rocker control bar or moves on the rocker control bar, determining the position of the user operation, determining the movement speed of the unmanned aerial vehicle as a flight speed value corresponding to the position of the operation, and displaying the flight speed value on an operation interface; wherein different positions of the rocker control bar correspond to different values of flight speed.

When the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal:

the processor 701 is further configured to display a first virtual joystick on an operation interface; determining the head direction and/or the flying height of the unmanned aerial vehicle according to the operation of a user on the first virtual rocker; in the process of determining the head direction and/or the flight height of the unmanned aerial vehicle according to the operation of a user on the first virtual rocker, determining that the head direction of the unmanned aerial vehicle is head right turn after receiving the operation that the user slides right on the first virtual rocker, clicks on the right side or presses for a long time on the right side; or after receiving the operation that the user slides leftwards on the first virtual rocker, clicks leftwards on the left side, or presses leftwards for a long time, determining that the direction of the machine head of the unmanned aerial vehicle is the left turn of the machine head; or after receiving the operation that a user slides downwards on the first virtual rocker, clicks below the first virtual rocker, or presses a long button downwards, determining that the flying height of the unmanned aerial vehicle deviates downwards; or after receiving an operation that a user slides upwards, clicks above, or presses long above the first virtual rocker, determining that the flying height of the unmanned aerial vehicle is deviated to the high direction;

the processor is also used for displaying a second virtual rocker on the operation interface; determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the second virtual rocker; in the process of determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the second virtual rocker, after receiving a command that the user slides rightwards on the second virtual rocker, or clicks on the right side, or presses on the right side for a long time, or slides upwards on the second virtual rocker, or clicks on the upper side, or presses on the upper side for a long time, determining the movement speed of the unmanned aerial vehicle as accelerated flight; or after receiving a command that the user slides to the left on the second virtual rocker, clicks on the left side, or presses for a long time on the left side, or slides downwards on the second virtual rocker, clicks below, or presses for a long time, determining that the movement speed of the unmanned aerial vehicle is deceleration flight.

The processor 701 is further configured to generate a second operation command for changing the attitude of the pan-tilt on the unmanned aerial vehicle in a pointing flight mode; and sending the second operation command to the unmanned aerial vehicle so that the unmanned aerial vehicle changes the attitude of the holder on the unmanned aerial vehicle according to the second operation command.

The processor 701 is further configured to obtain a pan/tilt control parameter before generating a second operation command for changing the attitude of the pan/tilt on the unmanned aerial vehicle; and the second operation command carries the holder control parameter, and the holder control parameter is used for enabling the unmanned aerial vehicle to change the attitude of the holder on the unmanned aerial vehicle according to the holder control parameter.

The processor 701 is further configured to detect an operation mode of an operation interface by a user, acquire a pan-tilt control parameter according to the operation mode, and generate a second operation command for changing a posture of a pan-tilt on the unmanned aerial vehicle; the processor is further used for displaying a third virtual rocker on an operation interface; after receiving the sliding operation of the user on the third virtual rocker, determining that the sliding direction of the user is the same as the control direction of the pan-tilt on the unmanned aerial vehicle; or the processor is further configured to detect attitude information of the control device, generate a second operation command for changing an attitude of the pan-tilt on the unmanned aerial vehicle according to the attitude information, and send the second operation command to the unmanned aerial vehicle.

Based on the same inventive concept as the method, an embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium may be applied to a drone, and the machine-readable storage medium stores thereon several computer instructions, where the computer instructions, when executed, perform the following processes:

The machine-readable storage medium when executed further performs the following: in the process of obtaining a first operation command from a user for changing the flight parameters of the unmanned aerial vehicle, obtaining attitude information of the user, and obtaining the first operation command for changing the flight parameters of the unmanned aerial vehicle according to the attitude information; or receiving a first operation command sent by a control device for changing the flight parameters of the unmanned aerial vehicle.

The flight parameters include one or any combination of the following: the moving direction, the moving speed, the flying height and the nose direction; the machine-readable storage medium when executed further performs the following: during the process of changing the motion direction of the unmanned aerial vehicle according to the first operation command, turning the unmanned aerial vehicle to the left and/or turning the unmanned aerial vehicle to the right according to the first operation command; in the process of changing the movement speed of the unmanned aerial vehicle according to the first operation command, performing accelerated flight and/or decelerated flight on the unmanned aerial vehicle according to the first operation command; during the process of changing the flight altitude of the unmanned aerial vehicle according to the first operation command, carrying out high deviation and/or low deviation on the unmanned aerial vehicle according to the first operation command; and in the process of changing the direction of the head of the unmanned aerial vehicle according to the first operation command, turning the head of the unmanned aerial vehicle to the left and/or turning the head to the right according to the first operation command.

In the pointing flight mode, the machine-readable storage medium when executed further performs the following:

acquiring a second operation command from a user for changing the posture of the holder on the unmanned aerial vehicle; changing the attitude of the holder on the unmanned aerial vehicle according to the second operation command; and in the process of acquiring a second operation command from a user for changing the attitude of the cradle head on the unmanned aerial vehicle, receiving the second operation command which is sent by the control equipment and is used for changing the attitude of the cradle head on the unmanned aerial vehicle.

Based on the same inventive concept as the method, the embodiment of the present invention further provides a machine-readable storage medium, which can be applied to a control device, and the machine-readable storage medium stores several computer instructions, and when executed, the computer instructions perform the following processes:

In one example, the machine-readable storage medium when executed further performs the following:

acquiring flight control parameters before generating a first operation command for changing flight parameters of the unmanned aerial vehicle; the first operation command also carries acquired flight control parameters, and the flight control parameters are used for enabling the unmanned aerial vehicle to change the flight parameters of the unmanned aerial vehicle according to the flight control parameters; wherein the flight parameters include one or any combination of the following: the moving direction, the moving speed, the flying height and the nose direction; the flight control parameters comprise one or any combination of the following: flight control parameters for turning the drone left and/or right; flight control parameters for accelerated and/or decelerated flight of the drone; flight control parameters for high and/or low excursions of the drone; and the flight control parameters are used for controlling the left turn of the head and/or the right turn of the head of the unmanned aerial vehicle.

detecting attitude information of the control equipment, acquiring flight control parameters according to the attitude information, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a remote controller, detecting the operation mode of a user on the rocker, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a mobile terminal, detecting an operation mode of a user on an operation interface, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

the machine-readable storage medium when executed further performs the following:

displaying a rocker control bar on an operation interface; determining the motion direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar; in the process of determining the movement direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar, after receiving the operation that the user moves the rocker control bar rightwards, determining the movement direction of the unmanned aerial vehicle as following a shooting object along the anticlockwise direction, or following the shooting object along the clockwise direction; when receiving an operation that a user moves the rocker control bar leftwards, determining that the motion direction of the unmanned aerial vehicle is clockwise following the shooting object, or anticlockwise following the shooting object;

displaying a rocker control bar on an operation interface; determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the rocker control bar; in the process of determining the movement speed of the unmanned aerial vehicle according to the operation of a user on the rocker control bar, after receiving the operation that the user clicks the rocker control bar or moves on the rocker control bar, determining the position of the user operation, determining the movement speed of the unmanned aerial vehicle as a flight speed value corresponding to the position of the operation, and displaying the flight speed value on an operation interface; wherein different positions of the rocker control bar correspond to different values of flight speed.

displaying a first virtual rocker on an operation interface; determining the head direction and/or the flying height of the unmanned aerial vehicle according to the operation of a user on the first virtual rocker; in the process of determining the head direction and/or the flight height of the unmanned aerial vehicle according to the operation of a user on the first virtual rocker, determining that the head direction of the unmanned aerial vehicle is head right turn after receiving the operation that the user slides right on the first virtual rocker, clicks on the right side or presses for a long time on the right side; or after receiving the operation that the user slides leftwards on the first virtual rocker, clicks leftwards on the left side, or presses leftwards for a long time, determining that the direction of the machine head of the unmanned aerial vehicle is the left turn of the machine head; or after receiving the operation that a user slides downwards on the first virtual rocker, clicks below the first virtual rocker, or presses a long button downwards, determining that the flying height of the unmanned aerial vehicle deviates downwards; or after receiving an operation that a user slides upwards, clicks above, or presses long above the first virtual rocker, determining that the flying height of the unmanned aerial vehicle is deviated to the high direction;

displaying a second virtual rocker on the operation interface; determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the second virtual rocker; in the process of determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the second virtual rocker, after receiving a command that the user slides rightwards on the second virtual rocker, or clicks on the right side, or presses on the right side for a long time, or slides upwards on the second virtual rocker, or clicks on the upper side, or presses on the upper side for a long time, determining the movement speed of the unmanned aerial vehicle as accelerated flight; or after receiving a command that the user slides to the left on the second virtual rocker, clicks on the left side, or presses for a long time on the left side, or slides downwards on the second virtual rocker, clicks below, or presses for a long time, determining that the movement speed of the unmanned aerial vehicle is deceleration flight.

In the pointing flight mode, the machine-readable storage medium when executed further performs the following: generating a second operation command for changing the posture of the holder on the unmanned aerial vehicle; and sending the second operation command to the unmanned aerial vehicle so that the unmanned aerial vehicle changes the attitude of the holder on the unmanned aerial vehicle according to the second operation command.

The machine-readable storage medium when executed further performs the following: acquiring a cradle head control parameter before generating a second operation command for changing the attitude of the cradle head on the unmanned aerial vehicle; and the second operation command carries the holder control parameter, and the holder control parameter is used for enabling the unmanned aerial vehicle to change the attitude of the holder on the unmanned aerial vehicle according to the holder control parameter.

The machine-readable storage medium when executed further performs the following: detecting an operation mode of a user on an operation interface, acquiring a holder control parameter according to the operation mode, and generating a second operation command for changing the posture of a holder on the unmanned aerial vehicle;

displaying a third virtual rocker on the operation interface; after receiving the sliding operation of the user on the third virtual rocker, determining that the sliding direction of the user is the same as the control direction of the pan-tilt on the unmanned aerial vehicle; or detecting the attitude information of the control equipment, generating a second operation command for changing the attitude of the holder on the unmanned aerial vehicle according to the attitude information, and sending the second operation command to the unmanned aerial vehicle.

Based on the same inventive concept as the method, the embodiment of the invention can also provide a flight control system, wherein the flight control system comprises an unmanned aerial vehicle and control equipment; wherein: the control device is used for generating a first operation command for changing the flight parameters of the unmanned aerial vehicle in an autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing the flight parameters in the particular strategy; the control device is further configured to send the first operation command to the drone; the unmanned aerial vehicle is used for acquiring a first operation command from a user for changing the flight parameters of the unmanned aerial vehicle in an autonomous flight mode; and changing the flight parameters of the unmanned aerial vehicle according to the first operation command.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by an article of manufacture with certain functionality. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Furthermore, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (which may include, but is not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A flight control method is characterized by being applied to an unmanned aerial vehicle, and comprises the following steps:

in an autonomous flight mode, acquiring a first operation command from a user for changing flight parameters of the unmanned aerial vehicle; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing at least one flight parameter in the particular strategy;

changing at least one flight parameter of the drone according to the first operating command; if a first operation command of the user for changing the direction of the machine head of the unmanned aerial vehicle is received, the direction of the machine head of the unmanned aerial vehicle is changed according to the first operation command, so that a shooting object specified by the user is located in a shooting picture of the unmanned aerial vehicle.

2. The method of claim 1,

the autonomous flight mode includes: an intelligent following mode; or, a pointing flight mode.

3. The method according to claim 1, wherein the process of obtaining a first operating command from a user for changing a flight parameter of the drone comprises:

acquiring attitude information of a user, and acquiring a first operation command for changing flight parameters of the unmanned aerial vehicle according to the attitude information; alternatively, the first and second electrodes may be,

4. The method according to claim 3, wherein the first operation command is transmitted by the control device after detecting attitude information of the control device.

5. The method of claim 3, wherein the control device comprises a remote control or a mobile terminal; the first operation command is sent by the remote controller after the operation of a user on the rocker is detected; or, the mobile terminal sends the operation interface after detecting the operation of the user.

6. The method of claim 1, wherein the flight parameters comprise one or any combination of: direction of motion, speed of motion, altitude of flight.

7. The method of claim 6,

changing the motion direction of the unmanned aerial vehicle according to the first operation command, including:

turning the drone to the left and/or turning the drone to the right according to the first operating command;

changing the movement speed of the drone according to the first operating command, including:

performing accelerated flight and/or decelerated flight on the unmanned aerial vehicle according to the first operation command;

changing the flight altitude of the drone according to the first operating command, including:

performing high deviation and/or low deviation on the unmanned aerial vehicle according to the first operation command;

changing the head direction of the unmanned aerial vehicle according to the first operation command, including:

and rotating the machine head of the unmanned aerial vehicle to the left and/or rotating the machine head to the right according to the first operation command.

8. The method of claim 6,

when the autonomous flight mode is the intelligent following mode, the moving direction comprises the steps of following the shooting object along the anticlockwise direction and following the shooting object along the clockwise direction; the movement velocity comprises a flight velocity value.

9. The method of claim 1, further comprising:

acquiring a second operation command from a user for changing the attitude of the holder on the unmanned aerial vehicle in a pointing flight mode; and changing the attitude of the holder on the unmanned aerial vehicle according to the second operation command.

10. The method according to claim 9, wherein the process of obtaining a second operation command from the user for changing the attitude of the pan/tilt head on the drone specifically includes:

receiving a second operation command which is sent by the control equipment and used for changing the attitude of the holder on the unmanned aerial vehicle; wherein, the control device specifically includes: a remote control, or a mobile terminal.

11. A flight control method is applied to control equipment, and the method comprises the following steps:

generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to user operation in an autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing at least one flight parameter in the particular strategy;

sending the first operating command to the drone to cause the drone to change at least one flight parameter of the drone according to the first operating command; if the unmanned aerial vehicle receives the first operation command of the user for changing the direction of the machine head of the unmanned aerial vehicle, the direction of the machine head of the unmanned aerial vehicle is changed according to the first operation command, so that the shooting object specified by the user is located in a shooting picture of the unmanned aerial vehicle.

12. The method of claim 11,

13. The method of claim 11, further comprising:

acquiring flight control parameters before generating a first operation command for changing flight parameters of the unmanned aerial vehicle; the first operation command also carries acquired flight control parameters, and the flight control parameters are used for enabling the unmanned aerial vehicle to change the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

14. The method of claim 13, wherein the flight parameters comprise one or any combination of: direction of motion, speed of motion, altitude of flight;

the flight control parameters comprise one or any combination of the following: flight control parameters for turning the drone left and/or right; flight control parameters for accelerated and/or decelerated flight of the drone; flight control parameters for high and/or low excursions of the drone; and the flight control parameters are used for controlling the left turn of the head and/or the right turn of the head of the unmanned aerial vehicle.

15. The method of claim 14,

16. The method of claim 13, further comprising:

detecting attitude information of the control equipment, acquiring flight control parameters according to the attitude information, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

17. The method of claim 13,

the control device specifically includes: a remote controller, or a mobile terminal; the method further comprises the following steps:

when the control equipment is a remote controller, detecting the operation mode of a user on a rocker, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a mobile terminal, detecting an operation mode of a user on an operation interface, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

18. The method of claim 13, wherein when the autonomous flight mode is the smart follow mode and the control device is a mobile terminal, the method further comprises:

displaying a rocker control bar on an operation interface;

and determining the motion direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar.

19. The method according to claim 18, wherein the process of determining the direction of motion of the drone according to the operation of the joystick control bar by the user specifically comprises:

when the operation that the user moves the rocker control bar rightwards is received, the motion direction of the unmanned aerial vehicle is determined to be the direction of following the shooting object along the anticlockwise direction, or the direction of following the shooting object along the clockwise direction;

and when receiving an operation that the user moves the rocker control bar leftwards, determining that the motion direction of the unmanned aerial vehicle is to follow the shooting object clockwise, or follow the shooting object anticlockwise.

20. The method of claim 13, wherein when the autonomous flight mode is the smart follow mode and the control device is a mobile terminal, the method further comprises:

displaying a rocker control bar on an operation interface;

and determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the rocker control bar.

21. The method according to claim 20, wherein the process of determining the movement speed of the drone according to the operation of the joystick control bar by the user specifically comprises:

after receiving an operation that a user clicks the rocker control bar or moves on the rocker control bar, determining the position of the user operation, and determining the movement speed of the unmanned aerial vehicle as a flight speed value corresponding to the position of the operation; wherein different positions of the rocker control bar correspond to different values of flight speed.

22. The method of claim 21, wherein after determining the speed of movement of the drone to a value of flight speed corresponding to the position of operation, the method further comprises:

and displaying the flying speed value corresponding to the position of the operation on the operation interface.

23. The method of claim 13, wherein when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal, the method further comprises:

displaying a first virtual rocker on an operation interface;

and determining the head direction and/or the flying height of the unmanned aerial vehicle according to the operation of the user on the first virtual rocker.

24. The method according to claim 23, wherein the process of determining the nose direction and/or the flying height of the drone according to the operation of the first virtual rocker by the user specifically comprises:

when receiving an operation that a user slides rightwards on the first virtual rocker, or clicks on the right side, or presses for a long time on the right side, determining that the machine head direction of the unmanned aerial vehicle is the machine head right turn; alternatively, the first and second electrodes may be,

when receiving an operation that a user slides leftwards on the first virtual rocker, clicks leftwards on the first virtual rocker, or presses leftwards for a long time, determining that the direction of the machine head of the unmanned aerial vehicle is the left turn of the machine head; alternatively, the first and second electrodes may be,

when receiving an operation that a user slides downwards on the first virtual rocker, clicks below the first virtual rocker, or issues a long press, determining that the flying height of the unmanned aerial vehicle deviates downwards; alternatively, the first and second electrodes may be,

and after receiving the operation that a user slides upwards, clicks above or presses for a long time above the first virtual rocker, determining that the flying height of the unmanned aerial vehicle deviates upwards.

25. The method of claim 13, wherein when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal, the method further comprises:

displaying a second virtual rocker on the operation interface;

and determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the second virtual rocker.

26. The method according to claim 25, wherein the process of determining the movement speed of the drone according to the user's operation of the second virtual joystick specifically comprises:

after receiving a command that a user slides rightwards on the second virtual rocker, clicks at the right side, or presses long at the right side, or slides upwards on the second virtual rocker, or clicks above, or presses long at the above, determining the movement speed of the unmanned aerial vehicle as accelerated flight; alternatively, the first and second electrodes may be,

and when a command that a user slides leftwards on the second virtual rocker, or clicks on the left side, or presses for a long time on the left side, or slides downwards on the second virtual rocker, or clicks below, or issues a command for pressing for a long time, determining the movement speed of the unmanned aerial vehicle to be decelerated flight.

27. The method of claim 12, further comprising:

generating a second operation command for changing the attitude of the holder on the unmanned aerial vehicle in a pointing flight mode; and sending the second operation command to the unmanned aerial vehicle so that the unmanned aerial vehicle changes the attitude of the holder on the unmanned aerial vehicle according to the second operation command.

28. The method of claim 27, further comprising:

acquiring a cradle head control parameter before generating a second operation command for changing the attitude of the cradle head on the unmanned aerial vehicle; and the second operation command carries the holder control parameter, and the holder control parameter is used for enabling the unmanned aerial vehicle to change the attitude of the holder on the unmanned aerial vehicle according to the holder control parameter.

29. The method of claim 28,

when the control equipment is a mobile terminal, detecting an operation mode of a user on an operation interface, acquiring a holder control parameter according to the operation mode, and generating a second operation command for changing the posture of the holder on the unmanned aerial vehicle.

30. The method of claim 28,

when the control device is a mobile terminal, the method further comprises:

displaying a third virtual rocker on the operation interface;

and after receiving the sliding operation of the user on the third virtual rocker, determining that the sliding direction of the user is the same as the control direction of the holder on the unmanned aerial vehicle.

31. The method of claim 27, further comprising:

detecting the attitude information of the control equipment, generating a second operation command for changing the attitude of the holder on the unmanned aerial vehicle according to the attitude information, and sending the second operation command to the unmanned aerial vehicle.

32. A drone, characterized in that it comprises:

a processor configured to obtain, in an autonomous flight mode, a first operation command from a user for changing a flight parameter of the drone; in an autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing at least one flight parameter in the particular strategy;

the processor is further configured to change at least one flight parameter of the drone in accordance with the first operational command; if a first operation command of the user for changing the direction of the machine head of the unmanned aerial vehicle is received, the direction of the machine head of the unmanned aerial vehicle is changed according to the first operation command, so that a shooting object specified by the user is located in a shooting picture of the unmanned aerial vehicle.

33. The drone of claim 32,

the processor is further configured to acquire attitude information of a user in a process of acquiring a first operation command from the user for changing the flight parameters of the unmanned aerial vehicle, and acquire the first operation command for changing the flight parameters of the unmanned aerial vehicle according to the attitude information; alternatively, the first and second electrodes may be,

34. A drone according to claim 32, wherein the flight parameters include one or any combination of: direction of motion, speed of motion, altitude of flight;

the processor is further configured to turn the drone to the left and/or turn the drone to the right according to the first operation command during the process of changing the direction of motion of the drone according to the first operation command;

in the process of changing the movement speed of the unmanned aerial vehicle according to the first operation command, performing accelerated flight and/or decelerated flight on the unmanned aerial vehicle according to the first operation command;

35. A drone according to claim 32, characterised in that in pointing flight mode:

the processor is further used for acquiring a second operation command from the user for changing the posture of the holder on the unmanned aerial vehicle; changing the attitude of the holder on the unmanned aerial vehicle according to the second operation command;

the processor is further configured to receive a second operation command, sent by the control device, for changing the attitude of the pan/tilt head on the unmanned aerial vehicle in the process of acquiring the second operation command from the user for changing the attitude of the pan/tilt head on the unmanned aerial vehicle; the control apparatus includes: a remote control or a mobile terminal.

36. A control apparatus, characterized in that the control apparatus comprises:

the processor is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command; if the unmanned aerial vehicle receives a first operation command of the user for changing the direction of the machine head of the unmanned aerial vehicle, the direction of the machine head of the unmanned aerial vehicle is changed according to the first operation command so that a shooting object appointed by the user is located in a shooting picture of the unmanned aerial vehicle.

37. The control device of claim 36, wherein the processor is further configured to obtain flight control parameters prior to generating the first operational command for changing the flight parameters of the drone; the first operation command also carries acquired flight control parameters, and the flight control parameters are used for enabling the unmanned aerial vehicle to change the flight parameters of the unmanned aerial vehicle according to the flight control parameters; wherein the flight parameters include one or any combination of the following: the moving direction, the moving speed, the flying height and the nose direction; the flight control parameters comprise one or any combination of the following: flight control parameters for turning the drone left and/or right; flight control parameters for accelerated and/or decelerated flight of the drone; flight control parameters for high and/or low excursions of the drone; and the flight control parameters are used for controlling the left turn of the head and/or the right turn of the head of the unmanned aerial vehicle.

38. The control apparatus according to claim 36,

the processor is further configured to detect attitude information of the control device, acquire a flight control parameter according to the attitude information, and generate a first operation command for changing a flight parameter of the unmanned aerial vehicle according to the flight control parameter; or when the control equipment is a remote controller, detecting the operation mode of a user on the rocker, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a mobile terminal, detecting an operation mode of a user on an operation interface, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

39. The control device of claim 36, wherein when the autonomous flight mode is the smart follow mode and the control device is a mobile terminal:

the processor is also used for displaying a rocker control bar on an operation interface; determining the motion direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar; in the process of determining the movement direction of the unmanned aerial vehicle according to the operation of the user on the rocker control bar, after receiving the operation that the user moves the rocker control bar rightwards, determining the movement direction of the unmanned aerial vehicle as following a shooting object along the anticlockwise direction, or following the shooting object along the clockwise direction; when receiving an operation that a user moves the rocker control bar leftwards, determining that the motion direction of the unmanned aerial vehicle is clockwise following the shooting object, or anticlockwise following the shooting object;

the processor is also used for displaying a rocker control bar on an operation interface; determining the movement speed of the unmanned aerial vehicle according to the operation of the user on the rocker control bar; in the process of determining the movement speed of the unmanned aerial vehicle according to the operation of a user on the rocker control bar, after receiving the operation that the user clicks the rocker control bar or moves on the rocker control bar, determining the position of the user operation, determining the movement speed of the unmanned aerial vehicle as a flight speed value corresponding to the position of the operation, and displaying the flight speed value on an operation interface; wherein different positions of the rocker control bar correspond to different values of flight speed.

40. The control device of claim 36, wherein when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal:

the processor is also used for displaying a first virtual rocker on the operation interface; determining the head direction and/or the flying height of the unmanned aerial vehicle according to the operation of a user on the first virtual rocker; in the process of determining the head direction and/or the flight height of the unmanned aerial vehicle according to the operation of a user on the first virtual rocker, determining that the head direction of the unmanned aerial vehicle is head right turn after receiving the operation that the user slides right on the first virtual rocker, clicks on the right side or presses for a long time on the right side; or after receiving the operation that the user slides leftwards on the first virtual rocker, clicks leftwards on the left side, or presses leftwards for a long time, determining that the direction of the machine head of the unmanned aerial vehicle is the left turn of the machine head; or after receiving the operation that a user slides downwards on the first virtual rocker, clicks below the first virtual rocker, or presses a long button downwards, determining that the flying height of the unmanned aerial vehicle deviates downwards; or after receiving an operation that a user slides upwards, clicks above, or presses long above the first virtual rocker, determining that the flying height of the unmanned aerial vehicle is deviated to the high direction;

41. The control apparatus according to claim 36,

the processor is further used for generating a second operation command for changing the attitude of the holder on the unmanned aerial vehicle in a pointing flight mode; and sending the second operation command to the unmanned aerial vehicle so that the unmanned aerial vehicle changes the attitude of the holder on the unmanned aerial vehicle according to the second operation command.

42. The control device of claim 41, wherein the processor is further configured to obtain pan/tilt control parameters prior to generating the second operation command for changing the attitude of the pan/tilt on the drone; and the second operation command carries the holder control parameter, and the holder control parameter is used for enabling the unmanned aerial vehicle to change the attitude of the holder on the unmanned aerial vehicle according to the holder control parameter.

43. The control device according to claim 42, wherein the processor is further configured to detect an operation mode of an operation interface by a user, acquire a pan-tilt control parameter according to the operation mode, and generate a second operation command for changing the posture of the pan-tilt on the unmanned aerial vehicle;

the processor is further used for displaying a third virtual rocker on an operation interface; after receiving the sliding operation of the user on the third virtual rocker, determining that the sliding direction of the user is the same as the control direction of the pan-tilt on the unmanned aerial vehicle; or the processor is further configured to detect attitude information of the control device, generate a second operation command for changing an attitude of the pan-tilt on the unmanned aerial vehicle according to the attitude information, and send the second operation command to the unmanned aerial vehicle.

44. A machine-readable storage medium having stored thereon computer instructions that, when executed, perform the following:

in the autonomous flight mode, acquiring a first operation command from a user for changing flight parameters of the unmanned aerial vehicle; in an autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing at least one flight parameter in the particular strategy;

45. The machine-readable storage medium according to claim 44,

the machine-readable storage medium when executed further performs the following: in acquiring a first operating command from a user for changing a flight parameter of the drone,

46. The machine-readable storage medium of claim 44, wherein the flight parameters comprise one or any combination of: the moving direction, the moving speed, the flying height and the nose direction;

the machine-readable storage medium when executed further performs the following: during the process of changing the motion direction of the unmanned aerial vehicle according to the first operation command, turning the unmanned aerial vehicle to the left and/or turning the unmanned aerial vehicle to the right according to the first operation command; in the process of changing the movement speed of the unmanned aerial vehicle according to the first operation command, performing accelerated flight and/or decelerated flight on the unmanned aerial vehicle according to the first operation command; during the process of changing the flight altitude of the unmanned aerial vehicle according to the first operation command, carrying out high deviation and/or low deviation on the unmanned aerial vehicle according to the first operation command; and in the process of changing the direction of the head of the unmanned aerial vehicle according to the first operation command, turning the head of the unmanned aerial vehicle to the left and/or turning the head to the right according to the first operation command.

47. The machine-readable storage medium of claim 44, wherein when executed in a pointing flight mode the machine-readable storage medium further performs the following:

48. A machine-readable storage medium having stored thereon computer instructions that, when executed, perform the following:

49. The machine-readable storage medium of claim 48,

50. The machine-readable storage medium of claim 48,

detecting attitude information of control equipment, acquiring flight control parameters according to the attitude information, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a remote controller, detecting the operation mode of a user on the rocker, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters; or when the control equipment is a mobile terminal, detecting an operation mode of a user on an operation interface, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to the flight control parameters.

51. The machine-readable storage medium of claim 48, wherein when the autonomous flight mode is the smart follow mode and the control device is a mobile terminal:

52. The machine-readable storage medium of claim 48, wherein when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal:

53. The machine-readable storage medium of claim 48, wherein when executed in a pointing flight mode the machine-readable storage medium further performs the following: generating a second operation command for changing the posture of the holder on the unmanned aerial vehicle; and sending the second operation command to the unmanned aerial vehicle so that the unmanned aerial vehicle changes the attitude of the holder on the unmanned aerial vehicle according to the second operation command.

54. The machine-readable storage medium of claim 51,

55. The machine-readable storage medium of claim 54,

56. A flight control system, characterized in that the system comprises a drone and a control device;

the control equipment is used for generating a first operation command for changing the flight parameters of the unmanned aerial vehicle according to user operation in an autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operating command being for changing at least one flight parameter in the particular strategy;

the unmanned aerial vehicle is used for acquiring a first operation command from a user for changing the flight parameters of the unmanned aerial vehicle in an autonomous flight mode; changing at least one flight parameter of the drone according to the first operating command; if a first operation command of the user for changing the direction of the machine head of the unmanned aerial vehicle is received, the direction of the machine head of the unmanned aerial vehicle is changed according to the first operation command, so that a shooting object specified by the user is located in a shooting picture of the unmanned aerial vehicle.