CN108628334B

CN108628334B - Control method, device and system of unmanned aerial vehicle and unmanned aerial vehicle

Info

Publication number: CN108628334B
Application number: CN201810691306.4A
Authority: CN
Inventors: 谢安平
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2018-06-28
Filing date: 2018-06-28
Publication date: 2022-09-13
Anticipated expiration: 2038-06-28
Also published as: CN108628334A

Abstract

The invention discloses a control method, a control device and a control system of an unmanned aerial vehicle, and the unmanned aerial vehicle. Wherein, the method comprises the following steps: acquiring current first position information of a remote control device in a specified three-dimensional space and current second position information of an unmanned aerial vehicle; acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out the radio frequency signal; determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and controlling the unmanned aerial vehicle to move to the target moving position. The invention solves the technical problems of indirect operation and control experience and high operation and control difficulty when the unmanned aerial vehicle is controlled in the related technology.

Description

Unmanned aerial vehicle control method, device and system and unmanned aerial vehicle

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a control method, a control device and a control system of an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

When the conventional remote control device is used for controlling the unmanned aerial vehicle, the body coordinate system of the unmanned aerial vehicle is often used as a reference for motion control of lifting, front-back, left-right, rotation and the like. The body coordinate system is a three-dimensional orthogonal rectangular coordinate system which is fixed on the aircraft and follows a right-hand rule, the origin of the coordinate system is positioned in the center of the aircraft, the OX axis is positioned in a reference plane of the aircraft, is parallel to the axis of the body and points to the front of the aircraft, the OY axis is perpendicular to the reference plane of the aircraft and points to the right of the aircraft, and the OZ axis is perpendicular to the XOY plane in the reference plane and points to the lower part of the aircraft.

However, when the unmanned aerial vehicle is controlled by using the body coordinate system, the control experience of a controller is indirect, and the control difficulty is high.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides a control method, a control device and a control system for an unmanned aerial vehicle, and the unmanned aerial vehicle, and aims to at least solve the technical problems that the control experience is indirect and the control difficulty is high when the unmanned aerial vehicle is controlled in the related technology.

According to an aspect of an embodiment of the present invention, there is provided a control method of an unmanned aerial vehicle, including: acquiring current first position information of a remote control device in a specified three-dimensional space and current second position information of an unmanned aerial vehicle; acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out the radio frequency signal; determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and controlling the unmanned aerial vehicle to move to the target moving position.

Optionally, the obtaining of the pointing information of the remote control device comprises: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining the pointing information according to the north angle and the included angle between the remote control device and the horizon.

Optionally, determining a target movement position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information, and including: determining relative distance information between the unmanned aerial vehicle and the remote control device according to the first position information and the second position information; determining the relative position of the unmanned aerial vehicle and the remote control device according to the relative distance information and the pointing information; and determining the moving position of the target according to the relative position and the first position information.

Optionally, the determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information comprises: determining a control mode for the UAV, wherein the control mode includes at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by taking the first position information as the center of a circle and taking a preset distance as a radius in the appointed three-dimensional space; determining a relative position of the unmanned aerial vehicle and the remote control device in the control mode based on at least one of the first position information and the second position information and the pointing information; and determining the target moving position according to the first position information and the relative position in the control mode.

Optionally, in a case where the control mode is the altitude mode, determining the relative positions of the unmanned aerial vehicle and the remote control device in the control mode according to the pointing information and the second position information includes: determining the ground altitude of the unmanned aerial vehicle in the altitude setting mode according to the second position information; determining the relative position of the unmanned aerial vehicle and the remote control device according to the altitude to ground and the pointing information; determining a target moving position according to the first position information and the relative position in the control mode, comprising: determining the equal-height surface where the unmanned aerial vehicle is located by taking the ground altitude as the altitude used by the equal-height surface; and determining a first intersection point of the direction indicated by the pointing information and the equal altitude surface according to the relative position and the first position information, and taking the position of the first intersection point as a target moving position.

Optionally, the position of the first intersection is determined by: p1 ═ P + P ', where P ' ═ sin (β) H/tan (α), cos (β) H/tan (α), H), P1 denotes the position where the first intersection is located, P denotes the position to which the first position information of the remote control device corresponds, P ' denotes the relative position of the unmanned aerial vehicle and the unmanned aerial vehicle, α denotes the angle between the remote control device and the horizon, β denotes the north angle in the pointing information of the remote control device, and H denotes the relative height of the unmanned aerial vehicle and the remote control device.

Optionally, in a case that the control mode is the fixed-point mode, determining the target moving position according to the first position information and the relative position in the control mode includes: determining the longitude and latitude of the unmanned aerial vehicle according to the second position information; under the condition that the longitude and the latitude are unchanged, determining the relative height of the unmanned aerial vehicle and the remote control device according to the relative distance between the unmanned aerial vehicle and the remote control device and the included angle between the remote control device and the horizon in the pointing information; and determining the moving position of the target according to the relative height.

Optionally, in a case where the control mode is the spherical mode, determining the relative positions of the unmanned aerial vehicle and the remote control device in the control mode according to the pointing information and the second position information includes: determining the relative distance between the unmanned aerial vehicle and the remote control device according to the second position information and the first position information; taking the relative distance as the radius of the spherical area, and determining the relative position of the unmanned aerial vehicle and the remote control device based on the radius and the pointing information; determining a second intersection point of the direction indicated by the pointing information and the spherical area according to the first position information and the relative position; and taking the position corresponding to the second intersection point as the target moving position.

Optionally, the radius of the spherical area is determined by one of: receiving a setting instruction from a remote control device; determining the radius of the spherical area according to the radius information carried in the setting instruction; determining the radius of the spherical area according to the radius information which is pre-stored locally by the unmanned aerial vehicle; acquiring the relative distance between the unmanned aerial vehicle and the remote control device; the relative distance is taken as the radius of the spherical area.

Optionally, before determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information and the pointing information, the method further includes: and receiving update information from the remote control device, wherein the update information is used for updating the pointing information.

There is also provided, in accordance with another embodiment of the present application, a control method of an unmanned aerial vehicle, the method including: the method comprises the steps that a remote control device obtains current first position information of the remote control device in a specified three-dimensional space, current second position information of an unmanned aerial vehicle and pointing information of the remote control device, wherein the pointing information is used for indicating the direction of a radio frequency signal sent by the remote control device; the remote control device determines the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and the remote control device sends the target moving position to the unmanned aerial vehicle.

Optionally, the pointing information is determined by: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining the pointing information according to the north angle and the included angle between the remote control device and the horizon.

Optionally, the determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information and the pointing information comprises: the remote control device determines a control mode of the unmanned aerial vehicle, wherein the control mode includes at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which satisfies the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by taking the first position information as the center of a circle and taking a preset distance as a radius in the designated three-dimensional space; and the remote control device determines the target moving position in the control mode according to the pointing information by taking the position of the first position information as a reference.

According to still another embodiment of the present application, there is also provided a control method of an unmanned aerial vehicle, including: acquiring pointing information of a remote control device; determining the target attitude of the unmanned aerial vehicle according to the pointing information; and controlling the unmanned aerial vehicle to move according to the target posture.

According to still another embodiment of the present application, there is also provided a control method of an unmanned aerial vehicle, including: receiving current first position information of a remote control device in a specified three-dimensional space and a setting instruction from the remote control device, wherein the setting instruction carries the radius of the unmanned aerial vehicle in the flying process in a spherical area, and the spherical area is a spherical area formed by taking the first position information as the center of a circle and the radius; acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out the radio frequency signal; determining the target moving position of the unmanned aerial vehicle in the spherical area according to the first position information, the second position information and the pointing information; and controlling the unmanned aerial vehicle to move towards the target moving position.

There is also provided, in accordance with yet another embodiment of the present application, a control system for an unmanned aerial vehicle, including: the unmanned aerial vehicle is used for acquiring current first position information and current second position information of the unmanned aerial vehicle of the remote control device in a specified three-dimensional space; acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out the radio frequency signal; determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; controlling the unmanned aerial vehicle to move to the target moving position; and the remote control device is used for sending the first position information and the pointing information to the unmanned aerial vehicle.

According to still another embodiment of the present application, there is also provided an unmanned aerial vehicle including: the communication module is used for receiving current first position information of the remote control device in a specified three-dimensional space and pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out a radio frequency signal; the flight control system is used for determining a target moving position of the unmanned aerial vehicle in a specified three-dimensional space according to the first position information, the pointing information and the current second position information of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to move to the target moving position.

According to still another embodiment of the present application, there is also provided a control apparatus of an unmanned aerial vehicle, including: the acquisition module is used for acquiring current first position information and current second position information of the unmanned aerial vehicle of the remote control device in a specified three-dimensional space and acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending a radio frequency signal; the determining module is used for determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and the control module is used for controlling the unmanned aerial vehicle to move to the target moving position.

According to still another aspect of an embodiment of the present invention, there is provided a storage medium including a stored program, wherein the apparatus on which the storage medium is controlled when the program is executed performs the above-described control method for an unmanned aerial vehicle.

According to a further aspect of an embodiment of the present invention, there is provided a processor for executing a program, wherein the program executes the above-described control method for an unmanned aerial vehicle.

In the embodiment of the invention, the target moving position of the unmanned aerial vehicle is determined by utilizing the first position information of the remote control device, the second position information of the unmanned aerial vehicle and the pointing information, so that the mode that the unmanned aerial vehicle moves to the target moving position is controlled, the aim of controlling the unmanned aerial vehicle through the pointing information of the remote controller is fulfilled, the technical effects of enhancing user experience and reducing control complexity are realized, and the technical problems that the control experience is indirect and the control difficulty is high when the unmanned aerial vehicle is controlled in the related technology are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a remote control system for an UAV according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 3 is a flow chart of a method of controlling an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an alternative spherical mode in accordance with an embodiment of the present application;

FIG. 5 is a schematic diagram of an alternative set-top mode in accordance with an embodiment of the present application;

FIG. 6 is a schematic diagram of an alternative pointing mode according to an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating an alternative remote controller parameter determination according to an embodiment of the present application;

FIG. 8 is a flow chart of a method for controlling an alternative UAV in spherical mode according to an embodiment of the present disclosure;

FIG. 9 is a flow chart of an alternative method for controlling an UAV in a level mode according to an embodiment of the present disclosure;

FIG. 10 is a flow chart of a method for controlling an unmanned aerial vehicle in an alternative setpoint mode according to an embodiment of the present application;

fig. 11 is a block diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 12 is a flow chart of another method of controlling an UAV according to an embodiment of the present application;

FIG. 13 is a flow chart of another method of controlling an UAV according to an embodiment of the present application;

fig. 14 is a flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For a better understanding of the above embodiments, the meanings of technical terms referred to in the embodiments of the present application are explained below:

world coordinate system: is the absolute coordinate system of the system, and the coordinates of all points on the screen are determined with the origin of the coordinate system before the user coordinate system is established.

A ground station: a command center for controlling an unmanned aerial vehicle, the control content including but not limited to: the flight process, flight path, maintenance of communication link, launching and recovery of the aircraft, and the like. In some application scenarios, the ground station may be used as a remote control.

In the related art, a body coordinate system is mostly adopted to control the unmanned aerial vehicle, but the control mode has poor control experience and complex operation control, and an operator needs to have certain control experience when controlling the unmanned aerial vehicle. To solve the above problems, embodiments of the present application provide corresponding solutions, which are described in detail below.

Fig. 1 is a schematic structural diagram of a remote control system of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, the system includes: an unmanned aerial vehicle 10 and a remote control device 12. Wherein:

the unmanned aerial vehicle 10 is used for acquiring current first position information of the remote control device 12 in a specified three-dimensional space and current second position information of the unmanned aerial vehicle 10; acquiring pointing information of the remote control device 12, wherein the pointing information is used for indicating the direction of the remote control device 12 sending out the radio frequency signal; determining a target moving position of the unmanned aerial vehicle 10 in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and controls the unmanned aerial vehicle 10 to move to the target movement position.

The unmanned aerial vehicle 10 includes, but is not limited to: a power system (including but not limited to a motor, an electronic governor, etc.), a flight control system and a communication module, wherein the power system is used for providing power for the movement of the unmanned aerial vehicle 10, the flight control system is used for controlling the movement state of the unmanned aerial vehicle 10, and the communication module is used for data interaction with the remote control device 12.

In an alternative embodiment, the UAV 10 includes, but is not limited to: unmanned equipment such as unmanned planes and unmanned airships.

As another alternative embodiment of the present application, the unmanned aerial vehicle 10 may also be implemented by:

and the wireless module and the coding and decoding module are used for carrying out wireless communication and protocol coding and decoding with the remote control device.

The positioning module is used for providing longitude and latitude of the unmanned aerial vehicle 10; the heading module is used for providing the direction of the unmanned aerial vehicle 10, and for example, a magnetic sensor can be used for detecting the heading of the unmanned aerial vehicle 10; a height determination module for providing the ground height of the unmanned aerial vehicle 10; and a flight control system for controlling the self-attitude of the unmanned aerial vehicle 10 and calculating the path of the unmanned aerial vehicle 10 to the target point in various modes. In some embodiments of the present application, the positioning module and the height determining module may be implemented by the same hardware processing circuit, or may be implemented by two independent hardware processing circuits.

And a remote control device 12 for transmitting the first position information and the pointing information to the unmanned aerial vehicle 10. The remote control device 12 includes, but is not limited to, a remote controller, a ground station, etc., and in an alternative embodiment, a remote controller may be used as the remote control device 12 in consideration of convenience. Of course, in some embodiments, the remote control device 12 may also include a remote control and a ground station, in which case, the ground station and the remote control may perform division of labor, for example, the ground station is responsible for overall control, and the remote control is responsible for adjusting the attitude of the aircraft, the flight trajectory of the aircraft, and the like.

In an alternative embodiment, the remote control device 12 may include, but is not limited to, the following modules:

a positioning module for providing location information of the remote control device 12 on the earth, including but not limited to: latitude and longitude, and altitude to be used as reference points for the unmanned aerial vehicle 10; the Positioning module includes, but is not limited to, a Global Positioning System (GPS) Positioning module, a BeiDou Navigation Satellite System (BDS) Positioning module, and a GLONASS Satellite Navigation System (GLONASS) Positioning module.

A geomagnetic module, configured to determine a surface plane direction β of the remote control device 12, and determine a north included angle according to the earth magnetic field, where the north included angle may be an included angle between a pointing direction of the remote control device 12 and a magnetic north direction; a gyroscope for providing an angle α between the remote control unit 12 and the ground.

The distance control module is used for controlling the radius R of the spherical area, wherein the radius R can be a radius input by a user or a radius determined according to the relative distance between the unmanned aerial vehicle and the remote control device, and the relative distance can be a linear distance connecting the unmanned aerial vehicle and the remote control device, but is not limited to the linear distance; the rotation control module is used for controlling the rotation angle of the unmanned aerial vehicle 10, and human-computer interaction can be realized through a rocker, a knob and the like, but is not limited thereto; the altitude locking module is used for controlling the unmanned aerial vehicle 10 to operate in a fixed altitude mode; the position locking module is used for controlling the unmanned aerial vehicle 10 to operate in a fixed-point mode; the distance control module, the rotation control module, the height locking module and the position locking module can be arranged in one processor or different processors.

The wireless module and the coding and decoding module are used for executing wireless communication and protocol coding and decoding between the remote controller and the unmanned aerial vehicle 10; the module may use low frequency microwave signals for data transmission, for example, at 1.2 GHz. By adopting the frequency for data transmission, the transmission rate of the signals of the unmanned aerial vehicle 10 can be improved, and a stable transmission effect can be ensured in a long-distance transmission range.

In an alternative embodiment, a display screen may be further disposed in the remote control device 12 for displaying the attitude, speed, and other information of the unmanned aerial vehicle.

An embodiment of the present application further provides an unmanned aerial vehicle, fig. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 2, the unmanned aerial vehicle includes:

the communication module 20 is configured to receive current first position information of the remote control device in a specified three-dimensional space and pointing information of the remote control device, where the pointing information is used to indicate a direction in which the remote control device sends out a radio frequency signal; the direction indicated by the pointing information may be determined by, but not limited to, the north angle of the remote control device and the angle between the remote control device and the ground plane.

The flight control system 22 is connected with the communication module 20 and is used for determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the current first position information, the pointing information and the current second position information of the unmanned aerial vehicle of the remote control device in the designated three-dimensional space; and controlling the unmanned aerial vehicle to move to the target moving position.

Wherein, flight control system 22 includes but is not limited to IMU inertial measurement unit including gyroscope and acceleration sensor for detecting flight attitude and changing the attitude of the drone by connecting the rotation speed of the motor controlled by the electronic regulator, and this flight control system 22 communicates with the remote control device through communication module 20.

In the above operating environment, the present application provides a method for controlling an unmanned aerial vehicle as shown in fig. 3, it should be noted that the steps shown in the flowchart of the figure may be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown or described.

As shown in fig. 3, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle, including at least steps S302-S308:

step S302, acquiring current first position information of the remote control device in the designated three-dimensional space and current second position information of the unmanned aerial vehicle.

In some embodiments, the designated three-dimensional space is a space including the unmanned aerial vehicle in flight, a remote controller and the like, and may be an open space or a closed space, which is determined according to the application environment of the unmanned aerial vehicle.

Wherein the first location information includes but is not limited to: the latitude and longitude, altitude, and other geographic location information of the remote control device, but not limited thereto.

In an alternative embodiment, the remote control device is movable, i.e. the first position information is the first position information after the position information of the remote control device is changed.

Step S304, acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out the radio frequency signal;

as an optional embodiment of the present application, there are various manners of acquiring the pointing information, which may be determined by the following manners: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining pointing information according to the north angle and the included angle between the remote control device and the horizon.

It should be noted that the execution sequence of step S302 and step S304 may be interchanged, that is, step S302 may be executed first, and then step S304 may be executed; alternatively, step S304 is performed first, and then step S302 is performed.

When the pointing information is obtained, a plurality of continuous pointing information corresponding to a plurality of actions performed continuously in time or order may be obtained. At this time, when the target movement position is determined, a plurality of sub-target positions (including the initial position and the target movement position of the unmanned aerial vehicle, and an intermediate position point between the initial position and the target movement position, such as a waypoint) may be determined, and the flight path of the unmanned aerial vehicle may be determined based on the plurality of sub-target positions, for example, the plurality of sub-target positions are sequentially connected, and the flight path is determined according to the connected sub-target positions. Thus, since a plurality of sub target positions are provided between the initial position and the target movement position, the flight path can be controlled more accurately. When a plurality of sub-target positions are determined, a specific key on the remote control device can be triggered to set the sub-target position when one of the pointing information is used to determine the sub-target position.

Step S306, determining the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information;

as still another alternative embodiment of the present application, step S306 may be determined by: determining relative distance information between the unmanned aerial vehicle and the remote control device according to the first position information and the second position information; and determining the relative position of the unmanned aerial vehicle and the remote control device according to the relative distance information and the pointing information, and determining the moving position of the target according to the relative position information and the first position information.

Wherein, the determination mode of the target mobile position is related to the control mode of the unmanned aerial vehicle, specifically: determining a control mode for the UAV, wherein the control mode includes at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by taking the first position information as the center of a circle and taking a preset distance as a radius in the appointed three-dimensional space; determining a relative position of the unmanned aerial vehicle and the remote control device in the control mode based on the pointing information and at least one of the first position information and the second position information; and determining the target moving position according to the first position information and the relative position in the control mode.

In some embodiments of the present application, step S306 may send the target moving position to the remote control device after determining the target moving position; the remote control device displays the target moving position to a user after receiving the target moving position; if the target moving position meets the requirement, the remote control device receives a confirmation instruction input by a user and sends the confirmation instruction to the unmanned aerial vehicle; and the unmanned aerial vehicle determines that the target moving position is legal according to the confirmation instruction, and starts to determine a moving path. Certainly, the target moving position does not meet the requirement, the remote control device receives a modification instruction input by a user, and the position set by the modification instruction is used as the target moving position to be sent to the unmanned aerial vehicle; and after the unmanned aerial vehicle receives the position set according to the modification instruction, the execution body for starting to determine the moving path can be the unmanned aerial vehicle. Therefore, the target position can be verified through the remote control device, the accuracy of the control of the unmanned aerial vehicle can be guaranteed, and the control process of the unmanned aerial vehicle is prevented from being broken down due to data abnormity.

In other embodiments of the present application, when the target moving position is not the required target moving position, the user may trigger a deletion operation to delete the target moving position. Specifically, the target moving position is compared with a target moving position obtained by the remote control device in advance, and when the target moving position and the target moving position are not consistent, the remote control device may send a prompt message, where the presentation form of the prompt message includes but is not limited to: text display, voice display, etc. The pre-acquired target moving position may be acquired from a preset database, but is not limited thereto.

The following describes the determination of the target movement position with reference to different control modes:

1) spherical mode

In the spherical mode, the target movement position can be determined by: and determining a second intersection point of the direction indicated by the pointing information of the remote control device and the spherical area, and taking the position corresponding to the second intersection point as the target moving position. Specifically, the method comprises the following steps: determining the relative distance between the unmanned aerial vehicle and the remote control device according to the second position information and the first position information; determining the relative position of the unmanned aerial vehicle and the remote control device based on the radius and the pointing information by taking the relative distance as the radius of the spherical area; and determining a second intersection point of the direction indicated by the pointing information and the spherical area based on the relative position and the first position information.

In an alternative embodiment, the radius of the spherical area is determined by one of: a) receiving a setting instruction from a remote control device, and determining the radius of the spherical area according to radius information carried in the setting instruction; b) determining the radius of the spherical area according to the radius information which is pre-stored locally by the unmanned aerial vehicle; c) acquiring the relative distance between the unmanned aerial vehicle and the remote control device; the relative distance is taken as the radius of the spherical area.

For example, as shown in fig. 4, fig. 4 is a schematic diagram of an alternative spherical mode according to an embodiment of the present application. In fig. 4, a spherical coordinate system or a spatial polar coordinate system is established with reference to the remote control device 12, and the unmanned aerial vehicle 10 is controlled by pointing the remote control device 12, so that the unmanned aerial vehicle 10 is controlled to move on a spherical surface, and the radius of the moving spherical surface and the rotation motion of the unmanned aerial vehicle 10 are controlled.

For another example, in the spherical mode, the unmanned aerial vehicle 10 acquires the position P, the control radius R, the horizon angle α, and the north angle β of the remote control device 12. The position P '═ Rcos (α) sin (β), Rcos (α) cos (β), Rsin (α)) of the unmanned aerial vehicle 10 with respect to the remote control device 12 are (east-west distance, north-south distance, altitude), respectively, and the target movement position is determined based on P' and P to be P '═ P + P'.

Therefore, the spherical mode allows the unmanned aerial vehicle 10 to move on a spherical surface, when an operator points to the spherical surface through the remote control device 12, a remote controller direction ray and the spherical surface form an intersection point, and the unmanned aerial vehicle 10 moves by taking the intersection point as a destination; while the remote control device 12 can control the radius of the spherical surface and remotely control the rotation of the unmanned aerial vehicle 10.

2) Constant height mode

In the elevation mode, the target movement position may be determined by: determining the equal-height surface where the unmanned aerial vehicle is located; and determining a first intersection point of the direction indicated by the pointing information and the equal altitude surface, and taking the position of the first intersection point as a target moving position. Specifically, the method comprises the following steps: determining the ground altitude of the unmanned aerial vehicle in the altitude setting mode according to the second position information; determining the relative position of the unmanned aerial vehicle and the remote controller according to the altitude to ground and the pointing information; determining the equal-height surface where the unmanned aerial vehicle is located by taking the ground altitude as the altitude used by the equal-height surface; and determining a first intersection point of the direction indicated by the pointing information and the equal altitude surface according to the relative position and the first position information, and taking the position of the first intersection point as a target moving position.

For example, fig. 5 is a schematic diagram of an alternative height setting mode according to an embodiment of the present application. In fig. 5, the height H of the unmanned aerial vehicle 10 is constant relative to the ground level 50, and the operator uses the remote control device 12 to point and control the unmanned aerial vehicle 10 to fly on the flight plane 52 with a fixed height, so that the remote control device 12 can also control the rotation of the unmanned aerial vehicle 10.

For example: the position of the first intersection point is determined by the following method: p1 ═ P + P ', where P ' ═ sin (β) H/tan (α), cos (β) H/tan (α), H), P1 denotes the position where the first intersection is located, P denotes the position corresponding to the first position information of the remote control device 12, P ' denotes the relative position of the unmanned aerial vehicle 10 and the remote control device 12, α denotes the angle between the remote control device 12 and the horizon, β denotes the north angle in the pointing information of the remote control device 12, and H denotes the relative height of the unmanned aerial vehicle and the remote control device.

Therefore, the fixed-height mode allows the unmanned aerial vehicle 10 to move on an equal-height surface, when the operator points to control the unmanned aerial vehicle through the remote control device 12, the direction ray of the remote control device 12 forms an intersection point with the equal-height surface, and the unmanned aerial vehicle 10 moves with the intersection point as a destination; while the rotation of the unmanned aerial vehicle 10 can be remotely controlled by the remote controller device 12.

3) Fixed point mode

In the pointing mode, the target movement position may be determined by, but is not limited to: determining the longitude and latitude of the unmanned aerial vehicle according to the second position information; under the condition that the longitude and the latitude are unchanged, determining the relative height of the unmanned aerial vehicle and the remote control device according to the relative distance between the unmanned aerial vehicle and the remote control device and the included angle between the remote control device and the horizon in the pointing information; and determining the moving position of the target according to the relative height.

During the fixed point mode, unmanned aerial vehicle fixed position P', unmanned aerial vehicle need know the position P of remote controller, horizon line contained angle alpha, northbound angle beta. Then the height H of the drone relative to the remote control is |, P' -P |. cot α.

Fig. 6 is a schematic diagram of an alternative pointing mode according to an embodiment of the present application, as shown in fig. 6. In fig. 6, the latitude and longitude of the unmanned aerial vehicle 10 is constant and always the same as the latitude and longitude of the point P on the ground plane 62. The operator may also control the rotation of the unmanned aerial vehicle 10 by pointing the remote control device 12 to control the unmanned aerial vehicle 10 to ascend or descend.

Therefore, the fixed-point mode allows the unmanned aerial vehicle to move at a fixed position (namely the same longitude and latitude coordinates), and when the operator points through the remote control device 12, the operator controls the included angle of the horizon to remotely control the height of the unmanned aerial vehicle; while the rotation of the unmanned aerial vehicle 10 can be remotely controlled by the remote control device 12.

Step S308, controlling the unmanned aerial vehicle to move to the target moving position;

after determining the target moving position, the unmanned aerial vehicle may determine a moving path according to the target moving position and the current position, and the determination process of the moving path may follow at least one of the following rules, but is not limited thereto: the distance minimum principle, the obstacle avoidance principle and the user set priority principle (namely, the user can modify the moving path through the remote controller).

In some optional embodiments, before step S306, update information from the remote control device may be further received, wherein the update information is used to update the pointing information.

In some alternative embodiments, the principle of determining the pointing information of the remote control device can be seen in fig. 7, and fig. 7 is a schematic diagram illustrating the principle of determining the parameters of an alternative remote control according to an embodiment of the present application. In fig. 7, α represents an angle between the remote controller and the horizon, β represents a north angle, and R represents a radius of the spherical model, and the relative position of the remote control device and the unmanned aerial vehicle can be calculated by using this principle.

In some optional embodiments, the remote control device may switch between modes according to actual requirements, for example, in an optional embodiment of the present application, the switching between control modes may be performed according to different target positions: the unmanned aerial vehicle flies from a place A to a place B according to a spherical mode; and after the unmanned aerial vehicle arrives at the B place, the unmanned aerial vehicle is switched from the spherical mode to the fixed-point mode or the fixed-height mode. Taking the application of the unmanned aerial vehicle to the field of plant protection as an example, when the unmanned aerial vehicle flies to a point B in a spherical mode, if the flying height of the unmanned aerial vehicle is reduced to spray the pesticide on the plant at the longitude and latitude of the point B, the unmanned aerial vehicle is switched to a fixed point mode at the point B; when the unmanned aerial vehicle flies to the point C according to the fixed-point mode, if the plants need to be sprayed with the medicines in the plane with the same height as the ground height of the point C, the unmanned aerial vehicle is switched to the fixed-height mode at the point C. The switching between the control modes can be realized by a hardware button arranged in the remote control device, for example, when the hardware button is pressed and restored to an initial position, the unmanned aerial vehicle is controlled to be switched from the current first control mode to the second control mode, and when the hardware button is pressed again, the unmanned aerial vehicle is controlled to be switched from the current second control mode to the third control mode. The first control mode, the second control mode and the third control mode are any one of a fixed height mode, a spherical mode and a fixed point mode, and the first control mode, the second control mode and the third control mode are different from each other.

In another embodiment of the present application, when the control mode of the unmanned aerial vehicle is tested, switching between the control modes may be triggered according to the time information: the control mode of the unmanned aerial vehicle is changed a plurality of times over a period of time, for example: in one hour, the control mode of the unmanned aerial vehicle is in a spherical mode in the first 20 minutes, the control mode of the unmanned aerial vehicle is in a fixed-point mode in the 20 th to 40 th minutes, and the control mode of the unmanned aerial vehicle is in a fixed-height mode in the last 20 minutes, so that the switching test of the multiple unmanned aerial vehicles among various control modes is realized.

Multi-mode changes of unmanned aerial vehicles can be applied in a variety of scenarios, such as: the unmanned aerial vehicle can spray pesticides for crops, spray paint for buildings, carry camera equipment to take pictures of specific objects in multiple angles and the like.

The flight control process in the different control modes is described below in connection with fig. 8-10, in particular:

fig. 8 is a flowchart of a control method of an unmanned aerial vehicle in an alternative spherical mode according to an embodiment of the present application, where as shown in fig. 8, the method includes:

step S801, enter the spherical mode.

In this step, the remote control device will initialize and enter the spherical mode.

In step S803, the operator moves.

The operator controls the remote controller by controlling a rocker or a button of the remote controller.

In step S805, the remote controller issues a position P.

The remote controller sends the position information P of the remote controller to the unmanned aerial vehicle.

In step S807, the operator changes the spherical radius.

The operator can change the spherical radius through the remote controller, specifically, can change the spherical radius through the knob.

In step S809, the remote controller issues the radius R.

The remote controller sends R used for controlling the flight radius of the unmanned aerial vehicle to the unmanned aerial vehicle.

And S8011, determining a moving spherical surface by the unmanned aerial vehicle according to P and R.

In step S8013, the operator changes the remote control direction.

The operator modifies the pointing direction of the remote controller to control the flight of the aircraft in real time.

In step S8015, the remote controller sends out the ground angle α and the north angle β.

The remote controller sends the ground angle alpha and the north angle beta to the unmanned aerial vehicle.

In step S8017, the drone calculates the target position from α and β.

In step S8019, the drone calculates a movement path.

The unmanned aerial vehicle calculates the flight path of the initial position and the target position according to the initial position and the target position of the unmanned aerial vehicle.

And step S8021, the unmanned aerial vehicle moves to the target according to the moving path.

The specific moving path may move along a straight line, or move while avoiding the obstacle after detecting the obstacle.

Fig. 9 is a flowchart of a control method of an unmanned aerial vehicle in an optional fixed-height mode according to an embodiment of the application, where as shown in fig. 9, the method includes:

in step S901, the mode enters the set-high mode.

In this step, the remote control device will initialize and enter a set-high mode.

And step S903, locking the ground height by the unmanned aerial vehicle.

The unmanned aerial vehicle sets the height to the ground to be constant according to the instruction of the remote control device.

In step S905, the operator moves.

The operator controls the remote controller by controlling the rocker or the button of the remote controller.

In step S907, the remote controller issues the position P.

In step S909, the operator changes the pointing direction of the remote controller.

The operator can change the direction of the remote controller by shaking the remote controller.

Step S9011, the remote controller sends out the ground angle alpha and the north angle beta.

And step S9013, calculating the target position by the unmanned aerial vehicle according to the P, the alpha and the beta.

And step S9015, calculating a moving path by the unmanned aerial vehicle.

And step S9017, the unmanned aerial vehicle moves to the target according to the moving path.

Fig. 10 is a flowchart of a control method of an unmanned aerial vehicle in an optional fixed-point mode according to an embodiment of the application, and as shown in fig. 10, the method includes:

step S101, entering a fixed point mode.

In this step, the remote control device will initialize and enter a fixed point mode.

And step S103, locking the longitude and latitude by the unmanned aerial vehicle.

And the unmanned aerial vehicle is set to be unchanged in the longitude and latitude in the flight process according to the instruction of the remote control device.

In step S105, the operator moves.

In step S107, the remote controller issues a position P.

Step S109, the operator changes the direction of the remote controller.

In step S1011, the remote controller issues a ground angle.

In step S1013, the drone calculates a target position from P and α.

In step S1015, the drone calculates a movement path.

And step S1017, the unmanned aerial vehicle moves to the target according to the moving path.

In an embodiment of the present application, a control device of an unmanned aerial vehicle is further provided, where the control device is configured to implement the method steps of the embodiment shown in fig. 3, as shown in fig. 11, and fig. 11 is a block diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present application. The device includes:

the acquisition module 110 is configured to acquire current first position information and current second position information of the unmanned aerial vehicle of the remote control device in a specified three-dimensional space, and acquire pointing information of the remote control device, where the pointing information is used to indicate a direction in which the remote control device sends a radio frequency signal; as an optional embodiment of the present application, there are various manners of acquiring the pointing information, which may be determined by the following manners: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining pointing information according to the north angle and the included angle between the remote control device and the horizon. As an optional embodiment of the present application, there are various manners for acquiring the pointing information, which may be determined, for example, by the following manners: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining pointing information according to the north angle and the included angle between the remote control device and the horizon.

A determining module 112, configured to determine a target moving position of the unmanned aerial vehicle in the specified three-dimensional space according to the first position information, the second position information, and the pointing information;

and the control module 114 is used for controlling the unmanned aerial vehicle to move to the target moving position.

It should be noted that the above modules may be implemented by software or hardware, and in the latter case, the following forms may be presented, but are not limited to these: the modules are positioned in the same processor; alternatively, the modules may be located in different processors in any combination.

It should be noted that, reference may be made to the description related to the embodiments shown in fig. 3 to 10 for a preferred implementation of the embodiment shown in fig. 11, and details are not repeated here.

FIG. 12 is a flow chart of another method for controlling an UAV according to an embodiment of the present application. The control method is executed by a remote control device, and as shown in fig. 12, the method includes:

step S120, the remote control device obtains current first position information of the remote control device in a specified three-dimensional space, current second position information of the unmanned aerial vehicle and pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out a radio frequency signal;

in some alternative embodiments, the above-mentioned pointing information is determined by: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining pointing information according to the north angle and the included angle between the remote control device and the horizon.

Step S122, the remote control device determines the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information;

in some alternative embodiments, step S122 may be determined by: the remote control device determines a control mode of the unmanned aerial vehicle, wherein the control mode includes at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by taking the first position information as the center of a circle and taking a preset distance as a radius in the designated three-dimensional space; and the remote control device determines the target moving position in the control mode according to the pointing information by taking the position of the first position information as a reference.

In step S124, the remote control device transmits the target movement position to the unmanned aerial vehicle.

It should be noted that, reference may be made to the description related to the embodiments shown in fig. 3 to 10 for a preferred implementation of the embodiment shown in fig. 12, and details are not repeated here.

With the method shown in fig. 12, the target movement position may be determined by the remote control device to control the unmanned aerial vehicle to move to the target movement position.

Fig. 13 is a flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present application. The method may control the attitude of the aircraft in accordance with the pointing direction of the remote controller, as shown in fig. 13, the method including:

step S130, acquiring pointing information of the remote control device;

wherein the pointing information can be determined by, but is not limited to: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information of the remote control device as a reference; and determining the pointing information according to the north angle and the included angle between the remote control device and the horizon. Specifically, the above-described process may be implemented by a geomagnetic sensor and an accelerometer provided in the remote control device, but is not limited thereto.

Step S132, determining the target attitude of the unmanned aerial vehicle according to the pointing information;

wherein the target pose includes, but is not limited to: the heading of the unmanned aerial vehicle, the fuselage balance of the unmanned aerial vehicle, and the like.

And S134, controlling the unmanned aerial vehicle to move according to the target posture.

It should be noted that, reference may be made to the description related to the embodiments shown in fig. 3 to 10 for a preferred implementation of the embodiment shown in fig. 13, and details are not repeated here.

Fig. 14 is a flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 14, the method includes:

step S140, receiving current first position information of the remote control device in a specified three-dimensional space and a setting instruction from the remote control device, wherein the setting instruction carries the radius of the unmanned aerial vehicle in the flying process in a spherical area, and the spherical area is a spherical area formed by taking the first position information as the center of a circle and the radius;

Step S142, acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out the radio frequency signal;

the pointing information of the remote control device includes: determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining pointing information according to the north angle and the included angle between the remote control device and the horizon.

Step S144, determining the target moving position of the unmanned aerial vehicle in the spherical area according to the first position information, the second position information and the pointing information;

the target movement position may be determined by: and determining a second intersection point of the direction indicated by the pointing information of the remote control device and the spherical area, and taking the position corresponding to the second intersection point as the target moving position. Specifically, the method comprises the following steps: determining the relative distance between the unmanned aerial vehicle and the remote control device according to the second position information and the first position information; taking the relative distance as the radius of the spherical area, and determining the relative position of the unmanned aerial vehicle and the remote control device based on the radius and the pointing information; and determining a second intersection point of the direction indicated by the pointing information and the spherical area based on the relative position and the first position information.

And step S146, controlling the unmanned aerial vehicle to move to the target moving position.

The flight control method in the embodiment of the application can be applied to the field of agricultural plant protection, for example, pesticide spraying operation is carried out by using the flight control method provided by the embodiment of the application.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an unmanned aerial vehicle, comprising:

acquiring current first position information of a remote control device in a specified three-dimensional space and current second position information of an unmanned aerial vehicle;

acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out a radio frequency signal;

determining a target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and

controlling the unmanned aerial vehicle to move to the target moving position;

wherein determining a target movement position of the unmanned aerial vehicle within the designated three-dimensional space from the first position information, the second position information, and the pointing information comprises:

determining a control mode for the UAV, wherein the control mode comprises at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by the appointed three-dimensional space by taking the first position information as the center of a circle and taking a preset distance as a radius;

determining the relative position of the unmanned aerial vehicle and a remote control device in the control mode according to the first position information, the second position information and the pointing information; determining the target moving position according to the first position information and the relative position in the control mode, wherein the relative position is determined by: and determining relative distance information of the unmanned aerial vehicle and the remote control device according to the first position information and the second position information, and determining the relative position of the unmanned aerial vehicle and the remote control device according to the relative distance and the pointing information.

2. The method of claim 1, wherein obtaining pointing information for the remote control device comprises:

determining a north angle of the remote control device and an included angle between the remote control device and a horizon by taking the first position information as a reference; and determining the pointing information according to the north angle and the included angle between the remote control device and the horizon.

3. The method of claim 1,

determining the relative position of the unmanned aerial vehicle and a remote control device in the control mode according to the pointing information and the second position information when the control mode is the height setting mode, including: determining the ground altitude of the unmanned aerial vehicle in the altitude mode according to the second position information; determining the relative position of the unmanned aerial vehicle and the remote control device according to the ground altitude and the pointing information;

determining the target moving position according to the first position information and the relative position in the control mode, including: determining the equal altitude surface where the unmanned aerial vehicle is located by taking the ground altitude as the altitude used by the equal altitude surface; and determining a first intersection point of the direction indicated by the pointing information and the equal altitude surface according to the relative position and the first position information, and taking the position of the first intersection point as the target moving position.

4. The method of claim 3, wherein the location of the first intersection is determined by:

p1= P + P ', where P ' = (sin (β) H/tan (α), cos (β) H/tan (α), H), P1 denotes a position where the first intersection is located, P denotes a position corresponding to first position information of the remote control device, P ' denotes a relative position of the unmanned aerial vehicle and the unmanned aerial vehicle, α denotes an angle between the remote control device and a horizon, β denotes a north angle in pointing information of the remote control device, and H denotes a relative height of the unmanned aerial vehicle and the remote control device.

5. The method according to claim 1, wherein in a case where the control mode is the pointing mode, determining the target moving position according to the first position information and the relative position in the control mode comprises:

determining the longitude and latitude of the unmanned aerial vehicle according to the second position information;

under the condition that the longitude and the latitude are unchanged, determining the relative height of the unmanned aerial vehicle and the remote control device according to the relative distance between the unmanned aerial vehicle and the remote control device and the included angle between the remote control device and the horizon in the pointing information; and determining the moving position of the target according to the relative height.

6. The method according to claim 1, wherein determining the relative position of the UAV and a remote control device in the control mode from the pointing information and the second position information, in the case where the control mode is the spherical mode, comprises:

determining the relative distance between the unmanned aerial vehicle and a remote control device according to the second position information and the first position information; and taking the relative distance as the radius of the spherical area, and determining the relative position of the unmanned aerial vehicle and the remote control device based on the radius and the pointing information.

7. The method of claim 1, wherein the radius of the spherical region is determined by one of:

receiving a setting instruction from the remote control device; determining the radius of the spherical area according to the radius information carried in the setting instruction;

determining the radius of the spherical area according to the radius information which is pre-stored locally by the unmanned aerial vehicle;

acquiring the relative distance between the unmanned aerial vehicle and the remote control device; and taking the relative distance as the radius of the spherical area.

8. The method of claim 1, wherein prior to determining the target mobile location of the UAV within the designated three-dimensional space from the first location information, the second location information, and the pointing information, the method further comprises:

receiving update information from the remote control device, wherein the update information is used to update the pointing information.

9. A control method for an unmanned aerial vehicle, comprising:

the method comprises the steps that a remote control device obtains current first position information of the remote control device in a specified three-dimensional space, current second position information of an unmanned aerial vehicle and pointing information of the remote control device, wherein the pointing information is used for indicating the direction of a radio frequency signal sent by the remote control device;

the remote control device determines the target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and

the remote control device sends the target moving position to the unmanned aerial vehicle;

determining a target movement position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information comprises:

determining a control mode for the UAV, wherein the control mode comprises at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by the designated three-dimensional space by taking the first position information as a circle center and taking a preset distance as a radius;

10. The method of claim 9, wherein the pointing information is determined by:

determining the north angle of the remote control device and the included angle between the remote control device and the horizon by taking the first position information as a reference; and determining the pointing information according to the north angle and the included angle between the remote control device and the horizon.

11. A control method for an unmanned aerial vehicle, comprising:

receiving current first position information of a remote control device in a specified three-dimensional space and a setting instruction from the remote control device, wherein the setting instruction carries the radius of an unmanned aerial vehicle in the flying process in a spherical area, and the spherical area is a spherical area formed by taking the first position information as the center of a circle and the radius;

determining the target moving position of the unmanned aerial vehicle in the spherical area according to the first position information, the second position information and the pointing information; and

controlling the unmanned aerial vehicle to move to the target moving position; determining a target movement position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information comprises:

determining a control mode for the UAV, wherein the control mode comprises at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which satisfies the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by the designated three-dimensional space by taking the first position information as a circle center and taking a preset distance as a radius;

12. A control system for an unmanned aerial vehicle, comprising:

the unmanned aerial vehicle is used for acquiring current first position information and current second position information of the unmanned aerial vehicle of the remote control device in a specified three-dimensional space; acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending out a radio frequency signal; determining a target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information; and controlling the unmanned aerial vehicle to move to the target movement position; determining a target movement position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information comprises: determining a control mode for the UAV, wherein the control mode comprises at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by the appointed three-dimensional space by taking the first position information as the center of a circle and taking a preset distance as a radius; determining the relative position of the unmanned aerial vehicle and the remote control device in the control mode according to the first position information, the second position information and the pointing information; determining the target moving position according to the first position information and the relative position in the control mode, wherein the relative position is determined by: determining relative distance information of the unmanned aerial vehicle and the remote control device according to the first position information and the second position information, and determining the relative position of the unmanned aerial vehicle and the remote control device according to the relative distance and the pointing information;

and the remote control device is used for sending the first position information and the pointing information to the unmanned aerial vehicle.

13. An unmanned aerial vehicle, comprising:

the system comprises a communication module, a first position information module and a pointing information module, wherein the communication module is used for receiving current first position information of a remote control device in a specified three-dimensional space and the pointing information of the remote control device, and the pointing information is used for indicating the direction of a radio frequency signal sent by the remote control device;

the flight control system is used for determining a target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the pointing information and the current second position information of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to move to the target movement position; determining a target movement position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information comprises: determining a control mode for the UAV, wherein the control mode comprises at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by the appointed three-dimensional space by taking the first position information as the center of a circle and taking a preset distance as a radius; determining the relative position of the unmanned aerial vehicle and a remote control device in the control mode according to the first position information, the second position information and the pointing information; determining the target moving position according to the first position information and the relative position in the control mode, wherein the relative position is determined by: and determining relative distance information of the unmanned aerial vehicle and the remote control device according to the first position information and the second position information, and determining the relative position of the unmanned aerial vehicle and the remote control device according to the relative distance and the pointing information.

14. A control device for an unmanned aerial vehicle, comprising:

the acquisition module is used for acquiring current first position information and current second position information of the unmanned aerial vehicle of the remote control device in a specified three-dimensional space and acquiring pointing information of the remote control device, wherein the pointing information is used for indicating the direction of the remote control device for sending a radio frequency signal;

the determining module is used for determining a target moving position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information;

the control module is used for controlling the unmanned aerial vehicle to move to the target moving position; determining a target movement position of the unmanned aerial vehicle in the designated three-dimensional space according to the first position information, the second position information and the pointing information comprises: determining a control mode for the UAV, wherein the control mode comprises at least one of: the device comprises a fixed-height mode, a fixed-point mode and a spherical mode, wherein the spherical mode is a mode which meets the following conditions: controlling the unmanned aerial vehicle to move on a spherical area which is formed by the designated three-dimensional space by taking the first position information as a circle center and taking a preset distance as a radius; determining the relative position of the unmanned aerial vehicle and a remote control device in the control mode according to the first position information, the second position information and the pointing information; determining the target moving position according to the first position information and the relative position in the control mode, wherein the relative position is determined by: and determining relative distance information of the unmanned aerial vehicle and the remote control device according to the first position information and the second position information, and determining the relative position of the unmanned aerial vehicle and the remote control device according to the relative distance and the pointing information.

15. A storage medium characterized by comprising a stored program, wherein a device in which the storage medium is stored is controlled to execute the control method of the unmanned aerial vehicle according to any one of claims 1 to 8 or the control method of the unmanned aerial vehicle according to any one of claims 9 to 11 when the program is executed.

16. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the method for controlling an unmanned aerial vehicle according to any one of claims 1 to 8 or the method for controlling an unmanned aerial vehicle according to any one of claims 9 to 11 when executed.