CN110291481A - A kind of information cuing method and controlling terminal - Google Patents
A kind of information cuing method and controlling terminal Download PDFInfo
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- CN110291481A CN110291481A CN201880010761.1A CN201880010761A CN110291481A CN 110291481 A CN110291481 A CN 110291481A CN 201880010761 A CN201880010761 A CN 201880010761A CN 110291481 A CN110291481 A CN 110291481A
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- barrier
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the present application, which discloses, provides a kind of information cuing method and controlling terminal, this method is applied to controlling terminal, this method comprises: reception unmanned plane transmission is used to prompt the barrier prompt information there are barrier, the barrier prompt information carries the azimuth information of the barrier；According to the azimuth information, the first image of the barrier for prompting to be less than in the presence of distance preset threshold is shown in orientation where the barrier in posture ball.As it can be seen that being conducive to the safety for improving unmanned plane by implementing the embodiment of the present application.
Description
Technical field
This application involves control fields, and in particular to a kind of information cuing method and controlling terminal.
Background technique
With being constantly progressive for science and technology, the function of unmanned plane (unmanned aerial vehicle, UAV) is continuous
Abundant, application field is also constantly extending.It takes photo by plane for example, unmanned plane can be used for profession, agricultural irrigation, electric power cruise, remote sensing
Mapping, security monitoring etc..Unmanned plane is usually controlled by controlling terminal (such as mobile phone, tablet computer or wearable device) and is flown.
However in practice, it has been found that unmanned plane in flight course, is easy to bump against barrier, cause unmanned plane impaired, sternly
Weight results even in air crash.Therefore, how to promote the safety of unmanned plane is current urgent problem to be solved.
Summary of the invention
This application discloses a kind of information cuing method and controlling terminals, can mention in posture ball to barrier
Show, to improve the safety of unmanned plane.
In a first aspect, being applied to controlling terminal this application provides a kind of information cuing method, this method comprises: receiving
What unmanned plane was sent is used to prompt the barrier prompt information there are barrier, and the barrier prompt information carries the obstacle
The azimuth information of object；
According to the azimuth information, shown in orientation where the barrier for prompting to exist apart from small in posture ball
In the first image of the barrier of preset threshold.
As it can be seen that by implement first aspect described in method, controlling terminal can more visually show barrier with
The spatial relation of unmanned plane, consequently facilitating user's control unmanned plane is correctly navigated by water, barrier, is mentioned to avoid collision
The high safety of unmanned plane.
Second aspect, this application provides a kind of controlling terminal, which includes:
Communication unit, for receive unmanned plane transmission for prompting barrier prompt information there are barrier, obstacle
The azimuth information of object prompt information carrying barrier；
Processing unit, for according to azimuth information, the orientation where barrier to be shown for prompting to exist in posture ball
Distance is less than the first image of the barrier of preset threshold.
The third aspect, this application provides a kind of controlling terminal, which includes: memory, processor and communication
Device, in which:
Memory, for storing program instruction；
Processor, caller are instructed to be used for:
It is used to prompt the barrier prompt information there are barrier, barrier by what communication device reception unmanned plane was sent
The azimuth information of prompt information carrying barrier；
According to azimuth information, the orientation where barrier is shown for prompting to have distance less than default threshold in posture ball
First image of the barrier of value.
Fourth aspect, this application provides a kind of information presentation system, system includes controlling terminal and unmanned plane, in which:
Unmanned plane, for detect the presence of at a distance from unmanned plane be less than preset threshold barrier when, to control eventually
End is sent for prompting the barrier prompt information there are barrier；
Controlling terminal, for executing method described in first aspect.
Second aspect~fourth aspect beneficial effect is identical as the beneficial effect of first aspect, second aspect~four directions
The beneficial effect in face, for details, reference can be made to the beneficial effects of first aspect.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of schematic diagram of system architecture provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of information cuing method provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of the display interface of controlling terminal provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of analog obstacle object shape image in posture ball provided in an embodiment of the present invention；
Fig. 5~Figure 10 is the schematic diagram of the display interface of controlling terminal provided in an embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of controlling terminal provided in an embodiment of the present invention；
Figure 12 is the structural schematic diagram of another controlling terminal provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is implemented below in conjunction with attached drawing
The technical solution of example is described.
In order to which the scheme of the embodiment of the present invention is explicitly described, 1 pair of possible application of the embodiment of the present invention with reference to the accompanying drawing
Business scenario and system architecture be illustrated.
Fig. 1 is a kind of schematic diagram of possible system architecture provided in an embodiment of the present invention.The embodiment of the present invention nobody
Machine system includes unmanned plane and controlling terminal.Wherein, the controlling terminal is for controlling unmanned plane.The controlling terminal can be with
For mobile phone, tablet computer, remote controler or other wearable devices (wrist-watch or bracelet) etc..It is noted that the control terminal has
There is display screen.Fig. 1 is by taking control terminal is mobile phone as an example.Optionally, unmanned plane may include Flight main body, holder and photographic device.
Flight main body may include multiple rotors and the rotor motor for driving rotor rotational, thus provides unmanned plane 1 and flies required power.
Photographic device is equipped on Flight main body by holder.Photographic device is used to carry out image or view in the flight course of unmanned plane
Frequency is shot, it may include but be not limited to multi-spectral imager, hyperspectral imager, Visible Light Camera and infrared camera etc..Holder can
Think spinning transmission and stability augmentation system, it may include multiple rotation axis and horizontal stage electric machine.Horizontal stage electric machine can be by adjusting rotation axis
Rotational angle compensates the shooting angle of photographic device, and can prevent or reduce by the way that buffer gear appropriate is arranged
The shake of photographic device.Certainly, photographic device can be equipped on Flight main body directly or by other modes, and the present invention is implemented
Example is without limitation.
It is understood that the system architecture and business scenario of description of the embodiment of the present invention are to more clearly say
The technical solution of the bright embodiment of the present invention does not constitute the restriction for technical solution provided in an embodiment of the present invention, this field
Those of ordinary skill is it is found that with the differentiation of system architecture and the appearance of new business scene, technology provided in an embodiment of the present invention
Scheme is equally applicable for similar technical problem.
The detailed process of information cuing method provided in an embodiment of the present invention is further illustrated below.
Referring to Fig. 2, Fig. 2 is a kind of flow diagram of information cuing method disclosed by the embodiments of the present invention.Such as Fig. 2 institute
Show, which may include step 201 and 202.Wherein:
201, when detecting the presence of the barrier for being less than preset threshold at a distance from unmanned plane, unmanned plane is to controlling terminal
It sends for prompting the barrier prompt information there are barrier.
Wherein, which carries the azimuth information of barrier.Wherein, which can indicate a certain
A orientation, such as the azimuth information can indicate the orientation such as 20 degree of east, south, west, north or east by south.Alternatively, the azimuth information can
To indicate one or more orientation section, such as can be 20 degree with the 20 degree~east by north in indicating position section east by south.
202, controlling terminal is according to azimuth information, in posture ball the orientation where barrier show for prompt to exist away from
The first image from the barrier for being less than preset threshold.
Specifically, after controlling terminal receives the barrier prompt information, according to azimuth information, in obstacle in posture ball
Orientation where object shows the first image of the barrier for prompting to be less than in the presence of distance preset threshold.
Wherein, posture ball is the circular arc interface turned to for showing the attitudes vibration of aircraft, relative position and head.Example
Such as, as shown in figure 3, when the orientation where the azimuth information of barrier instruction barrier is 20 degree of the 20 degree~north by east in north by west,
The first image is shown in 20 degree of the 20 degree~north by east in the north by west of posture ball orientation.
Since posture ball can show posture and the relative position of unmanned plane, display is for prompting in posture ball
The first image with barrier can show the spatial relation of barrier and unmanned plane to user vividerly.As it can be seen that
By implementing method described in Fig. 2, controlling terminal can more visually show that the spatial position of barrier and unmanned plane is closed
System, consequently facilitating user's control unmanned plane is correctly navigated by water, barrier, improves the safety of unmanned plane to avoid collision
Property.
As an alternative embodiment, barrier prompt information also carry unmanned plane away from barrier at least one away from
From the barrier shape image that at least one range simulation generates according to first image.By implementing the embodiment,
The barrier shape image of simulation can be shown in posture ball to prompt the user with barrier, it can more visually, directly
Prompt the user with barrier with seeing.
For example, the azimuth information that barrier prompt information carries is 20 degree of the 20 degree~north by east in orientation section north by west, barrier
Object prompt information is hindered also to carry in 20 degree of the 20 degree~north by east in orientation section north by west the corresponding unmanned plane in each orientation away from barrier
Hinder the distance of object.Controlling terminal shows the barrier according to the corresponding range simulation dyspoiesis object shape image in each orientation
Hinder object shape image, to prompt to exist barrier of the distance less than preset threshold.
As shown in figure 4, the positive corresponding distance of true north orientation is 2m (rice), i.e., the barrier of positive true north orientation is away from the distance of unmanned plane
For 2m, then A point position can be determined in posture ball.Orientation corresponding distance in 10 degree of north by west is 2.5m, i.e. 10 degree of north by west side
Distance of the barrier away from unmanned plane of position is 2.5m, then B point position can be determined in posture ball.20 degree of north by west orientation is corresponding
Distance is 4m, i.e. the distance of the barrier away from unmanned plane in the 20 degree of orientation in north by west is 4m, then C point can be determined in posture ball
It sets.Orientation corresponding distance in 10 degree of north by east is 2.5m, i.e. the distance of the barrier away from unmanned plane in the 10 degree of orientation in north by east is
2.5m can then determine D point position in posture ball.Orientation corresponding distance in 20 degree of north by east is 4m, i.e. 20 degree of north by east orientation
Distance of the barrier away from unmanned plane be 4m, then E point position can be determined in posture ball.Similarly, controlling terminal can be according to identical
Principle is according to distance of the corresponding unmanned plane in each orientation away from barrier in 20 degree of the 20 degree~north by east in orientation section north by west
Corresponding position is determined in posture ball, and then determining all positions are connected, can simulate the shape of barrier, in turn
Dyspoiesis object shape image.
Certainly, the first image may not be the barrier shape image of simulation, be also possible to other any images, such as scheme
Shown in 5.
As an alternative embodiment, when the barrier that distance is less than preset threshold is present in a continuous region
When, the first image shown on posture ball includes a continuous region, when the barrier that distance is less than preset threshold is present in
When multiple discontinuous regions, the first image shown on posture ball includes multiple discontinuous regions.By implementing the implementation
Mode can prompt region locating for barrier in posture ball vividerly, intuitively.
If the azimuth information carried in barrier prompt information is orientation section, such as the 20 degree~north by east in north by west 20
Degree, the then barrier that distance is less than preset threshold are present in a continuous region.That is, when in barrier prompt information
When the azimuth information of carrying is an orientation section, the first image shown on posture ball includes a continuous region.Accordingly
Ground, when the azimuth information carried in barrier prompt information is multiple nonoverlapping orientation sections, show on posture ball the
One image includes multiple continuous regions.
For example, as shown in figure 3, there are 20 degree of the 20 degree~norths by east in north by west when distance is less than the barrier of preset threshold
When, the first image includes a continuous region.As shown in fig. 6, when apart from the barrier less than preset threshold, there are norths by west
20 degree of 20 degree~north by east and it is 10 degree~west by south 25 degree west by north when, the first image include two continuous regions.
As an alternative embodiment, the first image includes first area, the color of the first area is according to first
Distance of the barrier in region away from unmanned plane determines that the first area is any region that the first image includes.By implementing to be somebody's turn to do
Embodiment, user can quickly identify the distance of the barrier away from unmanned plane in the region according to the color of image-region.It is optional
, the barrier of first area can be most low coverage of the point away from unmanned plane on the barrier of first area away from the distance of unmanned plane
From.Specifically, when the first area for meeting preset threshold in the first image is multistage, then first area number is multiple；When
The first area for meeting preset threshold in one image is one section, then first area number is one；If entire first image is full
Sufficient preset threshold, then first area is entire first image.
For example, as shown in fig. 6, the first image includes region 1 and region 2, the barrier in region 1 away from unmanned plane away from
From for less than or equal to 2m, the barrier in region 2 is to be less than or equal to 3m greater than 2m away from the distance of unmanned plane, then region 1
Color is less than or equal to the corresponding color of 2m according to distance and determines, the color in region 2 is greater than 2m according to distance and is less than or equal to
The corresponding color of 3m determines.
Optionally, when distance of the barrier of first area away from unmanned plane is less than or equal to first threshold, first area
Color be red.For example, the color in region 1 is red in Fig. 6 if first threshold is 2m.The color in region 2 can for except
Another color except red, such as yellow.By implementing the embodiment, when the barrier apart from first area is close,
The color of first area is shown in red, it can more intuitively prompt barrier of the unmanned plane away from first area close.
Optionally, controlling terminal has a corresponding relationship apart from section and color of image, and the color of the first area is the
Apart from the corresponding color of image in section locating for the distance of the barrier away from unmanned plane in one region.By implementing the embodiment,
Distance of the barrier away from unmanned plane that different zones are more intuitively told at family can be used.Optionally, settable color of image
Red correspondence is the smallest apart from section.
The following table 1 is a kind of example apart from the corresponding relationship of section and color of image.As shown in table 1 below, the region 1 of Fig. 6
Distance of the barrier away from unmanned plane be 2m, be in section [0,2.5], therefore the color in the region 1 of Fig. 6 be red.The area of Fig. 6
Distance of the barrier in domain 2 away from unmanned plane be 3m, in section (2.5,3.5], thus the color in the region 2 of Fig. 6 be yellow.
Table 1
| Apart from section | Color of image |
| [0,2.5] | It is red |
| (2.5,3.5] | Yellow |
| (3.5,5] | Grey |
As an alternative embodiment, when the minimum range at least one distance that barrier prompt information carries
When less than or equal to second threshold, lowest distance value is shown in posture ball.For example, as shown in fig. 7, the first image includes region
1 and region 2.Minimum range of the barrier in region 1 away from unmanned plane is 2m, and the barrier in region 2 is away from the minimum range of unmanned plane
Lowest distance value 2m is shown in posture ball when second threshold is 2.5 for 3m.By implementing the embodiment, can prompt
Minimum range of user's barrier away from unmanned plane.
Optionally, second threshold, which can be equal to first threshold or second threshold, can be more than or less than first threshold or the
Two threshold values are in red corresponding apart from section, can guarantee just to show minimum when red region occurs in the first image in this way
Distance value.
Optionally, region red in the first image can be flashed, or the red that unmanned plane of adjusting the distance is nearest
It is flashed in region.
Optionally, minimum distance of the unmanned plane heading away from barrier can also be shown in posture ball.
As an alternative embodiment, obtaining the prompt information of barrier in real time, and believed according to the prompt of barrier
Breath adjusts the first image in real time.
By implementing the embodiment, it is possible to implement ground is adjusted the first image, so as to user grasp unmanned plane with
The latest position relationship of barrier.
As an alternative embodiment, controlling terminal reception unmanned plane transmission is used to prompt the barrier there are barrier
After hindering object prompt information, it can also be shown according to azimuth information in first person main perspective (First PersonView, FPV)
The second image of the barrier for prompting to be less than in the presence of distance preset threshold is shown in interface in the orientation where barrier.It is logical
It crosses and implements the embodiment, can be used to prompt the image with barrier in posture ball and FPV interface display simultaneously, avoid using
It misses for prompting the image with barrier at family.
Optionally, the first image can be not identical with the second image.
As shown in figure 8, the orientation where the azimuth information instruction barrier of barrier is the 20 degree~north by east in north by west 20
When spending, the first image is shown in 20 degree of the 20 degree~north by east in the north by west of posture ball orientation.And partially in the north of FPV display interface
Western 20 degree of 20 degree~north by east orientation shows the second image.
Optionally, the shape of the second image can be arc.If 360 degree of orientation all has barrier, the second image
It can be an elliptical shape, constitute an avoidance ring.
As an alternative embodiment, when the barrier that distance is less than preset threshold is present in a continuous region
When, the second image shown on FPV display interface includes a continuous region, when the barrier that distance is less than preset threshold is deposited
When being multiple discontinuous regions, the second image shown on FPV display interface includes multiple discontinuous regions.Pass through reality
The embodiment is applied, region locating for barrier can be prompted in FPV display interface vividerly, intuitively.
For example, as shown in figure 8, there are 20 degree of the 20 degree~norths by east in north by west when distance is less than the barrier of preset threshold
When, the first image and the second image include a continuous region.As shown in figure 9, when distance is less than the barrier of preset threshold
There are 20 degree of the 20 degree~north by east in north by west and it is 10 degree~west by south 25 degree west by north when, the first image and the second image include
Two continuous regions.
As an alternative embodiment, barrier prompt information also carry barrier away from unmanned plane at least one away from
From the second image includes second area, and the color of the second area is true away from the distance of unmanned plane according to the barrier of second area
Fixed, which is any region that the second image includes.By implementing the embodiment, user is according to the face of image-region
Color can quickly identify the distance of the barrier away from unmanned plane in the region.Optionally, the barrier of second area is away from unmanned plane
Distance can be minimum distance of the point away from unmanned plane on the barrier of second area.Specifically, pre- when meeting in the second image
If the second area of threshold value is multistage, then second area number is multiple；When the secondth area for meeting preset threshold in the second image
Domain is one section, then second area number is one；If entire second image is all satisfied preset threshold, second area is entire the
Two images.
For example, as shown in figure 9, the second image includes region 3 and region 4, the barrier in region 3 away from unmanned plane away from
From for less than or equal to 2m, the barrier in region 4 is to be less than or equal to 3m greater than 2m away from the distance of unmanned plane, then region 3
Color is less than or equal to the corresponding color of 2m according to distance and determines, the color in region 4 is greater than 2m according to distance and is less than or equal to
The corresponding color of 3m determines.
Optionally, when distance of the barrier of second area away from unmanned plane is less than or equal to first threshold, second area
Color be red.For example, the color in region 3 is red in Fig. 9 if first threshold is 2m.The color in region 4 can for except
Another color except red, such as yellow.By implementing the embodiment, when the barrier apart from second area is close,
The color of second area is shown in red, it can more intuitively prompt barrier of the unmanned plane away from second area close.
Optionally, controlling terminal has a corresponding relationship apart from section and color of image, and the color of the second area is the
Apart from the corresponding color of image in section locating for the distance of the barrier away from unmanned plane in two regions.By implementing the embodiment,
Distance of the barrier away from unmanned plane that different zones are more intuitively told at family can be used.Optionally, settable color of image
Red correspondence is the smallest apart from section.
Wherein, can be as listed in Table 1 apart from the corresponding relationship of section and color of image, this will not be repeated here.1 institute of table as above
Show, the barrier in the region 3 of Fig. 9 is 2m away from the distance of unmanned plane, is in section [0,2.5], therefore the color in the region 4 of Fig. 9
For red.The barrier in the region 4 of Fig. 9 is 3m away from the distance of unmanned plane, in section (2.5,3.5], therefore the region 4 of Fig. 9
Color be yellow.
As an alternative embodiment, when the minimum range at least one distance is less than or equal to second threshold
When, minimum range is shown in FPV display interface.By implementing the embodiment, user's barrier can be prompted away from unmanned plane
Minimum range.
For example, as shown in Figure 10, the first image includes region 1 and region 2.Minimum of the barrier in region 1 away from unmanned plane
Distance is 2m, and the barrier in region 2 is 3m away from the minimum range of unmanned plane, when second threshold is 2.5, is shown in posture ball
Lowest distance value 2m.Second image includes region 3 and region 4.Minimum range of the barrier in region 3 away from unmanned plane is 2m, area
Minimum range of the barrier in domain 4 away from unmanned plane is 3m, and lowest distance value 2m is shown in FPV display interface.
1, Figure 11 is a kind of structural schematic diagram of the controlling terminal provided in the embodiment of the present application, the control referring to Figure 1
Terminal at least may include communication unit 1101, processing unit 1102, in which:
Communication unit 1101, for receive unmanned plane transmission for prompting barrier prompt information there are barrier,
The azimuth information of barrier prompt information carrying barrier；
Processing unit 1102, for according to azimuth information, the orientation where barrier to be shown for prompting in posture ball
It is less than the first image of the barrier of preset threshold in the presence of distance.
Optionally, barrier prompt information also carries at least one distance of barrier away from unmanned plane, and the first image is root
The barrier shape image generated according at least one range simulation.
Optionally, it when the barrier that distance is less than preset threshold is present in a continuous region, is shown on posture ball
The first image include a continuous region, when distance be less than preset threshold barrier be present in multiple discontinuous regions
When, the first image shown on posture ball includes multiple discontinuous regions.
Optionally, the first image includes first area, and the color of the first area is according to the barrier of first area away from nothing
Man-machine distance determines that first area is any region that the first image includes.
Optionally, when distance of the barrier of first area away from unmanned plane is less than or equal to first threshold, first area
Color be red.
Optionally, controlling terminal has the corresponding relationship apart from section and color of image, and the color of first area is first
Apart from the corresponding color of image in section locating for the distance of the barrier away from unmanned plane in region.
Optionally, processing unit 1102 are also used to be less than or equal to the second threshold when the minimum range at least one distance
When value, lowest distance value is shown in posture ball.
Optionally, communication unit 1101 are also used to obtain the prompt information of barrier in real time；Processing unit 1102, is also used
In adjusting the first image in real time according to the prompt information of barrier.
Optionally, processing unit 1102 are also used to according to azimuth information, in first person main perspective FPV display interface
The second image of the barrier for prompting to be less than in the presence of distance preset threshold is shown in the orientation where barrier.
Optionally, when the barrier that distance is less than preset threshold is present in a continuous region, on FPV display interface
Second image of display includes a continuous region, multiple discontinuous when being present in apart from the barrier for being less than preset threshold
When region, the second image shown on FPV display interface includes multiple discontinuous regions.
Optionally, barrier prompt information also carries at least one distance of barrier away from unmanned plane, and the second image includes
Second area, distance of the color of the second area according to the barrier of second area away from unmanned plane determine, second area the
Any region that two images include.
Optionally, when distance of the barrier of second area away from unmanned plane is less than or equal to first threshold, second area
Color be red.
Optionally, controlling terminal has the corresponding relationship apart from section and color of image, and the color of second area is second
Apart from the corresponding color of image in section locating for the distance of the barrier away from unmanned plane in region.
Optionally, processing unit 1102 are also used to be less than or equal to the second threshold when the minimum range at least one distance
When value, minimum range is shown in FPV display interface.
Based on the same inventive concept, the principle and the application side that the controlling terminal provided in the embodiment of the present application solves the problems, such as
Method embodiment is similar, therefore the implementation of controlling terminal may refer to the implementation of method, and the beneficial effect of controlling terminal may refer to
The beneficial effect of method repeats no more herein for succinct description.
Figure 12 is please referred to, Figure 12 is a kind of structural schematic diagram of controlling terminal provided in an embodiment of the present invention.Such as Figure 12 institute
Show, which includes memory 1201, processor 1202 and communication device 1203.Optionally, memory 1201, processor
1202 can be connected with communication device 1203 by bus system 1204.
Memory 1201, for storing program instruction.Memory 1201 may include volatile memory (volatile
), such as random access memory (random-access memory, RAM) memory；Memory 1201 also may include non-easy
The property lost memory (non-volatile memory), such as flash memory (flash memory), solid state hard disk (solid-
State drive, SSD) etc.；Memory 1201 can also include the combination of the memory of mentioned kind.
Processor 1202 may include central processing unit (central processing unit, CPU).Processor 1202
It can further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit (application-specific
Integrated circuit, ASIC), programmable logic device (programmablelogic device, PLD) etc..It is above-mentioned
PLD can be field programmable gate array (field-programmable gate array, FPGA), and general array is patrolled
Collect (generic array logic, GAL) etc..Wherein, processor 1202 calls the program instruction in memory 1201 for holding
Row following steps:
By the communication device 1203 receive that unmanned plane sends there are the barrier prompt of barrier letters for prompting
Breath, the barrier prompt information carry the azimuth information of the barrier；
According to azimuth information, the orientation where barrier is shown for prompting to have distance less than default threshold in posture ball
First image of the barrier of value.
Optionally, barrier prompt information also carries at least one distance of barrier away from unmanned plane, and the first image is root
The barrier shape image generated according at least one range simulation.
Optionally, it when the barrier that distance is less than preset threshold is present in a continuous region, is shown on posture ball
The first image include a continuous region, when distance be less than preset threshold barrier be present in multiple discontinuous regions
When, the first image shown on posture ball includes multiple discontinuous regions.
Optionally, the first image includes first area, and the color of the first area is according to the barrier of first area away from nothing
Man-machine distance determines that first area is any region that the first image includes.
Optionally, when distance of the barrier of first area away from unmanned plane is less than or equal to first threshold, first area
Color be red.
Optionally, controlling terminal has the corresponding relationship apart from section and color of image, and the color of first area is first
Apart from the corresponding color of image in section locating for the distance of the barrier away from unmanned plane in region.
Optionally, processor 1202, caller instruction are also used to:
When the minimum range at least one distance is less than or equal to second threshold, minimum range is shown in posture ball
Value.
Optionally, processor 1202, caller instruction are also used to:
The prompt information of barrier is obtained in real time, and the first image is adjusted according to the prompt information of barrier in real time.
Optionally, processor 1202, caller instruction are also used to:
According to azimuth information, shows and be used in the orientation where barrier in first person main perspective FPV display interface
There is the second image that distance is less than the barrier of preset threshold in prompt.
Optionally, when the barrier that distance is less than preset threshold is present in a continuous region, on FPV display interface
Second image of display includes a continuous region, multiple discontinuous when being present in apart from the barrier for being less than preset threshold
When region, the second image shown on FPV display interface includes multiple discontinuous regions.
Optionally, barrier prompt information also carries at least one distance of barrier away from unmanned plane, and the second image includes
Second area, distance of the color of the second area according to the barrier of second area away from unmanned plane determine, second area the
Any region that two images include.
Optionally, when distance of the barrier of second area away from unmanned plane is less than or equal to first threshold, second area
Color be red.
Optionally, controlling terminal has the corresponding relationship apart from section and color of image, and the color of second area is second
Apart from the corresponding color of image in section locating for the distance of the barrier away from unmanned plane in region.
Optionally, processor 1202, caller instruction are also used to:
When the minimum range at least one distance is less than or equal to second threshold, shown most in FPV display interface
Small distance.
Based on the same inventive concept, the principle and the application side that the controlling terminal provided in the embodiment of the present application solves the problems, such as
Method embodiment is similar, therefore the implementation of controlling terminal may refer to the implementation of method, and the beneficial effect of controlling terminal may refer to
The beneficial effect of method repeats no more herein for succinct description.
It should be noted that for simple description, therefore, it is stated as a systems for each embodiment of the method above-mentioned
The combination of actions of column, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because
For according to the present invention, certain some step can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, related actions and modules not necessarily this hair
Necessary to bright.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
A kind of destination edit methods, device and ground flying console is provided for the embodiments of the invention above to carry out
It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (30)
1. a kind of information cuing method is applied to controlling terminal, which is characterized in that the described method includes:
Receive unmanned plane transmission is used to prompt the barrier prompt information there are barrier, and the barrier prompt information carries
The azimuth information of the barrier；
According to the azimuth information, shown in orientation where the barrier for prompting to have distance less than pre- in posture ball
If the first image of the barrier of threshold value.
2. the method according to claim 1, wherein the barrier prompt information also carry the barrier away from
At least one distance of the unmanned plane, the first image are the barrier shape generated according at least one described range simulation
Shape image.
3. method according to claim 1 or 2, which is characterized in that when the barrier that the distance is less than preset threshold is deposited
When being a continuous region, the first image shown on the posture ball includes a continuous region, when described
Distance is less than the barrier of preset threshold when being present in multiple discontinuous regions, first figure shown on the posture ball
As including multiple discontinuous regions.
4. according to the method described in claim 3, it is characterized in that, the first image includes first area, firstth area
Distance of the color in domain according to the barrier of the first area away from unmanned plane determines that the first area is the first image
Including any region.
5. according to the method described in claim 4, it is characterized in that, when the barrier of the first area is away from the distance of unmanned plane
When less than or equal to first threshold, the color of the first area is red.
6. according to the method described in claim 4, it is characterized in that, the controlling terminal has apart from section and color of image
Corresponding relationship, the color of first area are locating for minimum range of the barrier away from unmanned plane of the first area apart from section
Corresponding color of image.
7. method described in any one according to claim 1~6, which is characterized in that the method also includes:
When the minimum range at least one described distance is less than or equal to second threshold, in the posture ball described in display
Lowest distance value.
8. method described in any one according to claim 1~7, which is characterized in that the method also includes:
The prompt information of the barrier is obtained in real time, and first figure is adjusted according to the prompt information of the barrier in real time
Picture.
9. method described in any one according to claim 1~8, which is characterized in that described to receive being used for for unmanned plane transmission
Prompt there are after the barrier prompt information of barrier, the method also includes:
According to the azimuth information, shown in first person main perspective FPV display interface in the orientation where the barrier
For prompting to be less than in the presence of distance the second image of the barrier of the preset threshold.
10. according to the method described in claim 9, it is characterized in that, when the barrier that the distance is less than preset threshold exists
When a continuous region, second image shown on the FPV display interface includes a continuous region, works as institute
Barrier that distance is less than preset threshold is stated when being present in multiple discontinuous regions, the institute shown on the FPV display interface
Stating the second image includes multiple discontinuous regions.
11. according to the method described in claim 10, it is characterized in that, the barrier prompt information also carries the barrier
At least one distance away from the unmanned plane, second image includes second area, and the color of the second area is according to institute
It states distance of the barrier of second area away from unmanned plane to determine, the second area is any area that second image includes
Domain.
12. according to the method for claim 11, which is characterized in that when the second area barrier away from unmanned plane away from
When from being less than or equal to first threshold, the color of the second area is red.
13. according to the method for claim 11, which is characterized in that the controlling terminal has apart from section and color of image
Corresponding relationship, the color of second area is locating for distance of the barrier away from unmanned plane of the second area apart from section pair
The color of image answered.
14. method described in 1~13 any one according to claim 1, which is characterized in that the method also includes:
When the minimum range at least one described distance is less than or equal to second threshold, shown in the FPV display interface
Show the minimum range.
15. a kind of controlling terminal, which is characterized in that the controlling terminal includes for executing such as any one of claim 1-14 institute
The unit for the information cuing method stated.
16. a kind of controlling terminal, which is characterized in that the controlling terminal includes: memory, processor and communication device, in which:
The memory, for storing program instruction；
The processor calls described program instruction to be used for:
It is used to prompt the barrier prompt information there are barrier, the barrier by what communication device reception unmanned plane was sent
Object prompt information is hindered to carry the azimuth information of the barrier；
According to the azimuth information, shown in orientation where the barrier for prompting to have distance less than pre- in posture ball
If the first image of the barrier of threshold value.
17. controlling terminal according to claim 16, which is characterized in that the barrier prompt information also carries the barrier
Hinder at least one distance of unmanned plane described in object distance, the first image is the barrier generated according at least one described range simulation
Hinder object shape image.
18. controlling terminal described in 7 or 16 according to claim 1, which is characterized in that when the distance is less than the barrier of preset threshold
When object being hindered to be present in a continuous region, the first image shown on the posture ball includes a continuous region,
When the barrier that the distance is less than preset threshold is present in multiple discontinuous regions, shown on the posture ball described
First image includes multiple discontinuous regions.
19. controlling terminal according to claim 18, which is characterized in that the first image includes first area, described
Distance of the color of first area according to the barrier of the first area away from unmanned plane determine, the first area is described the
Any region that one image includes.
20. controlling terminal according to claim 19, which is characterized in that when the barrier of the first area is away from unmanned plane
Distance when being less than or equal to first threshold, the color of the first area is red.
21. controlling terminal according to claim 19, which is characterized in that the controlling terminal has apart from section and image
The corresponding relationship of color, the color of first area are distance regions locating for distance of the barrier away from unmanned plane of the first area
Between corresponding color of image.
22. controlling terminal described in 7~21 any one according to claim 1, which is characterized in that the processor calls institute
Program instruction is stated to be also used to:
When the minimum range at least one described distance is less than or equal to second threshold, in the posture ball described in display
Lowest distance value.
23. controlling terminal described in 6~22 any one according to claim 1, which is characterized in that the processor calls institute
Program instruction is stated to be also used to:
The prompt information of the barrier is obtained in real time, and first figure is adjusted according to the prompt information of the barrier in real time
Picture.
24. controlling terminal described in 6~23 any one according to claim 1, which is characterized in that the processor calls institute
Program instruction is stated to be also used to:
According to the azimuth information, shown in first person main perspective FPV display interface in the orientation where the barrier
For prompting to be less than in the presence of distance the second image of the barrier of the preset threshold.
25. controlling terminal according to claim 24, which is characterized in that when the distance is less than the barrier of preset threshold
When being present in a continuous region, second image shown on the FPV display interface includes a continuous region,
When the barrier that the distance is less than preset threshold is present in multiple discontinuous regions, shown on the FPV display interface
Second image include multiple discontinuous regions.
26. controlling terminal according to claim 25, which is characterized in that the barrier prompt information also carries the barrier
Hinder at least one distance of unmanned plane described in object distance, second image includes second area, the color of the second area
Minimum range according to the barrier of the second area away from unmanned plane determines that the second area is that second image includes
Any region.
27. controlling terminal according to claim 26, which is characterized in that when the barrier of the second area is away from unmanned plane
Distance when being less than or equal to first threshold, the color of the second area is red.
28. controlling terminal according to claim 26, which is characterized in that the controlling terminal has apart from section and image
The corresponding relationship of color, the color of second area are distance regions locating for distance of the barrier away from unmanned plane of the second area
Between corresponding color of image.
29. according to controlling terminal described in claim 26~28 any one, which is characterized in that the processor calls institute
Program instruction is stated to be also used to:
When the minimum range at least one described distance is less than or equal to second threshold, shown in the FPV display interface
Show the minimum range.
30. a kind of information presentation system, the system comprises controlling terminals and unmanned plane, in which:
The unmanned plane, for detect the presence of at a distance from the unmanned plane be less than preset threshold barrier when, to institute
Controlling terminal is stated to send for prompting the barrier prompt information there are barrier；
The controlling terminal, for executing such as the described in any item information cuing methods of claim 1-14.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/093898 WO2020000479A1 (en) | 2018-06-30 | 2018-06-30 | Information prompt method and control terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110291481A true CN110291481A (en) | 2019-09-27 |
| CN110291481B CN110291481B (en) | 2022-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880010761.1A Active CN110291481B (en) | 2018-06-30 | 2018-06-30 | Information prompting method and control terminal |
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| Country | Link |
|---|---|
| CN (1) | CN110291481B (en) |
| WO (1) | WO2020000479A1 (en) |
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| CN112753001A (en) * | 2020-04-24 | 2021-05-04 | 深圳市大疆创新科技有限公司 | Flight guidance method, device, system, control terminal and readable storage medium |
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| CN112771350A (en) * | 2020-04-24 | 2021-05-07 | 深圳市大疆创新科技有限公司 | Flight guidance method, device and system, remote control terminal and readable storage medium |
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Also Published As
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| CN110291481B (en) | 2022-08-05 |
| WO2020000479A1 (en) | 2020-01-02 |
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