CN110291481B - Information prompting method and control terminal - Google Patents
Information prompting method and control terminal Download PDFInfo
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- CN110291481B CN110291481B CN201880010761.1A CN201880010761A CN110291481B CN 110291481 B CN110291481 B CN 110291481B CN 201880010761 A CN201880010761 A CN 201880010761A CN 110291481 B CN110291481 B CN 110291481B
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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
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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
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
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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
- G05D1/10—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 application discloses and provides an information prompting method and a control terminal, wherein the method is applied to the control terminal and comprises the following steps: receiving obstacle prompt information which is sent by an unmanned aerial vehicle and used for prompting existence of an obstacle, wherein the obstacle prompt information carries azimuth information of the obstacle; and displaying a first image for prompting that the obstacle with the distance smaller than a preset threshold exists in the position of the obstacle in the attitude ball according to the position information. It is thus clear that through implementing this application embodiment, be favorable to improving unmanned aerial vehicle's security.
Description
Technical Field
The application relates to the field of control, in particular to an information prompting method and a control terminal.
Background
With the continuous progress of scientific technology, Unmanned Aerial Vehicles (UAVs) have abundant functions, and the application field thereof is also expanding. For example, drones may be used for professional aerial photography, agricultural irrigation, electric cruise, remote sensing mapping, public security monitoring, and the like. The unmanned aerial vehicle is usually controlled by a control terminal (such as a mobile phone, a tablet computer or a wearable device).
However, in practice, the unmanned aerial vehicle is easy to collide with an obstacle during the flight process, so that the unmanned aerial vehicle is damaged, and the crash can be even caused seriously. Therefore, how to improve the safety of the unmanned aerial vehicle is a problem to be solved urgently at present.
Disclosure of Invention
The application discloses an information prompting method and a control terminal, which can prompt obstacles in an attitude ball, so that the safety of an unmanned aerial vehicle is improved.
In a first aspect, the present application provides an information prompting method, which is applied to a control terminal, and includes: receiving obstacle prompt information which is sent by an unmanned aerial vehicle and used for prompting existence of an obstacle, wherein the obstacle prompt information carries azimuth information of the obstacle;
and displaying a first image for prompting that the obstacle with the distance smaller than a preset threshold exists in the position of the obstacle in the attitude ball according to the position information.
It can be seen that, by implementing the method described in the first aspect, the control terminal can more vividly show the spatial position relationship between the obstacle and the unmanned aerial vehicle, so that the user can conveniently control the unmanned aerial vehicle to sail correctly, collision of the obstacle is avoided, and the safety of the unmanned aerial vehicle is improved.
In a second aspect, the present application provides a control terminal, comprising:
the communication unit is used for receiving obstacle prompt information which is sent by the unmanned aerial vehicle and used for prompting the existence of an obstacle, and the obstacle prompt information carries the direction information of the obstacle;
and the processing unit is used for displaying a first image for prompting that the obstacle with the distance smaller than the preset threshold exists in the position of the obstacle in the attitude ball according to the position information.
In a third aspect, the present application provides a control terminal, including: a memory, a processor, and a communication device, wherein:
a memory for storing program instructions;
a processor calling program instructions for:
receiving obstacle prompt information which is sent by the unmanned aerial vehicle and used for prompting existence of an obstacle through a communication device, wherein the obstacle prompt information carries direction information of the obstacle;
and displaying a first image used for prompting that the obstacle with the distance smaller than a preset threshold exists in the position of the obstacle in the attitude ball according to the position information.
In a fourth aspect, the present application provides an information prompt system, which includes a control terminal and an unmanned aerial vehicle, wherein:
the unmanned aerial vehicle is used for sending obstacle prompt information for prompting the existence of an obstacle to the control terminal when the existence of the obstacle with the distance from the unmanned aerial vehicle smaller than a preset threshold value is detected;
a control terminal for performing the method described in the first aspect.
The advantageous effects of the second to fourth aspects are the same as those of the first aspect, and the advantageous effects of the second to fourth aspects can be specifically referred to as those of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a diagram of a system architecture according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an information prompting method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a display interface of a control terminal according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an image of a simulated obstacle shape in a ball in a posture provided by an embodiment of the present invention;
fig. 5 to 10 are schematic diagrams of display interfaces of a control terminal according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a control terminal according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of another control terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings.
In order to clearly describe the scheme of the embodiment of the present invention, a service scenario and a system architecture that may be applied to the embodiment of the present invention are described below with reference to fig. 1.
Fig. 1 is a schematic diagram of a possible system architecture according to an embodiment of the present invention. The unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal. Wherein, this control terminal is used for controlling unmanned aerial vehicle. The control terminal can be a mobile phone, a tablet computer, a remote controller or other wearable devices (a watch or a bracelet) and the like. It is worth mentioning that the control terminal has a display screen. Fig. 1 takes the control end as an example of a mobile phone. Optionally, the unmanned aerial vehicle may include a flight body, a pan-tilt, and a camera device. The flight body can include a plurality of rotors and drive rotor pivoted rotor motor, provides the required power of unmanned aerial vehicle 1 flight from this. The camera device is carried on the flying body through the tripod head. The camera device is used for shooting images or videos in the flying process of the unmanned aerial vehicle, and can include but is not limited to a multispectral imager, a hyperspectral imager, a visible light camera, an infrared camera and the like. The holder can be multi-axis transmission and stability augmentation system, and can include a plurality of axis of rotation and holder motor. The pan-tilt motor can compensate the shooting angle of the camera device by adjusting the rotation angle of the rotation shaft, and can prevent or reduce the shake of the camera device by arranging a proper buffer mechanism. Of course, the imaging device may be mounted on the flying body directly or by another method, and the embodiment of the present invention is not limited thereto.
It is to be understood that the system architecture and the service scenario described in the embodiment of the present invention are for more clearly illustrating the technical solution of the embodiment of the present invention, and do not form a limitation on the technical solution provided in the embodiment of the present invention, and it is known by a person of ordinary skill in the art that the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems along with the evolution of the system architecture and the appearance of a new service scenario.
The following further describes a specific flow of the information prompting method provided in the embodiment of the present invention.
Referring to fig. 2, fig. 2 is a schematic flow chart of an information prompting method according to an embodiment of the present invention. As shown in fig. 2, the information prompting method may include steps 201 and 202. Wherein:
201. when the obstacle with the distance from the unmanned aerial vehicle smaller than the preset threshold value is detected to exist, the unmanned aerial vehicle sends obstacle prompt information for prompting the existence of the obstacle to the control terminal.
Wherein the obstacle prompt message carries the direction message of the obstacle. The orientation information may indicate a certain orientation, for example, the orientation information may indicate an orientation of 20 degrees east, south, west, north or east partial south. Alternatively, the azimuth information may indicate one or more azimuth intervals, for example, may indicate azimuth intervals of 20 degrees east to 20 degrees east.
202. And the control terminal displays a first image for prompting the existence of the obstacle with the distance smaller than the preset threshold value in the position of the obstacle in the attitude ball according to the position information.
Specifically, after receiving the obstacle prompt information, the control terminal displays a first image for prompting the existence of the obstacle with the distance smaller than a preset threshold value in the position of the obstacle in the attitude ball according to the position information.
The attitude ball is a circular interface used for displaying attitude change, relative position and nose turning of the airplane. For example, as shown in fig. 3, when the orientation information of the obstacle indicates that the obstacle is located at an orientation of 20 degrees north to 20 degrees north, the first image is displayed at an orientation of 20 degrees north to 20 degrees north of the attitude ball.
Because the gesture ball can show the gesture and the relative position of the unmanned aerial vehicle, the first image used for prompting the obstacle is displayed in the gesture ball, and the spatial position relation between the obstacle and the unmanned aerial vehicle can be more vividly shown to a user. Therefore, by implementing the method described in fig. 2, the control terminal can more vividly show the spatial position relationship between the obstacle and the unmanned aerial vehicle, so that the user can conveniently control the unmanned aerial vehicle to sail correctly, the obstacle is prevented from being collided, and the safety of the unmanned aerial vehicle is improved.
As an optional implementation manner, the obstacle prompt information further carries at least one distance from the unmanned aerial vehicle to the obstacle, and the first image is an obstacle shape image generated according to simulation of the at least one distance. By implementing this embodiment, the simulated obstacle shape image can be displayed in the posture ball to prompt the user of having an obstacle, and the obstacle can be more vividly and intuitively prompted to the user.
For example, the obstacle prompt information carries the azimuth information of 20 degrees north-west to 20 degrees north-east in the azimuth interval, and the obstacle prompt information also carries the distance between the unmanned aerial vehicle corresponding to each azimuth of 20 degrees north-west to 20 degrees north-east in the azimuth interval and the obstacle. And the control terminal generates an obstacle shape image according to the distance simulation corresponding to each azimuth, and displays the obstacle shape image to prompt that the obstacle with the distance smaller than the preset threshold exists.
As shown in fig. 4, if the distance corresponding to the true north is 2m (meters), that is, the distance from the obstacle in the true north to the unmanned aerial vehicle is 2m, the position of the a point can be determined in the attitude ball. The distance corresponding to the 10-degree position of the north is 2.5m, namely the distance between the obstacle in the 10-degree position of the north and the unmanned aerial vehicle is 2.5m, and the position of the B point can be determined in the attitude ball. The distance corresponding to the 20-degree position of the north is 4m, namely the distance between the obstacle in the 20-degree position of the north and the unmanned aerial vehicle is 4m, and the position of the C point can be determined in the attitude ball. The distance corresponding to the north-east 10-degree position is 2.5m, namely the distance between the obstacle in the north-east 10-degree position and the unmanned aerial vehicle is 2.5m, and the position of the D point can be determined in the attitude ball. The distance corresponding to the 20-degree north-east position is 4m, namely the distance between the obstacle in the 20-degree north-east position and the unmanned aerial vehicle is 4m, and the position of the E point can be determined in the attitude ball. Similarly, the control terminal can determine corresponding positions in the attitude ball according to the same principle and the distance between the unmanned aerial vehicle corresponding to each azimuth of the azimuth interval from 20 degrees north to west to 20 degrees north to east, and then connect all the determined positions, so that the shape of the obstacle can be simulated, and the obstacle shape image is generated.
Of course, the first image may not be the simulated obstacle shape image, but may be any other image, as shown in fig. 5.
As an alternative embodiment, when an obstacle whose distance is smaller than the preset threshold value exists in a continuous region, the first image displayed on the gesture ball includes a continuous region, and when an obstacle whose distance is smaller than the preset threshold value exists in a plurality of discontinuous regions, the first image displayed on the gesture ball includes a plurality of discontinuous regions. By implementing the embodiment, the area where the obstacle is located can be more vividly and intuitively presented in the posture ball.
If the direction information carried in the obstacle prompt information is a direction interval, such as 20 degrees north to west and 20 degrees north to east, the obstacle with the distance smaller than the preset threshold value exists in a continuous area. That is, when the direction information carried in the obstacle guidance information is a direction section, the first image displayed on the posture ball includes a continuous area. Accordingly, when the azimuth information carried in the obstacle prompt information is a plurality of non-overlapping azimuth intervals, the first image displayed on the posture ball includes a plurality of continuous areas.
For example, as shown in fig. 3, when an obstacle having a distance smaller than a preset threshold value exists between 20 degrees north and 20 degrees north, the first image includes a continuous area. As shown in fig. 6, when an obstacle having a distance smaller than a preset threshold exists between 20 degrees north and between 10 degrees west and 25 degrees west, the first image includes two continuous regions.
As an alternative embodiment, the first image includes a first area, the color of the first area is determined according to the distance between the obstacle of the first area and the drone, and the first area is any area included in the first image. Through implementing this embodiment, the user just can discern the distance of the barrier in this region from unmanned aerial vehicle fast according to the colour in image area. Optionally, the distance from the obstacle in the first area to the drone may be the closest distance from a point on the obstacle in the first area to the drone. Specifically, when the first regions in the first image that satisfy the preset threshold are multiple segments, the number of the first regions is multiple; when the first area meeting the preset threshold value in the first image is a section, the number of the first areas is one; if the whole first image meets the preset threshold value, the first area is the whole first image.
For example, as shown in fig. 6, the first image includes an area 1 and an area 2, the distance from the obstacle in the area 1 to the drone is less than or equal to 2m, the distance from the obstacle in the area 2 to the drone is greater than 2m and less than or equal to 3m, the color in the area 1 is determined according to the color corresponding to the distance less than or equal to 2m, and the color in the area 2 is determined according to the color corresponding to the distance greater than 2m and less than or equal to 3 m.
Optionally, when the distance between the obstacle in the first area and the drone is less than or equal to the first threshold, the color of the first area is red. For example, if the first threshold is 2m, the color of the region 1 in fig. 6 is red. The color of the area 2 may be another color than red, such as yellow. By implementing the embodiment, when the distance from the obstacle in the first area is very close, the color of the first area is displayed as red, so that the unmanned aerial vehicle can be intuitively prompted to be very close to the obstacle in the first area.
Optionally, the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the first area is the image color corresponding to the distance interval where the distance between the obstacle of the first area and the unmanned aerial vehicle is located. By implementing the embodiment, the user can more intuitively distinguish the distances between the obstacles in different areas and the unmanned aerial vehicle. Alternatively, the minimum distance interval corresponding to the image color red may be set.
Table 1 below is an example of correspondence of the distance section to the image color. As shown in table 1 below, the distance of the obstacle in area 1 of fig. 6 from the drone is 2m, in the interval [0, 2.5], so the color of area 1 of fig. 6 is red. The obstacle in area 2 of fig. 6 is 3m from the drone, in the interval (2.5, 3.5), so area 2 of fig. 6 is yellow in color.
TABLE 1
| Distance interval | Color of image |
| [0，2.5] | Red colour |
| (2.5，3.5] | Yellow colour |
| (3.5，5] | Grey colour |
As an alternative embodiment, when the minimum distance of the at least one distance carried by the obstacle prompt information is less than or equal to the second threshold, the minimum distance value is displayed in the gesture ball. For example, as shown in fig. 7, the first image includes an area 1 and an area 2. The minimum distance between the obstacle in the area 1 and the unmanned aerial vehicle is 2m, the minimum distance between the obstacle in the area 2 and the unmanned aerial vehicle is 3m, and when the second threshold value is 2.5, the minimum distance value is 2m displayed in the attitude ball. By implementing this embodiment, the user may be prompted for a minimum distance of the obstacle from the drone.
Optionally, the second threshold may be equal to the first threshold, or the second threshold may be greater than or less than the first threshold, or the second threshold is in a distance interval corresponding to red, so that it is ensured that the minimum distance value is displayed only when the red region appears in the first image.
Optionally, the red region in the first image may be flashed, or the red region closest to the drone may be flashed.
Optionally, the closest distance from the direction of the unmanned aerial vehicle head to the obstacle can be displayed in the attitude ball.
As an optional implementation manner, the prompt information of the obstacle is obtained in real time, and the first image is adjusted in real time according to the prompt information of the obstacle.
By implementing the embodiment, the first image can be adjusted in an implementable manner, so that the user can grasp the latest position relationship between the unmanned aerial vehicle and the obstacle.
As an optional implementation manner, after receiving obstacle prompt information sent by the unmanned aerial vehicle for prompting existence of an obstacle, the control terminal may further display, in a First person perspective view (FPV) display interface, a second image for prompting existence of an obstacle having a distance smaller than a preset threshold value in the direction where the obstacle is located, according to the direction information. By implementing the embodiment, the image for prompting the obstacle can be displayed on the attitude ball and the FPV interface at the same time, and the user is prevented from missing the image for prompting the obstacle.
Alternatively, the first image may be different from the second image.
As shown in fig. 8, when the orientation information of the obstacle indicates that the orientation of the obstacle is 20 degrees to 20 degrees north-west-north-east, the first image is displayed in the orientation of 20 degrees north-west-north-east of the attitude ball. And displaying a second image in the direction of 20 degrees north to west to east of the FPV display interface.
Alternatively, the second image may be arc-shaped. If the 360-degree direction has the obstacle, the second image can be in an elliptical shape to form an obstacle avoidance ring.
As an alternative embodiment, when an obstacle whose distance is less than the preset threshold value exists in a continuous region, the second image displayed on the FPV display interface includes a continuous region, and when an obstacle whose distance is less than the preset threshold value exists in a plurality of discontinuous regions, the second image displayed on the FPV display interface includes a plurality of discontinuous regions. By implementing the embodiment, the area where the obstacle is located can be more vividly and intuitively prompted on the FPV display interface.
For example, as shown in fig. 8, when an obstacle having a distance less than a preset threshold exists between 20 degrees north and 20 degrees north, the first image and the second image include one continuous area. As shown in fig. 9, when an obstacle having a distance smaller than a preset threshold exists from 20 degrees north to 25 degrees west, the first image and the second image include two continuous regions.
As an optional implementation manner, the obstacle prompt information further carries at least one distance from the obstacle to the drone, the second image includes a second area, the color of the second area is determined according to the distance from the obstacle to the drone, and the second area is any area included in the second image. Through implementing this embodiment, the user just can discern the distance of this regional barrier apart from unmanned aerial vehicle fast according to the colour in image area. Optionally, the distance from the obstacle in the second area to the drone may be the closest distance from a point on the obstacle in the second area to the drone. Specifically, when the second area satisfying the preset threshold in the second image is a plurality of sections, the number of the second areas is multiple; when a second area satisfying a preset threshold value in the second image is a section, the number of the second areas is one; and if the whole second image meets the preset threshold value, the second area is the whole second image.
For example, as shown in fig. 9, the second image includes an area 3 and an area 4, the distance from the obstacle of the area 3 to the drone is less than or equal to 2m, the distance from the obstacle of the area 4 to the drone is greater than 2m and less than or equal to 3m, the color of the area 3 is determined according to the color corresponding to the distance of less than or equal to 2m, and the color of the area 4 is determined according to the color corresponding to the distance of greater than 2m and less than or equal to 3 m.
Optionally, when the distance between the obstacle in the second area and the drone is less than or equal to the first threshold, the color of the second area is red. For example, if the first threshold is 2m, the color of the area 3 in fig. 9 is red. The colour of the area 4 may be another colour than red, such as yellow. By implementing the embodiment, when the distance from the obstacle in the second area is very close, the color of the second area is displayed as red, so that the unmanned aerial vehicle can be intuitively prompted to be very close to the obstacle in the second area.
Optionally, the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the second area is the image color corresponding to the distance interval where the distance between the obstacle of the second area and the unmanned aerial vehicle is located. By implementing the embodiment, the user can distinguish the distances between the obstacles in different areas and the unmanned aerial vehicle more intuitively. Alternatively, the minimum distance interval corresponding to the image color red may be set.
The correspondence between the distance intervals and the image colors can be as shown in table 1 above, and is not described herein. As shown in table 1 above, the distance from the obstacle in area 3 of fig. 9 to the drone is 2m, which is in the interval [0, 2.5], so the color of area 4 of fig. 9 is red. The obstacle in area 4 of fig. 9 is 3m from the drone, in the interval (2.5, 3.5), so area 4 of fig. 9 is yellow in color.
As an alternative embodiment, when the minimum distance of the at least one distance is less than or equal to the second threshold, the minimum distance is displayed in the FPV display interface. By implementing this embodiment, the user may be prompted for a minimum distance of the obstacle from the drone.
For example, as shown in fig. 10, the first image includes an area 1 and an area 2. The minimum distance between the obstacle in the area 1 and the unmanned aerial vehicle is 2m, the minimum distance between the obstacle in the area 2 and the unmanned aerial vehicle is 3m, and when the second threshold value is 2.5, the minimum distance value is 2m displayed in the attitude ball. The second image includes area 3 and area 4. The minimum distance between the obstacle in the area 3 and the unmanned aerial vehicle is 2m, the minimum distance between the obstacle in the area 4 and the unmanned aerial vehicle is 3m, and the minimum distance value is 2m displayed in the FPV display interface.
Referring to fig. 11, fig. 11 is a schematic structural diagram of a control terminal provided in an embodiment of the present application, where the control terminal at least includes a communication unit 1101 and a processing unit 1102, where:
the communication unit 1101 is configured to receive obstacle prompt information sent by the unmanned aerial vehicle, where the obstacle prompt information is used for prompting that an obstacle exists and carries direction information of the obstacle;
the processing unit 1102 is configured to display a first image used for prompting that an obstacle with a distance smaller than a preset threshold exists in the orientation of the obstacle in the gesture ball according to the orientation information.
Optionally, the obstacle prompt information further carries at least one distance from the obstacle to the unmanned aerial vehicle, and the first image is an obstacle shape image generated according to at least one distance simulation.
Optionally, when an obstacle whose distance is smaller than a preset threshold exists in a continuous region, the first image displayed on the gesture ball includes a continuous region, and when an obstacle whose distance is smaller than a preset threshold exists in a plurality of discontinuous regions, the first image displayed on the gesture ball includes a plurality of discontinuous regions.
Optionally, the first image includes a first area, a color of the first area is determined according to a distance between an obstacle of the first area and the drone, and the first area is any area included in the first image.
Optionally, when the distance between the obstacle in the first area and the drone is less than or equal to the first threshold, the color of the first area is red.
Optionally, the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the first area is the image color corresponding to the distance interval where the distance between the obstacle of the first area and the unmanned aerial vehicle is located.
Optionally, the processing unit 1102 is further configured to display a minimum distance value in the gesture ball when a minimum distance of the at least one distance is smaller than or equal to a second threshold.
Optionally, the communication unit 1101 is further configured to obtain prompt information of the obstacle in real time; the processing unit 1102 is further configured to adjust the first image in real time according to the prompt information of the obstacle.
Optionally, the processing unit 1102 is further configured to display, according to the orientation information, a second image for prompting that an obstacle having a distance smaller than a preset threshold exists in the first-person main viewing angle FPV display interface in the orientation where the obstacle is located.
Optionally, when an obstacle whose distance is smaller than the preset threshold exists in a continuous region, the second image displayed on the FPV display interface includes a continuous region, and when an obstacle whose distance is smaller than the preset threshold exists in a plurality of discontinuous regions, the second image displayed on the FPV display interface includes a plurality of discontinuous regions.
Optionally, the obstacle prompt information further carries at least one distance from the obstacle to the unmanned aerial vehicle, the second image includes a second area, the color of the second area is determined according to the distance from the obstacle to the unmanned aerial vehicle, and the second area is any area included in the second image.
Optionally, when the distance between the obstacle in the second area and the drone is less than or equal to the first threshold, the color of the second area is red.
Optionally, the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the second area is the image color corresponding to the distance interval where the distance between the obstacle of the second area and the unmanned aerial vehicle is located.
Optionally, the processing unit 1102 is further configured to display the minimum distance in the FPV display interface when the minimum distance in the at least one distance is smaller than or equal to the second threshold.
Based on the same inventive concept, the principle of solving the problem of the control terminal provided in the embodiment of the present application is similar to that of the embodiment of the method of the present application, so the implementation of the control terminal can refer to the implementation of the method, and the beneficial effects of the control terminal can refer to the beneficial effects of the method, which are not described herein again for brevity.
Referring to fig. 12, fig. 12 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. As shown in fig. 12, the control terminal includes a memory 1201, a processor 1202, and a communication device 1203. Alternatively, the memory 1201, processor 1202, and communication device 1203 may be connected by a bus system 1204.
A memory 1201 for storing program instructions. Memory 1201 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 1201 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a solid-state drive (SSD), or the like; the memory 1201 may also include a combination of the above types of memory.
receiving obstacle prompt information which is sent by the unmanned aerial vehicle and used for prompting existence of an obstacle through the communication device 1203, wherein the obstacle prompt information carries direction information of the obstacle;
and displaying a first image used for prompting that the obstacle with the distance smaller than a preset threshold exists in the position of the obstacle in the attitude ball according to the position information.
Optionally, the obstacle prompt information further carries at least one distance from the obstacle to the unmanned aerial vehicle, and the first image is an obstacle shape image generated according to at least one distance simulation.
Optionally, when an obstacle whose distance is smaller than a preset threshold exists in a continuous region, the first image displayed on the gesture ball includes a continuous region, and when an obstacle whose distance is smaller than a preset threshold exists in a plurality of discontinuous regions, the first image displayed on the gesture ball includes a plurality of discontinuous regions.
Optionally, the first image includes a first area, a color of the first area is determined according to a distance between an obstacle of the first area and the drone, and the first area is any area included in the first image.
Optionally, when the distance between the obstacle in the first area and the drone is less than or equal to the first threshold, the color of the first area is red.
Optionally, the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the first area is the image color corresponding to the distance interval where the distance between the obstacle of the first area and the unmanned aerial vehicle is located.
Optionally, the processor 1202, the calling program instruction is further configured to:
when a minimum distance of the at least one distance is less than or equal to a second threshold value, a minimum distance value is displayed in the gesture ball.
Optionally, the processor 1202, the calling program instruction is further configured to:
and acquiring prompt information of the obstacle in real time, and adjusting the first image in real time according to the prompt information of the obstacle.
Optionally, the processor 1202, the calling program instruction is further configured to:
and according to the azimuth information, displaying a second image for prompting the existence of the obstacle with the distance smaller than the preset threshold value in the azimuth of the obstacle in the first person main viewing angle FPV display interface.
Optionally, when an obstacle whose distance is smaller than the preset threshold exists in a continuous region, the second image displayed on the FPV display interface includes a continuous region, and when an obstacle whose distance is smaller than the preset threshold exists in a plurality of discontinuous regions, the second image displayed on the FPV display interface includes a plurality of discontinuous regions.
Optionally, the obstacle prompt information further carries at least one distance from the obstacle to the unmanned aerial vehicle, the second image includes a second area, the color of the second area is determined according to the distance from the obstacle to the unmanned aerial vehicle, and the second area is any area included in the second image.
Optionally, when the distance between the obstacle in the second area and the drone is less than or equal to the first threshold, the color of the second area is red.
Optionally, the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the second area is the image color corresponding to the distance interval where the distance between the obstacle of the second area and the unmanned aerial vehicle is located.
Optionally, the processor 1202, the calling program instruction is further configured to:
when the minimum distance of the at least one distance is less than or equal to a second threshold value, the minimum distance is displayed in the FPV display interface.
Based on the same inventive concept, the principle of solving the problem of the control terminal provided in the embodiment of the present application is similar to that of the embodiment of the method of the present application, so the implementation of the control terminal can refer to the implementation of the method, and the beneficial effects of the control terminal can refer to the beneficial effects of the method, which are not described herein again for brevity.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The method, the device and the ground flight control console for waypoint editing provided by the embodiments of the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (28)
1. An information prompting method is applied to a control terminal, and is characterized by comprising the following steps:
receiving obstacle prompt information which is sent by an unmanned aerial vehicle and used for prompting existence of an obstacle, wherein the obstacle prompt information carries azimuth information of the obstacle;
displaying a first image used for prompting that the obstacle with the distance smaller than a preset threshold exists in the position of the obstacle in the attitude ball according to the position information;
wherein the first image displayed on the gesture ball includes a continuous region when the obstacle whose distance is less than the preset threshold exists in the continuous region, and includes a plurality of discontinuous regions when the obstacle whose distance is less than the preset threshold exists in the plurality of discontinuous regions.
2. The method of claim 1, wherein the obstacle-prompting information further carries at least one distance of the obstacle from the drone, and wherein the first image is an obstacle-shape image generated from a simulation of the at least one distance.
3. The method of claim 1 or 2, wherein the first image comprises a first area, wherein the color of the first area is determined according to the distance of the obstacle of the first area from the drone, and wherein the first area is any area comprised by the first image.
4. The method of claim 3, wherein the first zone is red in color when the first zone has an obstacle that is a distance from the drone that is less than or equal to a first threshold.
5. The method according to claim 3, wherein the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the first area is the image color corresponding to the distance interval in which the obstacle of the first area is located at the minimum distance from the unmanned aerial vehicle.
6. The method of claim 2, further comprising:
displaying the minimum distance value in the gesture ball when a minimum distance of the at least one distance is less than or equal to a second threshold.
7. The method according to claim 1 or 2, characterized in that the method further comprises:
and acquiring prompt information of the obstacle in real time, and adjusting the first image in real time according to the prompt information of the obstacle.
8. The method according to claim 1 or 2, wherein after receiving obstacle prompt information sent by the drone for prompting existence of an obstacle, the method further comprises:
and according to the orientation information, displaying a second image for prompting that the obstacle with the distance smaller than the preset threshold exists in the orientation of the obstacle in a first person main viewing angle FPV display interface.
9. The method of claim 8, wherein the second image displayed on the FPV display interface comprises a continuous region when the obstacle having the distance less than the preset threshold exists in the continuous region, and wherein the second image displayed on the FPV display interface comprises a plurality of discontinuous regions when the obstacle having the distance less than the preset threshold exists in the plurality of discontinuous regions.
10. The method of claim 9, wherein the obstacle-prompting information further carries at least one distance of the obstacle from the drone, wherein the second image includes a second area, wherein a color of the second area is determined according to a distance of the obstacle of the second area from the drone, and wherein the second area is any area included in the second image.
11. The method of claim 10, wherein the second zone is red in color when the distance of the obstacle from the drone is less than or equal to a first threshold.
12. The method according to claim 10, wherein the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the second area is the image color corresponding to the distance interval in which the distance from the obstacle of the second area to the unmanned aerial vehicle is located.
13. The method of claim 10, further comprising:
when a minimum distance of the at least one distance is less than or equal to a second threshold, displaying the minimum distance in the FPV display interface.
14. A control terminal, characterized in that the control terminal comprises means for performing the information prompting method according to any one of claims 1-13.
15. A control terminal, characterized in that the control terminal comprises: a memory, a processor, and a communication device, wherein:
the memory to store program instructions;
the processor invoking the program instructions for:
receiving obstacle prompt information which is sent by the unmanned aerial vehicle and used for prompting existence of an obstacle through the communication device, wherein the obstacle prompt information carries azimuth information of the obstacle;
displaying a first image used for prompting that the obstacle with the distance smaller than a preset threshold exists in the position of the obstacle in the attitude ball according to the position information;
wherein the first image displayed on the gesture ball includes a continuous region when the obstacle whose distance is less than the preset threshold exists in the continuous region, and includes a plurality of discontinuous regions when the obstacle whose distance is less than the preset threshold exists in the plurality of discontinuous regions.
16. The control terminal according to claim 15, wherein the obstacle prompt message further carries at least one distance of the obstacle from the drone, and the first image is an obstacle shape image generated by simulation based on the at least one distance.
17. The control terminal according to claim 15 or 16, wherein the first image comprises a first area, wherein the color of the first area is determined according to the distance of the obstacle of the first area from the drone, and the first area is any area comprised by the first image.
18. The control terminal of claim 17, wherein the first zone is red in color when the distance of the obstacle from the drone is less than or equal to a first threshold.
19. The control terminal according to claim 17, wherein the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the first area is the image color corresponding to the distance interval in which the distance between the obstacle of the first area and the unmanned aerial vehicle is located.
20. The control terminal of claim 16, wherein the processor, invoking the program instructions, is further configured to:
displaying the minimum distance value in the gesture ball when a minimum distance of the at least one distance is less than or equal to a second threshold.
21. The control terminal of claim 15 or 16, wherein the processor, invoking the program instructions, is further configured to:
and acquiring prompt information of the obstacle in real time, and adjusting the first image in real time according to the prompt information of the obstacle.
22. The control terminal of claim 15 or 16, wherein the processor, invoking the program instructions, is further configured to:
and according to the orientation information, displaying a second image for prompting that the obstacle with the distance smaller than the preset threshold exists in the orientation of the obstacle in a first person main viewing angle FPV display interface.
23. The control terminal according to claim 22, wherein the second image displayed on the FPV display interface includes a continuous region when the obstacle whose distance is less than the preset threshold exists in the continuous region, and includes a plurality of discontinuous regions when the obstacle whose distance is less than the preset threshold exists in the plurality of discontinuous regions.
24. The control terminal according to claim 23, wherein the obstacle-prompting message further carries at least one distance of the obstacle from the drone, the second image includes a second area, a color of the second area is determined according to a minimum distance of the obstacle of the second area from the drone, and the second area is any area included in the second image.
25. The control terminal of claim 24, wherein the second zone is red in color when the distance of the obstacle from the drone is less than or equal to a first threshold.
26. The control terminal according to claim 24, wherein the control terminal has a corresponding relationship between a distance interval and an image color, and the color of the second area is the image color corresponding to the distance interval in which the distance between the obstacle of the second area and the unmanned aerial vehicle is located.
27. The control terminal of claim 24, wherein the processor, invoking the program instructions, is further configured to:
when a minimum distance of the at least one distance is less than or equal to a second threshold, displaying the minimum distance in the FPV display interface.
28. An information prompt system, the system includes control terminal and unmanned aerial vehicle, wherein:
the unmanned aerial vehicle is used for sending obstacle prompt information for prompting the existence of an obstacle to the control terminal when the existence of the obstacle with the distance from the unmanned aerial vehicle smaller than a preset threshold value is detected;
the control terminal is used for executing the information prompting method of any one of claims 1-13.
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 |
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| CN110291481A CN110291481A (en) | 2019-09-27 |
| CN110291481B true CN110291481B (en) | 2022-08-05 |
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| CN111330271A (en) * | 2020-02-24 | 2020-06-26 | 竞技世界（北京）网络技术有限公司 | Display method and device of prompt area |
| WO2021212518A1 (en) * | 2020-04-24 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Flight direction method, apparatus and system, control terminal, and readable storage medium |
| 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 |
| WO2021217381A1 (en) * | 2020-04-27 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Flight prompt method and device, control terminal, system, and storage medium |
| CN114694423A (en) * | 2022-03-26 | 2022-07-01 | 太仓武港码头有限公司 | Ship loader safety early warning method, system, terminal and storage medium |
| WO2023184487A1 (en) * | 2022-04-01 | 2023-10-05 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and apparatus, unmanned aerial vehicle, remote control device and storage medium |
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| CN110291481A (en) | 2019-09-27 |
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