CN112334854A - Flight control method and system, unmanned aerial vehicle, remote controller and storage medium - Google Patents
Flight control method and system, unmanned aerial vehicle, remote controller and storage medium Download PDFInfo
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Abstract
A flight control method, a flight control system, an unmanned aerial vehicle, a remote controller, and a storage medium, the method comprising: when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder to lock a shooting angle of a camera device (S101); acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle (S102); and controlling the unmanned aerial vehicle to fly according to the adjusted signal (S103).
Description
Technical Field
The present application relates to the field of flight control technologies, and in particular, to a flight control method and system, an unmanned aerial vehicle, a remote controller, and a storage medium.
Background
First person perspective flight has gained increasing attention in recent years, and its immersive flight experience attracts the eyes of many people. In the First Person View flight, a camera device with wireless transmission is generally bound to an unmanned aerial vehicle, and a user views a real-time picture of a First View in real time through First Person View (FPV) glasses.
Because the first-person visual angle flight generally sticks the camera device on the unmanned aerial vehicle body, the shake of the unmanned aerial vehicle can be directly reflected on the picture. The picture shaking caused by the inexperienced operation of the flight hands or the unreasonable parameter setting and the like generally not only makes a beginner have difficult experience, but also is not very friendly to users with shooting requirements. To solve this problem, the existing solutions are divided into two categories: firstly, adopting a traditional aerial photography machine with a cloud deck to carry out FPV experience; and secondly, trying to reduce the control force and slow down the regulation force when the penetrating machine without the holder is used for carrying out FPV experience.
However, the attitude of the unmanned aerial vehicle in the first scheme is limited, and the unmanned aerial vehicle cannot experience the extreme flying pleasure under the first-named main viewing angle; the second scheme still has a jittering picture, and especially, the picture jittering is aggravated by the new hands due to factors such as stress.
Disclosure of Invention
Based on this, the application provides a flight control method, a flight control system, an unmanned aerial vehicle, a remote controller and a storage medium.
In a first aspect, the present application provides a flight control system for an unmanned aerial vehicle having an imaging device mounted thereon, the system including: a memory, a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder carried by the unmanned aerial vehicle to lock the shooting angle of the camera device;
acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
In a second aspect, the present application provides a flight control method applied to an unmanned aerial vehicle equipped with an imaging device, including:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder carried by the unmanned aerial vehicle to lock the shooting angle of the camera device;
acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
In a third aspect, the present application provides an unmanned aerial vehicle equipped with an imaging device, including: a memory, a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder carried by the unmanned aerial vehicle to lock the shooting angle of the camera device;
acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
In a fourth aspect, the present application provides a remote controller, comprising: memory, processor, and communication circuitry;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, acquiring relevant adjustment information, wherein the relevant adjustment information is used for reducing the adjustment force of the unmanned aerial vehicle;
and the communication circuit is used for feeding back the relevant adjustment information to the unmanned aerial vehicle so that the unmanned aerial vehicle can control the unmanned aerial vehicle to fly according to the relevant adjustment information.
In a fifth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to implement a flight control method as described above.
The embodiment of the application provides a flight control method, a flight control system, an unmanned aerial vehicle, a remote controller and a storage medium, when the unmanned aerial vehicle is in a first-person visual angle flight mode, a cloud deck carried by the unmanned aerial vehicle is controlled to lock the shooting angle of a camera device, and through the mode, the immersion and the limit flight pleasure of flight during FPV can be greatly improved. Acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly according to the adjusted signal, and reducing the adjusting force of the remote controller or the unmanned aerial vehicle on the unmanned aerial vehicle; for example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics of remote controller to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience. When the new hand operates or when shooting the demand, also can slow down the picture shake through reducing unmanned vehicles to the regulation dynamics of self, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, also can promote user experience. If the regulation dynamics of adjustment remote controller and the regulation dynamics of adjustment unmanned vehicles combine together, the regulative mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of an embodiment of a flight control method of the present application;
fig. 2 is a schematic view of an embodiment of a shooting angle of a pan-tilt locking camera device in the flight control method of the present application;
FIG. 3 is a schematic flow chart diagram of another embodiment of a flight control method of the present application;
FIG. 4 is a schematic flow chart diagram of yet another embodiment of a flight control method of the present application;
FIG. 5 is a schematic diagram of a remote control stick control mode of the UAV;
FIG. 6 is a schematic diagram of a control mode of a remote control rocker of the UAV, such as a U.S. Pat. No. 5;
FIG. 7 is a schematic diagram of another control mode of a remote control rocker of the unmanned aerial vehicle, such as a U.S. Pat. No. 4;
FIG. 8 is a schematic flow chart diagram of yet another embodiment of a flight control method of the present application;
FIG. 9 is a schematic structural diagram of an embodiment of the flight control system of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
In the existing first-person visual angle flight, a camera device is attached to an unmanned aerial vehicle body in a hard mode, and the shake of the unmanned aerial vehicle is directly reflected on a picture. The picture jitter caused by the inexperienced operation of the flight hands or the unreasonable parameter setting and the like causes that beginners hardly have good experience and are not friendly to users with shooting requirements. In the existing solutions, the first one adopts a traditional aerial photography machine with a cradle head, but the attitude of the unmanned aerial vehicle is limited, and the user cannot experience extreme flying pleasure; and in the second method, the adjustment force is reduced and slowed down when a penetrating machine without a holder is adopted for FPV experience, but the picture still shakes, and especially the picture shaking is aggravated by a novice due to factors such as tension and the like.
When unmanned vehicles was in first person's visual angle flight mode, the cloud platform of control unmanned vehicles carrying on locked camera device's shooting angle, through this kind of mode, the sense of immersing and the sense of limit flight of flight when can improving FPV greatly. Acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly according to the adjusted signal, and reducing the adjusting force of the remote controller or the unmanned aerial vehicle on the unmanned aerial vehicle; for example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics of remote controller to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience. When the new hand operates or when shooting the demand, also can slow down the picture shake through reducing unmanned vehicles to the regulation dynamics of self, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, also can promote user experience. If the regulation dynamics of adjustment remote controller and the regulation dynamics of adjustment unmanned vehicles combine together, the regulative mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a flight control method of the present application, which is applied to an unmanned aerial vehicle, and includes:
step S101: when the unmanned aerial vehicle is in a first-person visual angle flight mode, a tripod head carried by the unmanned aerial vehicle is controlled to lock the shooting angle of the camera device.
Referring to fig. 2, in the first-person perspective flight mode, with the assistance of the pan/tilt head 100, the picture is generally relatively stable. However, since the attitude of the pan/tilt head 100 is adjustable (for example, the pitch direction controllable angle is-90 ° to +30 °, the default control angle is-90 ° to 0 °), so that the shooting angle of the image pickup device 200 changes as the attitude of the pan/tilt head 100 changes, the attitude of the unmanned aerial vehicle is limited. In the embodiment, the cloud deck 100 is used for locking the shooting angle of the camera device 200, namely, the shooting angle (for example: 0 °) of the camera device 200 is fixed, so that the camera device 200 is fixed on the body of the unmanned aerial vehicle through the cloud deck 100, and the situation of the unmanned aerial vehicle is prevented from being limited. Specifically, when the unmanned aerial vehicle is in the first-person perspective flight mode, after the adjusting mechanism 101 is controlled to adjust the attitude of the pan/tilt head 100 mounted on the unmanned aerial vehicle to the attitude corresponding to the shooting angle of the image pickup device 200, the adjusting mechanism 101 is locked to lock the shooting angle of the image pickup device 200.
Step S102: and acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle.
Step S103: and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
The adjusted signal can reduce the adjusting force of the unmanned aerial vehicle. For example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience.
It should be noted that, in this embodiment, the execution main body for acquiring the adjusted signal is an unmanned aerial vehicle, and the main body for adjusting the signal may be the unmanned aerial vehicle or a remote controller. The signal before adjustment can come from the unmanned aerial vehicle or a remote controller.
The adjusted signal obtained in step S102 may be obtained as follows: (1) the method comprises the steps of (1) obtaining a signal after self adjustment of the unmanned aerial vehicle, (2) obtaining an adjusted signal sent by a remote controller, (3) obtaining an unadjusted signal sent by the remote controller, adjusting the unadjusted signal by the unmanned aerial vehicle to obtain an adjusted signal, (4) obtaining the signal after self adjustment of the unmanned aerial vehicle and the adjusted signal sent by the remote controller, and (5) obtaining the adjusted signal after self adjustment of the unmanned aerial vehicle and the adjusted signal obtained by adjusting the unadjusted signal sent by the remote controller by the unmanned aerial vehicle.
When unmanned vehicles were in first person's visual angle flight mode, the cloud platform of control unmanned vehicles carrying on locked camera device's shooting angle, through this kind of mode, the sense of immersing and the sense of limit flight of flying when can improving FPV experience greatly. Acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly according to the adjusted signal, and reducing the adjusting force of the remote controller or the unmanned aerial vehicle on the unmanned aerial vehicle; for example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics of remote controller to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience. When the new hand operates or when shooting the demand, also can slow down the picture shake through reducing unmanned vehicles to the regulation dynamics of self, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, also can promote user experience. If the regulation dynamics of adjustment remote controller and the regulation dynamics of adjustment unmanned vehicles combine together, the regulative mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
Because the existing first-person angle of view flight usually is due to the picture shake caused by unskilled operation of the flight hands or unreasonable parameter setting, the beginner is difficult to have good experience and is not friendly to users with shooting requirements. Therefore, the following description focuses on the adjustment of step S102 in the direction of narrowing and the specific implementation manner, respectively, to meet the requirements of novice and shooting users. The adjusted signal can reduce the adjusting force of the unmanned aerial vehicle.
The unadjusted signal is used as a remote controller end source, which shows that the adjusted signal can reduce the adjusting force of the unmanned aerial vehicle. The remote controller can reduce the unadjusted first control signal into a second control signal, and the second control signal is used as an adjusted signal to be sent to the unmanned aerial vehicle; the remote controller can also send the unadjusted first control signal to the unmanned aerial vehicle, the unadjusted first control signal is reduced to a second control signal by the unmanned aerial vehicle, and the second control signal is used as the adjusted signal.
The first control signal is an unadjusted (pre-adjusted) control signal sent by the remote controller to the unmanned aerial vehicle, and can be a control signal sent by a user through a rocker of the remote controller or a control signal sent by the user through a screen of the remote controller.
Because the control signal that the remote controller sent unmanned vehicles is comparatively common is that the flyer sends through the remote controller, and first control signal includes the control signal that the input operation of the flyer that the remote controller received corresponds, can make the user directly feel oneself to unmanned vehicles's control, can promote user experience.
In an embodiment, the adjustment strength of the first control signal is reduced by presetting, and setting the first parameter of the remote controller to be a preset parameter value range. Wherein, can divide into a plurality of different numerical ranges to the first parameter of remote controller, every different numerical range corresponds different regulation dynamics. Further, the adjusting force of the first control signal on the unmanned aerial vehicle can be gradually reduced in a progressive mode.
Referring to fig. 3, if the remote controller reduces the unadjusted first control signal into a second control signal, the second control signal is sent to the unmanned aerial vehicle as an adjusted signal, and the specific process may include: step S201 and step S202.
Step S201: and the remote controller reduces the first control signal corresponding to the input operation of the flyer to a second control signal corresponding to the preset parameter value range according to the preset parameter value range of the first parameter of the remote controller.
Step S202: the remote controller takes the second control signal as an adjusted signal and sends the adjusted signal to the unmanned aerial vehicle.
Referring to fig. 4, if the remote controller sends the unadjusted first control signal to the unmanned aerial vehicle, the unmanned aerial vehicle reduces the unadjusted first control signal into a second control signal, and the second control signal is used as the adjusted information, and the specific process may include: step S301 and step S302.
Step S301: and the remote controller sends the unadjusted first control signal and the preset parameter value range of the first parameter of the remote controller to the unmanned aerial vehicle.
Step S302: and the unmanned aerial vehicle reduces the first control signal corresponding to the input operation of the flyer to a second control signal corresponding to the preset parameter value range according to the preset parameter value range of the first parameter, and takes the second control signal as the adjusted signal.
The first parameter is a parameter corresponding to an input operation of the pilot, and the preset parameter value range is a parameter value range for reducing the adjustment strength of the first control signal.
Wherein the first parameter comprises a rocker parameter. The rocker parameters are the more common parameters. The rocker is a component which can be directly controlled by the flyer on the remote controller, and the flyer controls the unmanned aerial vehicle through the rocker on the remote controller. Referring to fig. 5, the remote controller rocker operating modes are divided into a american hand (the rocker for controlling the accelerator is the left rocker of the remote controller), a japanese hand (the rocker for controlling the accelerator is the right rocker of the remote controller) and a chinese hand according to the operating habits. Generally, the default operation mode of the remote controller is the american hand, and the control mode of the joystick of the remote controller will be described in detail below by taking the american hand as an example.
Referring to fig. 6 and 7, the left side is a rocker of the remote controller, and the right side is the unmanned aerial vehicle; wherein, the return-to-center/middle position of the rocker refers to that the rocker of the remote controller is in the middle position; the rocker amount refers to the offset of the rocker of the remote controller deviating from the middle position of the rocker. See the top row of fig. 6: the left rocker of the remote controller is an accelerator rocker when the left rocker is driven up and down and is used for controlling the unmanned aerial vehicle to ascend and descend; pushing the left rocker upwards to lift the unmanned aerial vehicle; the left rocker is pulled downwards, and the unmanned aerial vehicle is lowered; the height of the unmanned aerial vehicle is kept unchanged (automatically fixed to be high) when the left rocker is in the middle position; when the unmanned aerial vehicle takes off, the unmanned aerial vehicle can take off from the ground only by pushing the accelerator rocker upwards to pass through the middle position (a slow push rod is needed to prevent the unmanned aerial vehicle from suddenly rushing upwards). See the following row of fig. 6: the left rocker of the remote controller is a yaw rocker when the left rocker and the right rocker are driven, and the yaw rocker is used for controlling the course of the aircraft; the left rocker is turned leftwards, and the unmanned aerial vehicle rotates anticlockwise; the left rocker is turned to the right, and the unmanned aerial vehicle rotates clockwise; when the left rocker is in the middle position, the rotation angular speed is zero, and the unmanned aerial vehicle does not rotate; the rocker amount corresponds to the angular velocity of rotation of the unmanned aerial vehicle, and the greater the rocker amount, the greater the angular velocity of rotation. See the top row of fig. 7: when the remote sensor right rocker is used for hitting the rod up and down, the remote sensor right rocker is a pitching rocker which is used for controlling the unmanned aerial vehicle to fly forwards and backwards; pushing the right rocker upwards, and enabling the unmanned aerial vehicle to incline forwards and fly forwards; and the right rocker is pulled downwards, and the unmanned aerial vehicle tilts backwards and flies backwards. The front and back directions of the unmanned aerial vehicle are kept horizontal when the right rocker is in the middle position; the rocker amount corresponds to the front and back inclination angle of the unmanned aerial vehicle, and the larger the rocker amount is, the larger the inclination angle is, and the faster the flying speed is. See figure 7, the following row: the remote sensor right rocker is a rolling rocker when the remote sensor right rocker is driven to roll left and right, and the rolling rocker is used for controlling the unmanned aerial vehicle to fly left and right; the unmanned aerial vehicle tilts to the left and flies to the left by turning the right rocker to the left; the unmanned aerial vehicle tilts to the right and flies to the right by turning a right rocker to the right; the left direction and the right direction of the unmanned aerial vehicle are kept horizontal when the right rocker is in the middle position; the rocker amount corresponds to the left and right inclination angle of the aircraft, and the larger the rocker amount is, the larger the inclination angle is, and the faster the flying speed is.
The rocker parameter can directly adjust the first control signal corresponding to the input operation of the flyer through the rocker. Through this kind of mode, on the one hand can not influence user experience, and on the other hand, it is comparatively simple to new flyer to set up the rocker parameter, and the threshold is lower.
Specifically, the rocker parameters include the response sensitivity of the pitch and roll corresponding rockers. Pitching and rolling are relatively easy to cause the unmanned aerial vehicle to shake, and in the embodiment, the response sensitivity of the rocking bar corresponding to the pitching and rolling is reduced, so that the adjusting force of the first control signal of the rocking bar corresponding to the pitching and rolling input by the flyer is reduced.
For example, the lever amounts are divided into 10 levels, 10 levels correspond to 10 inclined angles (front-back inclination and/or left-right inclination), the 1 st to 10 th level correspond to 1 °, 2 °, 5 °, 8 °, 11 °, 14 °, 20 °, 30 °, 40 °, and 50 °, in order to reduce the reaction sensitivity of the rocking bar corresponding to pitch and roll, the following 14 °, 20 °, 30 °, 40 °, and 50 ° are deleted, 1 ° is changed to 0 °, the 1 st and 2 th level correspond to 0 °, the 3 rd and 4 th level correspond to 2 °, the 5 th and 6 th level correspond to 5 °, the 7 th and 8 th level correspond to 8 °, and the 9 th and 10 th level correspond to 11 °. The first control signal corresponding to the operation of adjusting the front flyer input (the flyer drives the right rocker to do up-down-and-left-or-right-hitting, the lever amount grade is 8 th grade) is 30 degrees of forward or backward inclination, or 30 degrees of left or right inclination, and the second control signal after adjustment is 8 degrees of forward or backward inclination, or 8 degrees of left or right inclination. Obviously, the adjustment strength of the remote controller to the unmanned aerial vehicle can be greatly reduced in this way.
Specifically, the rocker parameters include pitch and roll corresponding to the rocker's center point smoothing zone (i.e., rocker return to neutral/neutral). Under the normal condition, when the flying hand operation rocker corresponds to the smooth area of the central point of the rocker in pitching and rolling, the speed of the unmanned aerial vehicle along the original pitching and rolling directions is immediately reduced to zero, and the unmanned aerial vehicle moves in the opposite direction, so that the front and back directions of the unmanned aerial vehicle are kept horizontal and the left and right directions are kept horizontal, and the speed change is severe, so that the unmanned aerial vehicle is easy to shake.
And taking the unadjusted signal as the source of the unmanned aerial vehicle terminal, and showing that the adjusted signal can reduce the adjusting force of the unmanned aerial vehicle. And the unmanned aerial vehicle reduces the unadjusted first adjusting signal into a second adjusting signal, and the second adjusting signal is used as an adjusted signal.
The first adjusting signal is an unadjusted adjusting signal sent to the unmanned aerial vehicle by the self flight control system of the unmanned aerial vehicle before adjustment.
In one embodiment, the reduction of the adjustment strength of the first adjustment signal is realized by presetting, namely, setting an adjustment control mode of the unmanned aerial vehicle. The adjustment control mode in this embodiment is a control mode for reducing the adjustment strength of the first adjustment signal.
At this time, referring to fig. 8, step S102 may specifically include: substep S1021 and substep S1022.
Substep S1021: and adjusting the first adjusting signal input before adjustment into a second adjusting signal according to the adjustment control mode, so that the adjusting force of the second adjusting signal on the unmanned aerial vehicle is reduced.
Substep S1022: the second adjustment signal is used as the adjusted signal.
This embodiment is through the adjustment flight control setting, reduces the regulation dynamics of the first regulation signal of original input to unmanned vehicles, and this mode is simple and convenient.
In one embodiment, the first adjustment signal includes an adjustment signal output by a normal control amount of the Derivative parameter in a Proportional Integral Derivative control (PID) mode, and the second adjustment signal includes an adjustment signal output by an increase of the control amount of the Derivative parameter in the PID mode. Before the adjustment setting, the differential parameter in the original proportional-integral-differential control mode is a normal control quantity, and after the adjustment, the control quantity of the differential parameter in the proportional-integral-differential control mode is increased. The transfer function of the proportional integral derivative control mode is:
in the formula, Kp is a proportional parameter, Ti is an integral time constant, and Td is a differential time constant; ki is an integral parameter, wherein Ki is Kp/Ti, and Kd is a derivative parameter, wherein Kd is Kp Td. The basis of PID control is proportional control; integral control may eliminate steady state errors, but may increase overshoot; differential control can accelerate the response speed of the large inertia system and weaken the overshoot tendency. The introduction of the differential control enables the system to react according to the trend of deviation change, and proper differential action can accelerate the system response, effectively reduce overshoot, improve the dynamic characteristic of the system and increase the stability of the system. The embodiment of the application utilizes the differential action to improve the dynamic characteristic of the system and increase the stability of the system, and further increases the stability of the system by increasing the control quantity of the differential parameter in the PID control mode, thereby inhibiting the jitter of the unmanned aerial vehicle.
In another embodiment, the first adjustment signal includes an adjustment signal indicating that the unmanned aerial vehicle performs pitch attitude and roll attitude, and the second adjustment signal includes an adjustment signal indicating that the unmanned aerial vehicle performs velocity control. The first adjusting signal is used for indicating the unmanned aerial vehicle to execute the pitching attitude and the rolling attitude before the adjustment setting, and the second adjusting signal is used for indicating the first adjusting signal used for indicating the unmanned aerial vehicle to execute the pitching attitude and the rolling attitude to be adjusted into the second adjusting signal used for indicating the unmanned aerial vehicle to carry out the speed control after the adjustment setting. The pitching attitude and the rolling attitude easily cause the unmanned aerial vehicle to shake, the command of the pitching attitude and the rolling attitude is changed into speed control, the smoothness of a picture can be improved, and meanwhile, the unmanned aerial vehicle is subjected to dynamic attitude angle limitation.
In yet another embodiment, the first adjustment signal includes an adjustment signal of a key instruction from the remote controller, and the second adjustment signal includes an adjustment signal indicating a recovery posture of the auxiliary unmanned aerial vehicle. The first adjusting signal corresponds to an instruction sent by a key of the remote controller before adjustment and setting, and after adjustment, the first adjusting signal corresponding to the key instruction of the remote controller is adjusted into a second adjusting signal for indicating the auxiliary unmanned aerial vehicle to recover the posture. In this way, jitter can also be suppressed.
The unadjusted signals are respectively used as a remote controller end source and an unmanned aerial vehicle end source, and the adjusted signals can reduce the adjusting force of the unmanned aerial vehicle. The remote controller can reduce the unadjusted first control signal into a second control signal, and the second control signal is used as a part of adjusted signal to be sent to the unmanned aerial vehicle; the remote controller can also send the unadjusted first control signal to the unmanned aerial vehicle, the unadjusted first control signal is reduced to a second control signal by the unmanned aerial vehicle, and the second control signal is used as a part of the adjusted signal. And the unmanned aerial vehicle reduces the unadjusted first adjusting signal into a second adjusting signal, and takes the second adjusting signal as another part of adjusted signal.
The embodiment of the application combines together the regulation dynamics of adjusting the regulation dynamics of remote controller and adjustment unmanned vehicles, and the regulation mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a flight control system according to the present application, where the flight control system is applied to an unmanned aerial vehicle equipped with an imaging device, and it should be noted that the system of the present embodiment can execute the flight control method described above, and please refer to the above method section for detailed description, which is not described herein.
The flight control system 10 includes: a memory 11, a processor 12; the memory 11 and the processor 12 are connected by a bus 13.
The processor 12 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.
The memory 11 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk, among others.
The memory 11 is used to store a computer program.
The processor 12 is arranged to execute the computer program and when executing the computer program, to carry out the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a cradle head carried by the unmanned aerial vehicle to lock the shooting angle of the camera device; acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
When unmanned vehicles were in first person's visual angle flight mode, the cloud platform of control unmanned vehicles carrying on locked camera device's shooting angle, through this kind of mode, the sense of immersing and the sense of limit flight of flying when can improving FPV experience greatly. Acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly according to the adjusted signal, and reducing the adjusting force of the remote controller or the unmanned aerial vehicle on the unmanned aerial vehicle; for example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics of remote controller to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience. When the new hand operates or when shooting the demand, also can slow down the picture shake through reducing unmanned vehicles to the regulation dynamics of self, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, also can promote user experience. If the regulation dynamics of adjustment remote controller and the regulation dynamics of adjustment unmanned vehicles combine together, the regulative mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
Wherein the processor, when executing the computer program, implements the steps of: when the unmanned aerial vehicle is in a first-person visual angle flight mode, after the adjusting mechanism is controlled to adjust the posture of the holder carried by the unmanned aerial vehicle to the posture corresponding to the shooting angle of the camera device, the adjusting mechanism is locked to lock the shooting angle of the camera device.
Wherein the adjusted signal is from a remote controller.
And the adjusted signal is obtained by reducing a first control signal corresponding to the input operation of the flyer to a second control signal corresponding to a preset parameter value range by the remote controller according to the preset parameter value range of the first parameter.
Wherein the first parameter comprises a rocker parameter.
The rocker parameters comprise the response sensitivity of the corresponding rockers for pitching and rolling.
The rocker parameters comprise a central point smooth area of the corresponding rocker in pitching and rolling.
Wherein, when the processor executes the computer program, the following steps are realized: setting an adjustment control mode of the unmanned aerial vehicle; according to the adjustment control mode, adjusting the first adjustment signal input before adjustment into a second adjustment signal, so that the adjustment strength of the second adjustment signal on the unmanned aerial vehicle is reduced; the second adjustment signal is used as the adjusted signal.
The first adjusting signal comprises an adjusting signal output by a normal control quantity of the differential parameter in the proportional-integral-differential control mode, and the second adjusting signal comprises an adjusting signal output by a control quantity of the increased differential parameter in the proportional-integral-differential control mode.
Wherein the first adjustment signal includes an adjustment signal indicating that the unmanned aerial vehicle performs a pitch attitude and a roll attitude, and the second adjustment signal includes an adjustment signal indicating that the unmanned aerial vehicle performs a speed control.
Wherein the first adjustment signal comprises an adjustment signal of a key instruction from the remote controller, and the second adjustment signal comprises an adjustment signal indicating an auxiliary unmanned aerial vehicle to recover the attitude.
The present application further provides an unmanned aerial vehicle, and this unmanned aerial vehicle carries with camera device, and it includes: memory, processor. It should be noted that, in the present embodiment, the unmanned aerial vehicle is capable of implementing the steps in the flight control method, and details of relevant contents refer to the relevant contents in the flight control method, which are not described herein again.
The memory is used for storing a computer program; the processor is used for executing the computer program and realizing the following steps when executing the computer program:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a cradle head carried by the unmanned aerial vehicle to lock the shooting angle of the camera device; acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
When unmanned vehicles were in first person's visual angle flight mode, the cloud platform of control unmanned vehicles carrying on locked camera device's shooting angle, through this kind of mode, the sense of immersing and the sense of limit flight of flying when can improving FPV experience greatly. Acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly according to the adjusted signal, and reducing the adjusting force of the remote controller or the unmanned aerial vehicle on the unmanned aerial vehicle; for example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics of remote controller to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience. When the new hand operates or when shooting the demand, also can slow down the picture shake through reducing unmanned vehicles to the regulation dynamics of self, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, also can promote user experience. If the regulation dynamics of adjustment remote controller and the regulation dynamics of adjustment unmanned vehicles combine together, the regulative mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
Wherein the processor, when executing the computer program, implements the steps of: when the unmanned aerial vehicle is in a first-person visual angle flight mode, after the adjusting mechanism is controlled to adjust the posture of the holder carried by the unmanned aerial vehicle to the posture corresponding to the shooting angle of the camera device, the adjusting mechanism is locked to lock the shooting angle of the camera device.
Wherein, when the processor executes the computer program, the following steps are realized: setting an adjustment control mode of the unmanned aerial vehicle; according to the adjustment control mode, adjusting the first adjustment signal input before adjustment into a second adjustment signal, so that the adjustment strength of the second adjustment signal on the unmanned aerial vehicle is reduced; the second adjustment signal is used as the adjusted signal.
The first adjusting signal comprises an adjusting signal output by a normal control quantity of the differential parameter in the proportional-integral-differential control mode, and the second adjusting signal comprises an adjusting signal output by a control quantity of the increased differential parameter in the proportional-integral-differential control mode.
Wherein the first adjustment signal includes an adjustment signal indicating that the unmanned aerial vehicle performs a pitch attitude and a roll attitude, and the second adjustment signal includes an adjustment signal indicating that the unmanned aerial vehicle performs a speed control.
Wherein the first adjustment signal comprises an adjustment signal of a key instruction from the remote controller, and the second adjustment signal comprises an adjustment signal indicating an auxiliary unmanned aerial vehicle to recover the attitude.
The unmanned aerial vehicle further comprises a communication circuit, wherein the communication circuit is used for receiving the adjusted signals from the remote controller, or the communication circuit is used for receiving the first unadjusted control signals from the remote controller and carrying out degree information on the first control signals in a reducing mode.
The first control signal comprises a control signal corresponding to input operation of a flyer, and the degree information for reducing the first control signal comprises a preset parameter value range of a first parameter of a remote controller; the processor, when executing the computer program, implements the steps of: according to a preset parameter value range of a first parameter of the remote controller, reducing a first control signal corresponding to the input operation of the flyer into a second control signal corresponding to the preset parameter value range; and taking the second control signal as an adjusted signal.
Wherein the first parameter comprises a rocker parameter.
The rocker parameters comprise the response sensitivity of the corresponding rockers for pitching and rolling.
The rocker parameters comprise a central point smooth area of the corresponding rocker in pitching and rolling.
The present application further provides a remote controller, including: memory, processor, and communication circuitry. It should be noted that, for a detailed description of relevant contents of the remote controller in the present embodiment, please refer to relevant contents in the above flight control method, which is not described herein again.
The memory is used for storing a computer program; the processor is used for executing the computer program and realizing the following steps when executing the computer program: when the unmanned aerial vehicle is in a first-person visual angle flight mode, acquiring relevant adjustment information, wherein the relevant adjustment information is used for reducing the adjustment force of the unmanned aerial vehicle; and the communication circuit is used for feeding the relevant adjustment information back to the unmanned aerial vehicle so that the unmanned aerial vehicle can control the unmanned aerial vehicle to fly according to the relevant adjustment information.
According to the embodiment of the application, when the unmanned aerial vehicle is in the first-person visual angle flight mode, the adjusting force of the remote controller on the unmanned aerial vehicle is adjusted, and through the mode, the adjusting force of the remote controller on the unmanned aerial vehicle can be reduced; when the new hand is operated or when shooting the demand, can slow down the picture shake through reducing the remote controller to unmanned vehicles' regulation dynamics, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, can promote user experience.
Wherein the adjustment-related information includes an adjusted signal; the processor, when executing the computer program, implements the steps of: when the unmanned aerial vehicle is in a first-person visual angle flight mode, acquiring a first control signal corresponding to input operation of a flyer; reducing a first control signal corresponding to the input operation of the flyer into a second control signal according to a preset parameter value range of the first parameter; and taking the second control signal as an adjusted signal.
The relevant adjustment information comprises a first control signal corresponding to the input operation of the flyer and degree information for reducing the first control signal; the processor, when executing the computer program, implements the steps of: when the unmanned aerial vehicle is in a first-person visual angle flight mode, a first control signal corresponding to input operation of a flyer and a preset parameter value range of a first parameter are obtained, so that the unmanned aerial vehicle can reduce the first control signal to a second control signal corresponding to the preset parameter value range, and the second control signal is used as an adjusted signal.
Wherein, when the processor executes the computer program, the following steps are realized: setting a first parameter of the remote controller as a preset parameter value range, wherein the preset parameter value range is used for indicating that a first control signal corresponding to the input operation of the flyer is reduced to a second control signal corresponding to the preset parameter value range.
Wherein the first parameter comprises a rocker parameter.
The rocker parameters comprise the response sensitivity of the corresponding rockers for pitching and rolling.
The rocker parameters comprise a central point smooth area of the corresponding rocker in pitching and rolling.
The present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the flight control method as defined in any one of the above. For a detailed description of relevant matters, reference is made to the above-mentioned flight control method section, which is not described in any more detail here.
The computer readable storage medium may be any one of the remote controllers and/or an internal storage unit of the unmanned aerial vehicle, such as a hard disk or a memory of the remote controller and/or the unmanned aerial vehicle. The computer readable storage medium may also be a remote control and/or a storage device external to the UAV, such as a plug-in hard drive, smart card, secure digital card, flash memory card, etc. provided on the remote control and/or UAV.
When unmanned vehicles were in first person's visual angle flight mode, the cloud platform of control unmanned vehicles carrying on locked camera device's shooting angle, through this kind of mode, the sense of immersing and the sense of limit flight of flying when can improving FPV experience greatly. Acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly according to the adjusted signal, and reducing the adjusting force of the remote controller or the unmanned aerial vehicle on the unmanned aerial vehicle; for example, when the novice operates or when there is the shooting demand, can slow down the picture shake through reducing the regulation dynamics of remote controller to unmanned vehicles, the novice user can enjoy smooth flight experience in hand, perhaps can shoot comparatively friendly picture, can promote user experience. When the new hand operates or when shooting the demand, also can slow down the picture shake through reducing unmanned vehicles to the regulation dynamics of self, the new user can enjoy smooth flight in hand and experience, perhaps can shoot comparatively friendly picture, also can promote user experience. If the regulation dynamics of adjustment remote controller and the regulation dynamics of adjustment unmanned vehicles combine together, the regulative mode can be more nimble convenient, and the regulation effect that slows down the picture shake can be showing more, and new user can enjoy more smooth flight in hand and experience, perhaps can shoot more friendly picture, can promote user experience more.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The above description is only for the specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (41)
1. A flight control system applied to an unmanned aerial vehicle on which an imaging device is mounted, the system comprising: a memory, a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder carried by the unmanned aerial vehicle to lock the shooting angle of the camera device;
acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
2. The system of claim 1, wherein the processor, when executing the computer program, performs the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, after the adjusting mechanism is controlled to adjust the posture of the holder carried by the unmanned aerial vehicle to the posture corresponding to the shooting angle of the camera device, the adjusting mechanism is locked to lock the shooting angle of the camera device.
3. The system of claim 1, wherein the adjusted signal is from a remote control.
4. The system of claim 3, wherein the adjusted signal is obtained by the remote controller reducing a first control signal corresponding to the input operation of the flyer to a second control signal corresponding to a preset parameter value range according to the preset parameter value range of the first parameter.
5. The system of claim 4, wherein the first parameter comprises a rocker parameter.
6. The system of claim 5, wherein the rocker parameters include reaction sensitivity of pitch and roll corresponding rockers.
7. The system of claim 5, wherein the rocker parameters comprise a pitch and roll corresponding to a center point smoothing region of the rocker.
8. The system of claim 1, wherein the processor, when executing the computer program, performs the steps of:
setting a regulation control mode of the unmanned aerial vehicle;
according to the adjustment control mode, adjusting the first adjustment signal input before adjustment into a second adjustment signal, so that the adjustment strength of the second adjustment signal on the unmanned aerial vehicle is reduced;
and taking the second adjusting signal as an adjusted signal.
9. The system of claim 8, wherein the first adjustment signal comprises an adjustment signal output by increasing the controlled variable of the derivative parameter in the pid control mode, and the second adjustment signal comprises an adjustment signal output by increasing the controlled variable of the derivative parameter in the pid control mode.
10. The system of claim 8, wherein the first adjustment signal comprises an adjustment signal indicative of the UAV performing pitch and roll attitude, and the second adjustment signal comprises an adjustment signal indicative of the UAV performing speed control.
11. The system of claim 8, wherein the first adjustment signal comprises an adjustment signal from a key command of a remote control, and the second adjustment signal comprises an adjustment signal indicative of an auxiliary UAV recovery attitude.
12. A flight control method applied to an unmanned aerial vehicle having an imaging device mounted thereon, comprising:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder carried by the unmanned aerial vehicle to lock the shooting angle of the camera device;
acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
13. The method according to claim 12, wherein controlling a pan-tilt head carried by the unmanned aerial vehicle to lock a shooting angle of the camera device when the unmanned aerial vehicle is in the first-person perspective flight mode comprises:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, after the adjusting mechanism is controlled to adjust the posture of the holder carried by the unmanned aerial vehicle to the posture corresponding to the shooting angle of the camera device, the adjusting mechanism is locked to lock the shooting angle of the camera device.
14. The method of claim 12, wherein the adjusted signal is from the remote control.
15. The method according to claim 14, wherein the adjusted signal is obtained by the remote controller decreasing a first control signal corresponding to the input operation of the flyer to a second control signal corresponding to a preset parameter value range according to the preset parameter value range of the first parameter.
16. The method of claim 15, wherein the first parameter comprises a rocker parameter.
17. The method of claim 16, wherein the rocker parameters include reaction sensitivity of pitch and roll respective rockers.
18. The method of claim 16, wherein the rocker parameters comprise pitch and roll respective rocker center point smoothing regions.
19. The method of claim 12, wherein obtaining the adjusted signal is preceded by:
setting a regulation control mode of the unmanned aerial vehicle;
the acquiring the adjusted signal includes:
according to the adjustment control mode, the first adjustment signal input before adjustment is adjusted into a second adjustment signal, so that the adjustment strength of the second adjustment signal on the unmanned aerial vehicle is reduced;
and taking the second adjusting signal as an adjusted signal.
20. The method of claim 19, wherein the first adjustment signal comprises an adjustment signal output by increasing the control amount of the derivative parameter in the pid mode, and the second adjustment signal comprises an adjustment signal output by increasing the control amount of the derivative parameter in the pid mode.
21. The method of claim 19, wherein the first adjustment signal comprises an adjustment signal indicative of the UAV performing pitch and roll attitude, and the second adjustment signal comprises an adjustment signal indicative of the UAV performing speed control.
22. The method of claim 19, wherein the first adjustment signal comprises an adjustment signal from a key command of a remote control, and the second adjustment signal comprises an adjustment signal indicative of an auxiliary UAV recovery attitude.
23. An unmanned aerial vehicle equipped with an imaging device, comprising: a memory, a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, controlling a holder carried by the unmanned aerial vehicle to lock the shooting angle of the camera device;
acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjusting force of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the adjusted signal.
24. The UAV of claim 23 wherein the processor, when executing the computer program, performs the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, after the adjusting mechanism is controlled to adjust the posture of the holder carried by the unmanned aerial vehicle to the posture corresponding to the shooting angle of the camera device, the adjusting mechanism is locked to lock the shooting angle of the camera device.
25. The UAV of claim 23 wherein the processor, when executing the computer program, performs the steps of:
setting a regulation control mode of the unmanned aerial vehicle;
according to the adjustment control mode, the first adjustment signal input before adjustment is adjusted into a second adjustment signal, so that the adjustment strength of the second adjustment signal on the unmanned aerial vehicle is reduced;
and taking the second adjusting signal as an adjusted signal.
26. The UAV of claim 25 wherein the first adjustment signal comprises an adjustment signal output by increasing the controlled variable of the derivative parameter in the PID control mode and the second adjustment signal comprises an adjustment signal output by increasing the controlled variable of the derivative parameter in the PID control mode.
27. The UAV of claim 25 wherein the first adjustment signal comprises an adjustment signal indicative of the UAV performing pitch and roll attitude, and wherein the second adjustment signal comprises an adjustment signal indicative of the UAV performing speed control.
28. The UAV of claim 25 wherein the first adjustment signal comprises an adjustment signal from a key command from a remote control and the second adjustment signal comprises an adjustment signal indicative of an auxiliary UAV recovery attitude.
29. The UAV of claim 23 further comprising a communication circuit configured to receive an adjusted signal from a remote control or receive an unadjusted first control signal from a remote control, the degree of adjustment to the first control signal.
30. The unmanned aerial vehicle of claim 29, wherein the first control signal comprises a control signal corresponding to an input operation of a flyer, and the information on the degree of the turning down of the first control signal comprises a preset parameter value range of a first parameter of the remote controller;
the processor, when executing the computer program, implements the steps of:
according to a preset parameter value range of a first parameter of the remote controller, reducing a first control signal corresponding to input operation of a flyer into a second control signal corresponding to the preset parameter value range;
and taking the second control signal as an adjusted signal.
31. The UAV of claim 30 wherein the first parameter comprises a rocker parameter.
32. The UAV of claim 31 wherein the rocker parameters include the response sensitivity of pitch and roll corresponding rockers.
33. The UAV of claim 31 wherein the rocker parameters include pitch and roll respective rocker center point smoothing regions.
34. A remote control comprising a memory, a processor and a communication circuit;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, acquiring relevant adjustment information, wherein the relevant adjustment information is used for reducing the adjustment force of the unmanned aerial vehicle;
and the communication circuit is used for feeding the relevant adjustment information back to the unmanned aerial vehicle so that the unmanned aerial vehicle can control the unmanned aerial vehicle to fly according to the relevant adjustment information.
35. The remote control of claim 34, wherein the adjustment-related information comprises an adjusted signal;
the processor, when executing the computer program, implements the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, acquiring a first control signal corresponding to input operation of a flyer;
reducing a first control signal corresponding to the input operation of the flyer into a second control signal according to a preset parameter value range of the first parameter;
and taking the second control signal as an adjusted signal.
36. The remote controller according to claim 34, wherein the adjustment-related information includes a first control signal corresponding to an input operation of a flyer, and information on a degree of adjustment of the first control signal;
the processor, when executing the computer program, implements the steps of:
when the unmanned aerial vehicle is in a first-person visual angle flight mode, acquiring a first control signal corresponding to input operation of a flyer and a preset parameter value range of a first parameter, so that the unmanned aerial vehicle can reduce the first control signal to a second control signal corresponding to the preset parameter value range, and taking the second control signal as an adjusted signal.
37. A remote control as claimed in claim 35 or 36, wherein the processor, when executing the computer program, performs the steps of:
setting a first parameter of the remote controller as a preset parameter value range, wherein the preset parameter value range is used for indicating that a first control signal corresponding to input operation of a flyer is reduced to a second control signal corresponding to the preset parameter value range.
38. The remote control of any of claims 35-37, wherein the first parameter comprises a joystick parameter.
39. The remote control of claim 38, wherein the rocker parameters include reaction sensitivity of the respective rockers for pitch and roll.
40. The remote control of claim 38, wherein the rocker parameters include a pitch and roll corresponding to a center point smoothing region of the rocker.
41. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the flight control method according to any one of claims 12 to 22.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/120417 WO2021097849A1 (en) | 2019-11-22 | 2019-11-22 | Flight control method and system, unmanned aerial vehicle, remote controller and storage medium |
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| CN112334854A true CN112334854A (en) | 2021-02-05 |
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| WO (1) | WO2021097849A1 (en) |
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