CN112771464A

CN112771464A - Flight prompting method, device, control terminal, system and storage medium

Info

Publication number: CN112771464A
Application number: CN202080005136.5A
Authority: CN
Inventors: 唐梓清; 张然; 陈卓伟; 李博文; 杨舟; 邹成; 蒋一帆
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2021-05-07
Also published as: WO2021217381A1

Abstract

A flight prompting method, a flight prompting device, a control terminal (10), a system and a storage medium are provided, wherein the method comprises the following steps: displaying a picture transmission picture and/or a map picture shot by the unmanned aerial vehicle (20) on an interactive interface of the control terminal (10) (S101); acquiring obstacle information sensed by an unmanned aerial vehicle (20) (S102); and displaying an obstacle prompt icon at the boundary frame of the interactive interface according to the obstacle information (S103).

Description

Flight prompting method, device, control terminal, system and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a flight prompting method, a flight prompting device, a control terminal, a flight system and a storage medium.

Background

At present, along with the rapid development of unmanned aerial vehicle technique, its range of application is also more and more wide, for example photography and shooting, electric power patrol and examine, agricultural plant protection etc.. In order to improve unmanned aerial vehicle at the security performance of flight in-process, current unmanned aerial vehicle all is equipped with flight safety control scheme, for example sets up the sensor on unmanned aerial vehicle for the sensing barrier carries out automation and keeps away the barrier. However, when the unmanned aerial vehicle encounters an obstacle (such as a building, a plant, a pedestrian, etc.) or a manned aircraft and a special airspace (such as a height-limited zone, a no-fly zone, an authorized zone, etc.), the user cannot know the obstacle, and a serious potential safety hazard may be caused by misoperation, and the user experience is also poor.

Disclosure of Invention

Based on this, the application provides a flight suggestion method, flight suggestion device, flight system, control terminal and storage medium to improve the security of unmanned aerial vehicle flight.

In a first aspect, the present application provides a flight prompting method, which is applied to a control terminal, where the control terminal is used to control an unmanned aerial vehicle to fly, and the method includes:

displaying an image transmission picture and/or a map picture shot by the unmanned aerial vehicle on an interactive interface of the control terminal;

acquiring obstacle information sensed by the unmanned aerial vehicle;

and displaying an obstacle prompt icon at a boundary frame of the interactive interface according to the obstacle information.

In addition, this application still provides a flight suggestion method, is applied to control terminal, control terminal is used for controlling the flight of unmanned aerial vehicle, the method includes:

acquiring motion information of a moving target sensed by the unmanned aerial vehicle;

displaying a prompt icon corresponding to the moving target in an interactive interface displayed by the control terminal;

and determining the display mode of the prompt icon according to the motion information of the moving target.

In a second aspect, the present application further provides a flight prompting device, which is applied to a control terminal, and the flight prompting device includes a processor and a memory;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement the steps of any flight guidance method provided in the embodiments of the present application when executing the computer program.

In a third aspect, the present application further provides a control terminal, where the control terminal includes: a display device, a memory, and a processor;

the display device is used for displaying;

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 any one of the flight guidance methods provided in the embodiments of the present application.

In a fourth aspect, the present application further provides a flight system, the flight system includes an unmanned aerial vehicle and any one of the control terminal provided in the embodiments of the present application, the control terminal is used for controlling the flight of the unmanned aerial vehicle.

In a fifth aspect, the present application further provides a computer-readable storage medium storing a computer program, which when executed by a processor causes the processor to implement the flight guidance method according to any one of the aspects provided herein.

The embodiment of the application provides a flight prompting method, a flight prompting device, a system, a control terminal and a storage medium, wherein an interactive interface is displayed on the control terminal; acquiring obstacle information sensed by the unmanned aerial vehicle; and displaying an obstacle prompt icon at a boundary frame of the interactive interface according to the obstacle information. Therefore, the user can clearly know the obstacles encountered by the unmanned aerial vehicle and the obstacle information according to the obstacle prompt icon, the user can conveniently control the unmanned aerial vehicle to fly, the flying safety of the unmanned aerial vehicle is improved, and the user experience is improved.

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.

Drawings

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 structural diagram of a flight system provided by an embodiment of the present application;

FIG. 2 is a flow chart illustrating steps of a flight guidance method according to an embodiment of the present disclosure;

3a to 3c are schematic diagrams illustrating display effects of an interactive interface provided by an embodiment of the present application;

4 a-4 c are schematic diagrams of the obstacle and drone orientation information provided by the present application;

fig. 5 is a schematic diagram of the angle information of the obstacle and the drone provided by the embodiment of the present application;

FIG. 6 is a schematic diagram illustrating an effect of an obstacle prompt icon display provided by an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating an effect of another obstacle prompt icon display provided by an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating an effect of another obstacle prompt icon display provided by an embodiment of the present application;

FIG. 9 is a schematic diagram illustrating an effect of another obstacle prompt icon display provided by an embodiment of the present application;

FIG. 10 is a schematic diagram illustrating an effect of another obstacle prompt icon display provided by an embodiment of the present application;

11a and 11b are schematic diagrams of practical effects of the interactive interface provided by the embodiment of the application;

12a and 12b are schematic diagrams illustrating an effect of another obstacle prompt icon display provided by an embodiment of the present application;

FIG. 13 is a schematic diagram illustrating an effect of displaying a further obstacle prompt icon according to an embodiment of the present application;

fig. 14a to 14c are schematic diagrams illustrating effects of the obstacle warning strip provided in the embodiment of the present application;

FIG. 15 is a flow chart illustrating steps of another flight guidance method provided by an embodiment of the present application;

FIG. 16 is a schematic diagram illustrating an effect of a prompt icon display of a moving target according to an embodiment of the present application;

FIG. 17 is a schematic diagram illustrating an effect of a prompt icon display of another moving target according to an embodiment of the present application;

18a and 18b are schematic diagrams of practical effects of the prompt icon display of the moving target provided by the embodiment of the application;

FIG. 19 is a schematic diagram illustrating an effect of a prompt icon display of another moving target according to an embodiment of the present application;

FIG. 20 is a schematic diagram illustrating an effect of a prompt icon display of a further moving target according to an embodiment of the present application;

FIG. 21 is a flow chart illustrating steps of another flight guidance method provided by embodiments of the present application;

fig. 22 is a schematic diagram illustrating an effect of a display of a flight-restricted disablement certificate according to an embodiment of the present application;

FIG. 23 is a flowchart illustrating steps of yet another flight guidance method provided by an embodiment of the present application;

fig. 24 is a schematic diagram illustrating an effect of displaying an authorization zone unblocking certificate according to an embodiment of the present application;

fig. 25 is a schematic diagram illustrating an effect of another authorization zone unblocking certificate display provided by an embodiment of the present application;

fig. 26 is a schematic diagram illustrating an effect of another authorization zone unblocking certificate display provided by an embodiment of the present application;

FIG. 27 is a schematic diagram illustrating an exemplary user authentication display provided by an embodiment of the present application;

FIG. 28 is a schematic block diagram of a flight cueing device provided by an embodiment of the present application;

fig. 29 is a schematic block diagram of a control terminal provided in an embodiment 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.

It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further 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 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.

Along with the rapid development of unmanned aerial vehicle technique, its range of application is also wider and wider, for example photography and shooting, electric power are patrolled and examined, agricultural plant protection etc.. In order to improve unmanned aerial vehicle at the security performance of flight in-process, current unmanned aerial vehicle all is equipped with and sets up barrier perception sensor for the sensing barrier carries out automatic obstacle avoidance, with avoiding colliding the barrier, and then improves unmanned aerial vehicle's security.

The inventor finds that when the unmanned aerial vehicle encounters an obstacle (such as a building, a plant, a pedestrian, etc.) during flying, or encounters a manned aircraft and a special airspace (such as a height-limited zone, a no-fly zone, an authorized zone, etc.), the unmanned aerial vehicle can sense the obstacle and automatically avoid the obstacle, but the user cannot know that the unmanned aerial vehicle encounters the obstacle, and a serious potential safety hazard is possibly caused by misoperation.

Therefore, the embodiments of the present application provide a flight prompting method, a flight prompting device, a control terminal, a flight system, and a storage medium to solve the above problems.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a flight system according to an embodiment of the present disclosure. As shown in fig. 1, the flight system 100 includes a control terminal 10 and a drone 20, and the control terminal 10 is in communication connection with the drone 20 for controlling the flight of the drone 10.

Wherein, control terminal 10 includes display device 11, and display device 11 is used for showing interactive interface, and this interactive interface can show the picture that picture biography that unmanned aerial vehicle 20 transmitted also can show the map picture. The picture passes the picture including unmanned aerial vehicle's shooting picture, transmits for control terminal 10 through wireless picture transmission technique, and this map picture is the map that corresponds when unmanned aerial vehicle 20 flies.

It can be understood that, in addition to displaying the map and map pictures, the interactive interface may further include some control icons, which are specifically some virtual keys, for implementing the interaction between the user and the control terminal 10, or implementing the interaction with the drone 10 through the control terminal 10.

For example, when the user operates the virtual keys, corresponding control instructions may be transmitted to the drone 20 to enable the user to control the drone 20. For example, when the user clicks a shooting button of the virtual buttons, the unmanned aerial vehicle 20 is controlled to execute a shooting function, and when the user clicks a return button of the virtual buttons, the unmanned aerial vehicle 20 is controlled to execute a return task.

For example, when the user operates the other virtual keys, the relevant parameters may be viewed, such as viewing the flight route or flight parameters of the drone 20, and so on. Of course, the display may also be switched, for example, when the user clicks a switch key in the virtual keys, the map screen and the image transmission screen are switched and displayed. The flight parameters include flight speed, flight altitude, battery level, and the like.

It should be noted that the display device 11 includes a display screen disposed on the control terminal 10 or a display independent from the control terminal 10, and the display independent from the control terminal 10 may include a mobile phone, a tablet computer, a personal computer, or the like, or may be other electronic devices with a display screen. The display screen includes an LED display screen, an OLED display screen, an LCD display screen, and the like.

The drone 20 comprises an obstacle perception sensor 21, the obstacle perception sensor 21 being configured to sense obstacles around the drone 20 to derive obstacle information, the obstacle information comprising orientation information and/or distance information.

The direction information refers to the direction of the obstacle relative to the unmanned aerial vehicle 20, and includes, for example, a front direction, an upper left direction, an upper right direction, a rear direction, a lower left direction, a lower right direction, and the like; the distance information refers to a distance between the obstacle and the drone 20, for example, the obstacle is a tower a, and the distance between the tower a and the drone 20 is 7 m.

In some embodiments, in order to accurately sense obstacles in different directions of the drone, the obstacle sensing sensor 21 includes one or more sensors for sensing obstacle information in one or more directions of the drone 20.

For example, the obstacle sensing sensor 21 may include a direction sensor for sensing obstacle information in front of the drone 20. For example, the obstacle sensing sensor 21 may include two direction sensors for sensing obstacle information in front of and behind the drone 20, respectively. For another example, the obstacle sensing sensor 21 may include four sensors for detecting obstacles in front of, behind, to the left of, and to the right of the drone 20.

In other embodiments, one obstacle sensing sensor 21 may be disposed on a rotating platform carried by the drone 20, and the obstacle sensing sensor 21 passing through the rotating platform may rotate relative to the drone to sense obstacle information of the drone 20 in multiple directions.

The obstacle sensing sensor 21 includes a visual sensor, an ultrasonic sensor, a TOF sensor, a laser sensor, or the like.

The drone 20 may be a rotorcraft. In some cases, the drone 20 may be a multi-rotor aircraft that may include multiple rotors. The plurality of rotors may rotate to generate lift for the drone 20. The rotor may be a propulsion unit that allows the drone 20 to move freely in the air. The rotors may rotate at the same rate and/or may produce the same amount of lift or thrust. The rotors may rotate at will at different rates, generate different amounts of lift or thrust, and/or allow the drone 20 to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten, or more rotors may be provided on the drone 20. The rotors may be arranged with their axes of rotation parallel to each other. In some cases, the axes of rotation of the rotors may be at any angle relative to each other, which may affect the motion of the drone 20.

The drone 20 may include a plurality of rotors. The rotor may be connected to the body of the drone 20, which may include a control unit, an Inertial Measurement Unit (IMU), a processor, a battery, a power source, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions that branch off from a central portion of the body. For example, one or more arms may extend radially from the central body of the drone 20 and may have rotors at or near the ends of the arms.

Illustratively, the drone may be, for example, a quad-rotor drone, a six-rotor drone, an eight-rotor drone. Of course, the unmanned aerial vehicle may also be a fixed-wing unmanned aerial vehicle, and may also be a combination of a rotor wing type and a fixed-wing unmanned aerial vehicle, which is not limited herein.

Wherein, still be provided with the shooting device on unmanned aerial vehicle 20, the shooting device includes a camera or a plurality of cameras, for example has two cameras to constitute two mesh camera schemes, and this shooting device is used for shooing the image, also can be used for of course measuring the relative unmanned aerial vehicle's of obstacle distance.

In some embodiments, the drone 20 is also provided with an ADS-B device (Automatic dependent accompanying-broadcast) by which obstacles, in particular possibly moving objects such as manned aircraft, may be detected, also provided with the ADS-B device. ADS-B devices are generally installed in a typical passenger aircraft.

Hereinafter, the flight prompting method provided by the embodiment of the application will be described in detail with reference to the flight system in fig. 1. It should be noted that the flight system in fig. 1 is only used to explain the flight prompting method provided in the embodiment of the present application, but does not constitute a limitation on an application scenario of the flight control method provided in the embodiment of the present application.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating steps of a flight prompting method according to an embodiment of the present application. The flight prompting method is applied to the control terminal, so that obstacle information sensed by the unmanned aerial vehicle is displayed for a user, and the flight safety of the unmanned aerial vehicle is improved.

As shown in fig. 2, the flight guidance method includes steps S101 to S103.

S101, displaying an image transmission picture and/or a map picture shot by the unmanned aerial vehicle on an interactive interface of the control terminal;

s102, acquiring obstacle information sensed by the unmanned aerial vehicle;

s103, displaying an obstacle prompt icon at a boundary frame of the interactive interface according to the obstacle information.

When the user uses control terminal to control unmanned aerial vehicle flight, control terminal's display device can show interactive interface, and the user is through the flight of this interactive interface control unmanned aerial vehicle.

Of course the interactive interface may also be used to display related content. For example, the interactive interface displays an image transmission picture shot by the unmanned aerial vehicle; for example, the interactive interface also displays a map picture corresponding to a map used by the unmanned aerial vehicle during current flight; for another example, the interactive interface may also display a map screen and a biography screen simultaneously.

Specifically, as shown in fig. 3a, the interactive interface 12 is displayed on the display screen of the display device 11, the interactive interface 12 includes a border frame 120, specifically, four border frames 120, and in fig. 3a, the interactive interface 12 displays a map transmission screen 13. As shown in fig. 3b, the interactive interface 12 displays a map screen 14, and a flight icon of the drone 20 is also displayed on the map screen 14. As shown in fig. 3c, the interactive interface 12 simultaneously displays a map frame 13 and a map frame 14, where the map frame 14 is displayed through a small window, and may specifically be implemented in a picture-in-picture display manner.

In the flying process of the unmanned aerial vehicle, the obstacle sensing sensors carried by the unmanned aerial vehicle can sense obstacles around the unmanned aerial vehicle, and the received sensing signals about the obstacles are processed to obtain obstacle information. After the unmanned aerial vehicle acquires the obstacle information, the obstacle information is sent to the control terminal, so that the control terminal acquires the obstacle information sensed by the unmanned aerial vehicle.

The obstacle information comprises azimuth information and/or distance information, the azimuth information is relative to the direction of the unmanned aerial vehicle for the obstacle, and the distance information is relative to the distance of the unmanned aerial vehicle for the obstacle. Other information, such as shape information of the obstacle, etc., may of course also be included.

The direction information is based on the flight direction of the unmanned aerial vehicle, that is, the predetermined flight direction is the straight ahead direction. Taking an iron tower as an obstacle for introduction, specifically as shown in fig. 4a, an iron tower a is located right ahead of the unmanned aerial vehicle, that is, azimuth information in the obstacle information is right ahead; for example, as shown in fig. 4B, the iron tower B is located on the right side of the unmanned aerial vehicle, that is, the azimuth information in the obstacle information is on the right side; for another example, the iron tower C is located at the right front of the unmanned aerial vehicle, that is, the azimuth information in the obstacle information is the right side; in fig. 4a, 4b and 4c, d is distance information.

In some embodiments, in order to let the user know the specific direction information of the obstacle, the orientation information includes angle information, and the angle information may be an included angle of the obstacle with respect to the flight direction of the unmanned aerial vehicle, or may also be an included angle of the obstacle with respect to a direction perpendicular to the flight direction of the unmanned aerial vehicle.

For example, as shown in fig. 5, a two-dimensional coordinate system is established by taking the flight direction of the drone as the Y axis and the flight direction perpendicular to the drone as the X axis, so that the angle of the obstacle relative to the drone can be determined, for example, the angle of the iron tower 1 relative to the drone is β₁The angle of the iron tower 2 relative to the unmanned aerial vehicle is beta₂Such as in particular beta₁Is 45 DEG, beta₂Is 135 deg..

According to the barrier information, barrier prompt icons are displayed at the boundary frame of the interactive interface to prompt the user that barriers exist around the unmanned aerial vehicle, and the user can know the barrier information, so that the user is prevented from conducting misoperation. Through showing at the boundary frame and showing obstacle suggestion icon, not only can show obstacle information to the user, can also avoid sheltering from interactive interface's demonstration content, can not influence the user and use interactive interface, not only can improve unmanned aerial vehicle's flight security from this, can also improve user's experience degree.

In some embodiments, the obstacle alert icon includes an obstacle alert bar located at a bounding box of the interactive interface. The barrier prompt bar can reduce the content of shielding the display of the interactive interface, and is convenient for displaying barrier information. And displaying the image transmission picture or the map picture at the position where the boundary frame does not have the obstacle display bar, so that the display of the image transmission picture or the map picture is not influenced to the maximum extent on the basis of displaying the obstacle information.

Hereinafter, the obstacle presenting icon will be described as an example of the obstacle presenting bar. It is understood that in other embodiments, the obstacle-prompting icon may include other types of icons besides an obstacle-prompting bar, which is not limited herein.

For example, as shown in fig. 6, when the position information in the acquired obstacle information is that there is an obstacle in front of the drone, an obstacle prompt bar 121 may be displayed at an upper border of the interactive interface 12. By displaying the obstacle prompt bar 121 at the upper border of the interactive interface 12, the user is thereby facilitated to know that an obstacle appears in front of the unmanned aerial vehicle when viewing the picture-passing picture taken by the unmanned aerial vehicle.

In some embodiments, the drone includes a forward obstacle-sensing sensor and/or a rearward obstacle-sensing sensor, whereby it may sense that an obstacle may be present in front of or behind the drone. Correspondingly, displaying an obstacle prompt icon at a boundary frame of the interactive interface, specifically displaying the obstacle prompt icon at an upper boundary frame and/or a lower boundary frame of the interactive interface.

Illustratively, as shown in fig. 7, barrier prompt bars 121 are displayed at the upper boundary frame and the lower boundary frame of the interactive interface 12, which indicate that a barrier appears in front of and behind the unmanned aerial vehicle.

In some embodiments, in order to make the user clearly aware of the presence of obstacles around the drone, as well as the orientation information of the obstacles. Displaying an obstacle prompt icon at a boundary frame of the interactive interface according to the obstacle information, wherein the obstacle prompt icon specifically includes: determining a target boundary box in a plurality of boundary boxes of the interactive interface according to the azimuth information in the barrier information; and displaying an obstacle alert icon at the target bounding box.

Wherein the orientation information includes: the barrier is arranged in any one of the front, the rear, the left and the right of the unmanned aerial vehicle; the target bounding box comprises any one of an upper bounding box, a lower bounding box, a left bounding box and a right bounding box.

Wherein, the place ahead, the rear, the left and the right side, can pass through the last preceding obstacle perception sensor of installing of unmanned aerial vehicle, backward obstacle perception sensor, left obstacle perception sensor and/or right obstacle perception sensor sense respectively.

Wherein, the front, the rear, the left and the right correspond to the upper bounding box, the lower bounding box, the left bounding box and the right bounding box, respectively, so that the target bounding box can be determined.

For example, if the orientation information in the obstacle information is located in front of the unmanned aerial vehicle, the target bounding box is determined to be an upper bounding box in the multiple bounding boxes of the interactive interface, and an obstacle prompt icon is displayed at the upper bounding box, as shown in fig. 6 specifically.

In some scenarios, such as flying in a deep valley, obstacles may appear in all four directions around the drone, and accordingly, obstacle prompt bars may be displayed at all four bounding boxes of the interactive interface 12, as shown in fig. 8.

In some embodiments, to optimize the interactive interface, and to improve the user experience. The width of the obstacle prompt bar may be set to be the same as the width of a bounding box in the interactive interface for displaying the obstacle prompt bar.

Illustratively, as shown in fig. 6, the bounding box for displaying the obstacle prompt bar in the interactive interface is an upper bounding box, and the width of the obstacle prompt bar is set to be the same as the width of the upper bounding box.

In other embodiments, the content of the interactive interface is occluded as little as possible to improve the user experience. The width of the obstacle prompt bar may be set to be smaller than the width of a bounding box in the interactive interface for displaying the obstacle prompt bar.

Illustratively, as shown in fig. 9, the bounding box of the interactive interface 12 for displaying the obstacle prompt bar is an upper bounding box, and the width of the obstacle prompt bar is smaller than that of the upper bounding box.

When the width of the obstacle presentation bar is smaller than the width of the bounding box, the direction information of the obstacle can be determined by the position of the obstacle presentation bar displayed on the bounding box.

Illustratively, as shown in fig. 9 and 10, in fig. 9 the obstacle-prompting bar is displayed in the middle of the upper bounding box, indicating that the obstacle is located in front of the drone; in fig. 10 the obstacle-prompting bar is displayed to the left of the upper bounding box, indicating that the obstacle is located to the left front of the drone.

In other embodiments, the content of the interactive interface is occluded as little as possible to improve the user experience. The barrier prompt bar may be an icon with some transparency.

Illustratively, as shown in fig. 11a and 11b, fig. 11a and 11b are schematic diagrams illustrating actual effects of the interactive interface provided by the embodiment of the present application. In fig. 11a, the interactive interface displays the display screen 13, and in fig. 11b, the obstacle prompt bar 121 is displayed at the upper boundary frame and the lower boundary frame of the interactive interface, and the obstacle prompt bar 121 has a semitransparent effect, so that the use experience can be improved.

When unmanned aerial vehicle sensing barrier, show barrier suggestion strip on the interactive interface that shows through control terminal, indicate that there is the barrier around the user unmanned aerial vehicle. At the moment, the user can automatically avoid the obstacle by the unmanned aerial vehicle without any operation; certainly, the user can also carry out manual operation according to the prompt message to control the aircraft flight and keep away the barrier, improved unmanned aerial vehicle's flight safety from this.

In some embodiments, after the unmanned aerial vehicle completes automatic obstacle avoidance, detection is continuously performed by an obstacle sensing sensor to determine whether the distance between the obstacle and the unmanned aerial vehicle is greater than a preset safe distance or whether obstacles exist around the unmanned aerial vehicle; and if the distance information in the obstacle information is greater than a preset safe distance, or if no obstacle is detected, hiding the obstacle prompt icon.

For example, like the processes in fig. 7 to 6, by hiding the obstacle indication bar, the user can know that the unmanned aerial vehicle does not have an obstacle currently, and meanwhile, the user does not occupy the space of the interactive interface, thereby improving the user experience.

In some embodiments, to let the user know the orientation information and distance information of the obstacle. And displaying an obstacle prompt icon at the boundary frame of the interactive interface according to the obstacle information, and specifically determining the display color of the obstacle prompt icon displayed at the boundary frame of the interactive interface according to the distance information in the obstacle information.

For example, as shown in fig. 12a and 12b, the display colors of the different obstacle prompt bars indicate that the distance of the obstacle to the drone is different, so that the user can be prompted about the distance of the obstacle by changing the display colors of the obstacle prompt bars.

For example, the display color of the obstacle indication bar in fig. 12a is light relative to the display color of the obstacle indication bar in fig. 12b, which indicates that the obstacle in fig. 12a and the obstacle in fig. 12b are farther, i.e., farther away, relative to the drone.

In some embodiments, the determining, according to the distance information in the obstacle information, a display color of an obstacle prompt icon displayed at a border of the interactive interface is specifically: and determining whether the distance between the obstacle and the unmanned aerial vehicle is smaller than a preset distance, and if the distance between the obstacle and the unmanned aerial vehicle is smaller than the preset distance, determining a preset color corresponding to the preset distance as the display color of the obstacle prompt icon.

Wherein, preset the distance and be safe distance, if distance is less than this preset the distance between barrier and the unmanned aerial vehicle, it has the potential safety hazard to show that unmanned aerial vehicle flight exists, consequently is necessary to indicate the user.

Specifically, the user can be prompted well by presetting the preset distance and the preset color corresponding to the preset distance. For example, the preset distance is 6m, the preset color corresponding to the preset distance of 6m includes yellow, and the yellow has a warning effect. When the distance between the obstacle and the unmanned aerial vehicle is smaller than 6m, the display color of the obstacle prompt icon is adjusted to be yellow so as to prompt a user.

In some embodiments, to avoid the user to perform misoperation, the safety of unmanned aerial vehicle flight is further improved. Determining a display color of an obstacle prompt icon displayed at a border frame of the interactive interface according to the distance information in the obstacle information, wherein the display color specifically includes: when the unmanned aerial vehicle is determined to be in the emergency hovering state, determining a preset color corresponding to the emergency hovering state as a display color of the obstacle prompt icon; the emergency hovering state is a hovering state of the unmanned aerial vehicle entering due to an obstacle.

Wherein the preset color corresponding to the emergency hovering state comprises red, and the red has a warning effect. Or the preset color corresponding to the emergency hovering state is in a dynamic diffusion effect. For example, when the unmanned aerial vehicle enters a hovering state due to an obstacle, the obstacle prompt icon is displayed in red, and the displayed red is diffused, so that the user can be effectively prompted.

In some embodiments, to more effectively alert the user when there are obstacles around the drone. After the display color of the obstacle prompt icon displayed at the boundary frame of the interactive interface is determined according to the distance information in the obstacle information, prompt information for prompting a user that an obstacle appears near the unmanned aerial vehicle can be further output; the prompt message comprises at least one of vibration prompt message, voice prompt message and character prompt message.

For example, after the display color of the obstacle prompt icon displayed at the boundary frame of the interactive interface is displayed as yellow, vibration prompt information can be output through the control terminal, or voice prompt information can be broadcasted through the control terminal, or text prompt information can be displayed through the display device of the control terminal.

In some embodiments, to better prompt the user for directional information of an obstacle through the obstacle indication icon. Displaying an obstacle prompt icon at a boundary frame of the interactive interface according to the obstacle information, which may specifically be: determining a target position in the obstacle prompt icon according to the azimuth information in the obstacle information, and then determining the display color of the obstacle indication icon at the target position according to the distance information.

The target position is located at the position of the obstacle prompt icon, direction information of the obstacle can be represented, and different colors are used for displaying at the target position, so that the attention of a user can be attracted, and a better prompt effect is achieved.

For example, as shown in fig. 13, if the azimuth information in the obstacle information is the upper right of the unmanned aerial vehicle, the right position of the obstacle prompt bar 121 displayed on the upper border of the interactive interface 12 is determined as a target position, and then the display color at the target position is determined according to the distance. For example, if the distance is long, green can be displayed to indicate that the distance is within a safe range; for example, when the distance is close to the safety range, yellow can be displayed to indicate that the unmanned aerial vehicle is close; for another example, the distance is less than the safety range, and red can be displayed to indicate that the unmanned aerial vehicle is in a dangerous state.

As shown in fig. 14a, the obstacle prompt bar 121 may be divided into three regions, namely a region 1211, a region 1212, and a region 1213, corresponding to the upper left, the front, and the upper right, respectively, according to the fact that the obstacle may be located at the upper left, the front, and the upper right of the drone. Therefore, the area corresponding to the direction information can be determined as the target position according to the dividing mode and the direction information in the obstacle information.

For example, if the direction information in the obstacle information is the upper left, the corresponding area 1211 is determined as the target position, and the area 1211 is displayed in a color different from the other areas to indicate the direction information of the obstacle.

It should be noted that, as the unmanned aerial vehicle continues to fly, the distance from the obstacle to the unmanned aerial vehicle also starts to decrease, that is, the closer the unmanned aerial vehicle is to the obstacle. Therefore, the display color of the target position can be adjusted according to the distance information in the obstacle information.

For example, specifically as shown in the process of fig. 14a to 14b, the display color of the area 1211 is changed to represent the distance change of the obstacle relative to the drone, so that the user can know the direction information and the distance information of the obstacle by observing the color change of different positions of the obstacle prompt bar.

In some embodiments, to facilitate the user to know the specific location of the obstacle, the deviation angle of the obstacle from the drone may also be measured by the drone. The angle information can thus also be represented by scale values on the obstacle indicator strip.

For example, as shown in fig. 14c, the scale on the obstacle prompt bar 121 may be used to represent the angle information of the obstacle relative to the unmanned aerial vehicle, and in practical application, only the angle information of the obstacle relative to the unmanned aerial vehicle needs to be mapped on the scale on the obstacle prompt bar 121, so as to prompt the user.

In an embodiment, an angle range corresponding to one of the bounding boxes coincides with an obstacle sensing range of the drone in one direction. For example, when the obstacle sensing range of the unmanned aerial vehicle in front is 30 degrees each at the left and right, and 60 degrees in total, the obstacle sensing angle represented by the upper boundary frame of the interactive interface is also 60 degrees, and the obstacle sensing angles are distributed in average scales. Illustratively, the length of the obstacle indicator bar is related to the distribution of the obstacles, and the wider the obstacle indicator bar is distributed in the obstacle sensing range, the longer the obstacle indicator bar is on the boundary frame.

In some embodiments, in order to more effectively remind the user that an obstacle exists around the drone, the obstacle is dangerous. After the obstacle information sensed by the unmanned aerial vehicle is acquired, whether the unmanned aerial vehicle triggers an early warning condition can be determined according to the obstacle information, wherein the early warning condition is used for triggering and displaying an obstacle prompt icon; if the unmanned aerial vehicle triggers the early warning condition, displaying an obstacle prompt icon at a boundary frame of the interactive interface; and if the unmanned aerial vehicle does not trigger the early warning condition, not displaying an obstacle prompt icon at a boundary frame of the interactive interface.

Determining whether the unmanned aerial vehicle triggers an early warning condition according to the obstacle information, specifically, determining whether distance information in the obstacle information is smaller than or equal to a preset safety distance; and if the distance information in the obstacle information is smaller than or equal to the preset safety distance, determining that the unmanned aerial vehicle triggers an early warning condition.

In some embodiments, in addition to using the preset safety distance to determine whether to trigger the early warning condition, the method may further include determining, in combination with the azimuth information, that the unmanned aerial vehicle triggers the early warning condition, for example, if the obstacle is in the flight direction of the unmanned aerial vehicle and the distance information is less than or equal to the preset safety distance.

In some embodiments, because the drone may encounter stationary obstacles during flight, it may also encounter moving obstacles, i.e., the obstacles may be moving targets. Correspondingly, the obstacle information includes motion information of the moving target, wherein the motion information includes at least one of a motion speed, a relative height, a relative distance and a motion direction, the relative height is that the moving target is relative to the height of the unmanned aerial vehicle, and the relative distance is that the moving target is relative to the distance of the unmanned aerial vehicle.

In the flying process of the unmanned aerial vehicle, if the obstacle encountered by the unmanned aerial vehicle is a moving target, the obstacle prompt icon can be displayed at the boundary frame of the interactive interface for the moving target, so as to prompt the user that the moving target and the motion information of the moving target appear around the unmanned aerial vehicle.

For example, the position displayed by the obstacle prompt bar or different colors displayed in different areas of the obstacle prompt bar are used for representing the movement direction of the moving target; or displaying different colors by using the barrier prompt bar to represent the distance of the moving target relative to the unmanned aerial vehicle; or, the movement information of the moving obstacle is approximately obtained by adopting the moving direction, the speed and the color change of the obstacle prompting strip.

For the moving target, except that an obstacle prompting icon is displayed at a boundary box of the interactive interface, the user is prompted that the moving target appears around the unmanned aerial vehicle and the motion information of the moving target. Other flight prompting modes can be used for prompting the user.

Referring to fig. 15, fig. 15 is a schematic flowchart illustrating steps of another flight guidance method according to an embodiment of the present application. The flight prompting method is applied to the control terminal, the problem that the barrier is a moving target is solved, and the flight safety of the unmanned aerial vehicle is improved.

As shown in fig. 15, the flight guidance method includes steps S201 to S203.

S201, acquiring motion information of a moving target sensed by the unmanned aerial vehicle;

s202, displaying a prompt icon corresponding to the moving target in an interactive interface displayed by the control terminal;

s203, determining the display mode of the prompt icon according to the motion information of the moving target.

Wherein the motion information comprises at least one of a motion speed, a relative height, a relative distance and a motion direction; the relative height is the height of the moving target relative to the unmanned aerial vehicle, and the relative distance is the distance between the moving target and the unmanned aerial vehicle.

In the flying process of the unmanned aerial vehicle, the obstacle sensing sensor can sense the motion information of the moving target, and the sensed motion information of the moving target is sent to the control terminal, so that the control terminal acquires the motion information of the moving target sensed by the unmanned aerial vehicle.

After the control terminal acquires the motion information of the moving target sensed by the unmanned aerial vehicle, a prompt icon corresponding to the moving target can be displayed in an interactive interface displayed by the control terminal, and the display mode of the prompt icon is determined according to the motion information of the moving target. Specifically, determining the display mode of the prompt icon includes, for example, determining a display color, a display position, and the like of the prompt icon.

For example, when it is determined that the moving target is approaching the unmanned aerial vehicle according to the motion information, the prompt icon corresponding to the moving target is displayed in yellow, and when it is determined that the moving target is approaching the unmanned aerial vehicle according to the motion information, the display color of the prompt icon may be changed, for example, the display color is displayed in red, so as to prompt the user of distance information of the moving distance or distance change information.

In some embodiments, the moving target may be a manned aircraft, and the obstacle-prompting icon includes an aircraft icon, so that the aircraft icon may be displayed at a boundary box of the interactive interface according to the motion information of the manned aircraft. Wherein the motion information of the manned aircraft is acquired through an ADS-B device.

In some embodiments, the movement information may be displayed near the airplane icon in order to make the user more aware of the movement trend of the manned airplane. The motion information may specifically be displayed in a pop-up display. It should be noted that part of the motion information may be displayed, such as displaying the motion speed and the motion direction; all movement information may also be displayed, such as speed of movement, relative height, relative distance, and direction of movement.

In some embodiments, the map screen is included in the interactive interface, and the map screen is a map used by the unmanned aerial vehicle during flight. And displaying a prompt icon corresponding to the moving target on the map picture according to the motion information of the moving target. Through showing in the map picture, can let the user know the moving object and the motion condition around unmanned aerial vehicle more directly perceivedly. Of course, the prompt icon of the moving target can also be displayed at the boundary box of the interactive interface.

Illustratively, as shown in fig. 16, a map-transferring screen 13 and a map screen 14 are displayed in the interactive interface 12, a flight icon 141 of the unmanned aerial vehicle 20 is displayed on the map screen 14, wherein a prompt icon 142 of the manned aircraft is displayed on the map screen 14, so that the user can more intuitively know the moving objects and the motion situation around the unmanned aerial vehicle.

In some embodiments, in order to better remind the user that a moving target is encountered around the drone, the display color of the bounding box of the map screen may also be changed. The user can be effectively reminded by changing the color, and moving targets appear around the current unmanned aerial vehicle.

For example, as shown in fig. 17, in contrast to the map screen in fig. 16, in fig. 17, the display color of the bounding box of the map screen 14 is changed, specifically, for example, displayed in yellow, and the user is reminded by using the yellow to have a warning effect.

In some embodiments, the map screen is convenient for the user to view, so as to improve the experience of the user. And whether a user performs switching operation on the map picture can be detected, and if the user performs switching operation on the map picture is detected, the map picture and the map transmission picture are displayed in a switching manner. The switching operation includes one of a click operation, a double click operation, a slide operation, and a press operation.

In some embodiments, the map screen includes a switch key; and if the switching key is detected to be operated by the user, switching and displaying the map picture and the map transmission picture. As shown in particular in fig. 18a and 18 b.

Specifically, as shown in fig. 18a, the interactive interface simultaneously displays the map screen 14 and the map screen 13. The map screen 13 is displayed on a large screen, the map screen 14 is displayed on a small screen, and the map screen 14 includes a switch button 140. When the user clicks the switch button 140, the map picture 14 and the image transmission picture 13 are switched and displayed, that is, the switched map picture 14 is displayed on a large screen, and the image transmission picture 13 is displayed on a small screen. It should be noted that the large screen display includes a full screen display and the like, and the small screen display specifically refers to a display with a smaller size than the large screen display.

In addition, when the flight prompting method detects that the manned aircraft is encountered around the unmanned aerial vehicle, the flight prompting method can also display the text prompting information on the displayed picture transmission picture by displaying the text prompting information so as to prompt a user that the manned aircraft exists around the unmanned aerial vehicle. Specifically, as shown in fig. 18a, text prompt messages such as "a nearby manned aircraft" and "a nearby manned aircraft please fly cautiously" are displayed through two display frames.

In some embodiments, in order to better display motion information, the motion information may be displayed at a position close to a prompt icon of the moving object displayed on the map screen after the switching display of the map screen and the map transmission screen. Specifically, the motion information may not be displayed in the map screen displayed on the small screen, but may be displayed on the map screen after switching to the large screen.

Specifically, as shown in fig. 18b, three plane icons, namely a plane icon 1421, a plane icon 1422, and a plane icon 1423, are displayed in the map screen 14 displayed on the large screen. The motion information is displayed at a position close to the airplane icon 1421, and specifically, the motion information is displayed in a pop-up frame. H represents the relative height of the manned aircraft and the unmanned aerial vehicle, D represents the relative distance between the manned aircraft and the unmanned aerial vehicle, and S represents the flight speed of the manned aircraft. Therefore, the user can know more information conveniently, and the experience degree of the user is improved.

In some embodiments, after the map screen and the map transmission screen are switched and displayed, a takeoff point position and a current flight position of the unmanned aerial vehicle may be further displayed on the map screen, and/or a flight trajectory of the unmanned aerial vehicle is displayed.

Specifically, as shown in fig. 18b, the position of the flight icon 141 of the unmanned aerial vehicle is the current flight position, the takeoff point position is the position of the point H in the map picture 14, and the trajectory line 1410 is the flight trajectory of the unmanned aerial vehicle. Thereby, the user can know more flight information about the unmanned aerial vehicle so as to make corresponding operation.

In some embodiments, the corresponding obstacle is a moving target. Specifically, the display mode of the prompt icon of the moving target may be determined according to the motion information of the moving target. More specifically, according to the motion information of the moving target, determining the danger degree level of the moving target; and determining the display mode of the prompt icon according to the danger degree grade. And the display colors of the prompt icons corresponding to different danger degree grades are different.

For example, as shown in fig. 19, three manned aircraft correspond to three aircraft icons, which are respectively an aircraft icon 1421, an aircraft icon 1422, and an aircraft icon 1423, and then it is determined that the risk degree grades of the three manned aircraft (aircraft 1, aircraft 2, and aircraft 3) are respectively grade i, grade ii, and grade iii according to the motion information, where the risk grade of grade i is the highest. The display colors of different airplane icons are different, and the different airplane icons are used for representing different danger degree levels, so that different danger levels of different manned airplanes of a user are prompted.

The danger degree grade of the moving target is determined according to the motion information of the moving target, and whether the moving target approaches the unmanned aerial vehicle or not or how long the moving target approaches the unmanned aerial vehicle can be determined according to the motion direction and the motion speed in the motion information of the moving target, so that the danger degree grade of the moving target is determined.

Of course, since the drone is also moving, it is also necessary to acquire the motion information of the drone. The method includes the steps that the moving target is moved to the unmanned aerial vehicle, the unmanned aerial vehicle and the manned aircraft are simulated according to the moving information of the moving target and the moving information of the unmanned aerial vehicle, and then the danger degree grade of the moving target is determined according to the flying tracks of the unmanned aerial vehicle and the manned aircraft, for example, the danger degree grade is determined according to whether the moving target is close to the unmanned aerial vehicle or not and the approaching distance.

Specifically, the risk level may also be determined according to the distance range, for example, as shown in table 1:

table 1 shows the correspondence between the distance range and the degree of risk

In Table 1, level I indicates the highest risk level, greater than level II, level III and level IV. In some embodiments, the level iv may represent a security level, and the security level may not display a prompt icon of the moving object on the map screen. It should be noted that table 1 is merely an example of the principle, and does not constitute a limitation on the value setting of the actual application, and the setting may be specifically performed according to the actual scene.

In some embodiments, the danger level evaluation model may be used to determine the danger level of different moving targets, and specifically, the motion information of the drone and the motion information of the moving target are input to the danger level evaluation model for simulation evaluation, so as to obtain the danger level of the moving target.

It should be noted that the risk level assessment model may include some formula algorithms, or may be a machine learning model obtained by training using a neural network, which is not limited herein.

In some embodiments, the prompt icon includes a shape icon for representing the moving target. For example, as shown in fig. 19, if the moving object is a manned airplane, the prompt icon is specifically represented by an airplane icon, so that the user can know the type of the moving object based on the shape icon.

In some embodiments, the hint icon includes a shape icon to represent the moving target and a ring icon to represent an actual position range of the moving target, wherein the shape icon is located within the ring icon. Specifically, as shown in fig. 20. The ring icon may also be displayed in different colors to indicate the level of danger for different moving objects.

In the flight process of the unmanned aerial vehicle, except for possibly meeting fixed obstacles and moving obstacles, the unmanned aerial vehicle may also meet a flight-limiting area or an authorized area and the like, only the unmanned aerial vehicle with safe flight qualification can fly in the flight-limiting areas, but a user can apply for a flight-limiting prohibition certificate through a control terminal to unlock flight limitation of the flight-limiting areas and then can fly. Thereby reducing the user experience.

The flight control region can be divided into a plurality of different types of flight control regions according to different countries, regional requirements and the like, such as a national flight control forbidden region, a high flight control forbidden region (for example, 120M height limit), a special forbidden region (circular or polygonal), an authorized region forbidden region and the like.

To solve the above problem, please refer to fig. 21, and fig. 21 is a flowchart illustrating steps of another flight prompting method according to an embodiment of the present application. The flight prompting method is applied to the control terminal to solve the problem of the flight limiting area, and therefore the experience degree of a user is improved.

As shown in fig. 21, the flight guidance method includes step S301 and step S302.

S301, acquiring a flight control prohibition certificate, and displaying the flight control prohibition certificate on the interactive interface;

s302, if the certificate sending operation triggered by the user is detected, the flight control prohibition certificate is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can prohibit the flight control area corresponding to the flight control prohibition certificate according to the flight control prohibition certificate.

The method comprises the steps of obtaining a flight-restricted disablement certificate, needing the flight-restricted disablement certificate applied from an official website in advance, directly downloading the applied flight-restricted disablement certificate to the local from a server through an application program on a control terminal, uploading the application program to an airplane to enable the disablement certificate to take effect, and achieving the flight-restricted disablement. After the certificate is validated, the airplane can fly in the area specified by the certificate and is not limited by the flight-limiting area above the area.

It should be noted that the application in the control terminal is an application for controlling the flight of the aircraft, and may be connected to a server of the official website, and download some disable certificates or software versions, etc.

Specifically, as shown in fig. 22, a certificate identifier of the acquired flight restriction prohibition and cancellation certificate and a corresponding sending key may be displayed in the interactive interface, where the sending key is specifically an import airplane, and is used to detect whether the user clicks the "import airplane" key, and if it is detected that the user operates the sending key, send the flight restriction prohibition and cancellation certificate to the unmanned aerial vehicle.

In some embodiments, after the flight restriction prohibition certificate is sent to the drone, the lead-in plane displays a text display of "led-in" to further prompt the user that the lead-in is successful, thereby improving the user experience.

In some embodiments, more flight-restricted areas are forbidden for the convenience of the user, and the forbidden efficiency is improved. The method includes the steps of obtaining a flight-restricted disablement certificate, and specifically obtaining a flight-restricted disablement certificate group corresponding to the unmanned aerial vehicle, wherein the flight-restricted disablement certificate group comprises a plurality of flight-restricted disablement certificates.

For example, as shown in fig. 22, the unmanned aerial vehicle Mavic Mini includes at least three flight-control barring certificates, which are all displayed in the interactive interface, and which flight-control barring certificate is selected to be imported, so that the user experience is improved.

It should be noted that, step S301 and step S302 provided in fig. 21 may be applied before or after the unmanned aerial vehicle encounters a fixed obstacle, such as being executed before step S101, or being executed after step S103; alternatively, the steps S301 and S302 provided in fig. 21 may be applied before or after the unmanned aerial vehicle encounters a moving obstacle, such as before the step S201, or after the step S203. The selection of the specific application scene is determined according to the actual requirement.

Referring to fig. 23, fig. 23 is a flowchart illustrating steps of another flight prompting method according to an embodiment of the present application. The flight prompting method is applied to the control terminal to solve the problem of the authorized area and further improve the experience degree of a user.

As shown in fig. 23, the flight guidance method includes step S401 and step S402.

S301, displaying a certificate identifier corresponding to the authorization area on the interactive interface;

s302, if an authorization sending operation triggered by a user is detected, an authorization instruction is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle forbids an authorization area corresponding to the certificate identifier according to the certificate identifier in the authorization instruction.

And the unmanned aerial vehicle is internally stored with an authorization zone forbidden certificate corresponding to the certificate identifier. Relative to the flight control zone, the requirement of the authorization zone relative to the flight control zone is not so strict, and the user is allowed to selectively forbid according to autonomous selection, so that the authorization zone forbidding certificate can be stored in the unmanned aerial vehicle, and the forbidding efficiency is improved.

In some embodiments, a certificate identifier of an authorization zone unblocking certificate and a corresponding activation key may be displayed in the interactive interface; and detecting whether the user operates the activation key, if so, generating an authorization instruction according to the certificate identifier, and sending the authorization instruction to the unmanned aerial vehicle.

Specifically, as shown in fig. 24, in the in-plane certificate interface of the interactive interface, certificate identifiers corresponding to two authorization areas, namely New Matamoras3 and New Matamoras4, and an activation key corresponding to each certificate identifier are displayed. When the user operates the activation key, an authorization instruction is generated according to the certificate identifier and is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle searches and acquires the corresponding authorization zone certificate according to the certificate identifier in the authorization instruction, and the authorization zone corresponding to the certificate identifier is forbidden according to the authorization zone certificate.

In some embodiments, the current position of the drone may be further obtained, a map corresponding to the current position of the drone is displayed in an interactive interface of the control terminal, and an area of the authorization zone corresponding to the map is displayed on the map. Certificate information of an authorization area disablement certificate corresponding to the authorization area can be displayed at a preset position on the map.

Specifically, as shown in fig. 25, a region 144 of the authorization area corresponding to the map is displayed on the map, where the region 144 is a circular region, and the authorization area certificate authority may be clicked to view detailed information of the authorization area certificate authority, such as a location, a range, a validity period, and the like, specifically, as shown in the certificate information 145.

In some embodiments, before sending the authorization instruction to the drone, the flight guidance method further comprises: acquiring the current position of the unmanned aerial vehicle; if the current position of the unmanned aerial vehicle and the position of the authorization area meet preset authorization conditions, displaying a position identifier corresponding to the authorization area and a corresponding authorization key in the map transmission picture or the map picture through a pop-up frame; and if the user is detected to operate the authorization key, generating an authorization instruction according to the certificate identifier corresponding to the authorization area.

Wherein, unmanned aerial vehicle's current position and the position in authorization district satisfy preset authorization condition, specifically do: and determining whether the current position of the unmanned aerial vehicle and the position of the authorization area are within a preset range, and if so, determining that the current position of the unmanned aerial vehicle and the position of the authorization area meet preset authorization conditions. For example, within 2m, indicating that the drone is approaching the authorized zone.

In some embodiments, to improve information security. And generating an authorization instruction according to the certificate identifier corresponding to the authorization area, verifying the user, and generating the authorization instruction according to the certificate identifier corresponding to the authorization area after the verification is passed.

Specifically, as shown in fig. 26, the pop-up box display includes a certificate identifier corresponding to at least one authorization zone unblocking certificate and a corresponding unlocking key "unlock", when it is detected that the user clicks the unlocking key, the interface in fig. 27 is skipped to, the verification code input box is displayed, and if the user inputs a correct verification code within a specified time, the unlocking is successful, and the user is verified, thereby improving the information security.

In some embodiments, in fig. 27, if the user does not receive the verification code within the specified time, another verification method, such as voice verification, may be selected, thereby improving the user experience.

It can be understood that the authentication of the user may include one of short message authentication and voice authentication, and mailbox authentication, fingerprint authentication, password authentication, and identification number authentication.

It should be noted that, step S401 and step S402 provided in fig. 23 may be applied before or after the unmanned aerial vehicle encounters a fixed obstacle, such as being performed before step S101, or may be performed after step S103; alternatively, steps S401 and S402 provided in fig. 23 may be applied before or after the unmanned aerial vehicle encounters a moving obstacle, such as before step S201, or after step S203. The specific application scene is selected according to actual requirements.

The flight prompting method provided by the embodiment can prompt the user when the unmanned aerial vehicle encounters different obstacles so as to avoid misoperation of the user. From this, can improve the security of unmanned aerial vehicle flight, can also improve user's experience simultaneously.

Referring to fig. 28, fig. 28 is a schematic block diagram of a flight guidance device according to an embodiment of the present application. The flight prompting device can be applied to a control terminal.

As shown in fig. 28, the flight guidance apparatus 500 includes a processor 501 and a memory 502, and the processor 501 and the memory 502 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus. Flight suggestion device 500 is applied to control terminal, and this control terminal communicates with unmanned aerial vehicle for control unmanned aerial vehicle flies.

In some embodiments, the control terminal includes a display device, where the display device may be a liquid crystal display or a touch screen, or the control terminal includes a bearing platform, where the bearing platform is used to bear a display device, and a user may install the display device on the bearing platform and establish a communication connection between the control terminal and the display device.

Specifically, the Processor 501 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 502 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The processor is configured to run a computer program stored in the memory, and when executing the computer program, implement any one of the flight guidance methods provided in the embodiments of the present application.

Illustratively, the processor is configured to run a computer program stored in the memory and to implement the following steps when executing the computer program:

displaying an image transmission picture and/or a map picture shot by the unmanned aerial vehicle on an interactive interface of the control terminal; acquiring obstacle information sensed by the unmanned aerial vehicle; and displaying an obstacle prompt icon at a boundary frame of the interactive interface according to the obstacle information.

In some embodiments, the obstacle information includes orientation information and/or distance information, the orientation information being a direction of the obstacle relative to the drone, and the distance information being a distance of the obstacle relative to the drone.

In some embodiments, the orientation information comprises angular information.

In some embodiments, the drone includes a forward obstacle-sensing sensor and/or a rearward obstacle-sensing sensor; displaying an obstacle prompt icon at a bounding box of the interactive interface, including: and displaying the obstacle prompt icon at the upper boundary frame and/or the lower boundary frame of the interactive interface.

In some embodiments, the displaying an obstacle prompt icon at a bounding box of the interactive interface according to the obstacle information includes: determining a target boundary box in a plurality of boundary boxes of the interactive interface according to the azimuth information in the barrier information; and displaying an obstacle alert icon at the target bounding box.

In some embodiments, the drone includes a forward obstacle sensing sensor, a backward obstacle sensing sensor, a left obstacle sensing sensor, and/or a right obstacle sensing sensor; the orientation information includes: the barrier is arranged in any one of the front, the rear, the left and the right of the unmanned aerial vehicle; the target bounding box comprises any one of an upper bounding box, a lower bounding box, a left bounding box and a right bounding box.

In some embodiments, the obstacle alert icon includes an obstacle alert bar located at a bounding box of the interactive interface.

In some embodiments, the width of the obstacle prompt bar is the same as the width of a bounding box in the interactive interface used to display the obstacle prompt bar; or the width of the obstacle prompt bar is smaller than the width of a boundary box used for displaying the obstacle prompt bar in the interactive interface.

In some embodiments, the obstacle alert bar is a translucent icon or a transparent icon.

In some embodiments, the processor is further configured to: and if the distance information in the obstacle information is greater than a preset safe distance, or if no obstacle is detected, hiding the obstacle prompt icon.

In some embodiments, the displaying an obstacle prompt icon at a bounding box of the interactive interface according to the obstacle information includes:

and determining the display color of the obstacle prompt icon displayed at the boundary frame of the interactive interface according to the distance information in the obstacle information.

In some embodiments, the determining, according to the distance information in the obstacle information, a display color of an obstacle prompt icon displayed at a bounding box of the interactive interface includes:

and if the distance between the obstacle and the unmanned aerial vehicle is smaller than a preset distance, determining a preset color corresponding to the preset distance as the display color of the obstacle prompt icon.

In some embodiments, the preset color corresponding to the preset distance comprises yellow.

if the unmanned aerial vehicle is determined to be in the emergency hovering state, determining a preset color corresponding to the emergency hovering state as a display color of the obstacle prompt icon; the emergency hovering state is a hovering state of the unmanned aerial vehicle entering due to an obstacle.

In some embodiments, the preset color corresponding to the emergency hovering state includes red, or the preset color corresponding to the emergency hovering state exhibits a dynamic diffusion effect.

In some embodiments, after determining a display color of an obstacle prompt icon displayed at a bounding box of the interactive interface according to the distance information in the obstacle information, the processor further implements:

outputting prompt information for prompting a user that an obstacle appears near the unmanned aerial vehicle; the prompt message comprises at least one of vibration prompt message, voice prompt message and character prompt message.

determining a target position in the obstacle prompt icon according to azimuth information in the obstacle information; and determining a display color of the obstacle indication icon at the target position according to the distance information.

In some embodiments, after the obtaining obstacle information sensed by the drone, the processor further implements:

determining whether the unmanned aerial vehicle triggers an early warning condition according to the obstacle information, wherein the early warning condition is used for triggering and displaying an obstacle prompt icon; and if the unmanned aerial vehicle triggers the early warning condition, displaying an obstacle prompt icon at a boundary frame of the interactive interface.

In some embodiments, the determining whether the drone triggers an early warning condition based on the obstacle information includes:

determining whether distance information in the obstacle information is less than or equal to a preset safety distance; and if the distance information in the obstacle information is smaller than or equal to the preset safety distance, determining that the unmanned aerial vehicle triggers an early warning condition.

In some embodiments, the obstacle information includes motion information of a moving object.

In some embodiments, the motion information includes at least one of a speed of motion, a relative altitude, a relative distance, and a direction of motion; wherein, the relative height is the relative height of the unmanned aerial vehicle of moving target, relative distance is the relative distance of unmanned aerial vehicle of moving target.

In some embodiments, the moving target comprises a manned aircraft and the obstacle alert icon comprises an aircraft icon.

In some embodiments, the motion information of the manned aircraft is obtained by an ADS-B device.

In some embodiments, the processor further implements: displaying the movement information proximate to the aircraft icon.

In some embodiments, the map screen is included in the interactive interface, and the map screen is a map used by the unmanned aerial vehicle during flight.

In some embodiments, the processor further implements: and displaying a prompt icon corresponding to the moving target on the map picture.

In some embodiments, the processor further implements: changing a display color of a bounding box of the map screen.

In some embodiments, the processor further implements: and if the switching operation of the map picture by the user is detected, switching and displaying the map picture and the image transmission picture.

In some embodiments, the map screen includes a switch key; the processor further implements:

and if the switching key is detected to be operated by the user, switching and displaying the map picture and the map transmission picture.

In some embodiments, after the switching the display of the map screen and the map transmission screen, the processor further implements:

displaying the motion information at a position close to a prompt icon of the moving target displayed on the map screen.

and displaying the takeoff point position and the current flight position of the unmanned aerial vehicle on the map picture, and/or displaying the flight track of the unmanned aerial vehicle.

determining a display mode of a prompt icon of the moving target according to the motion information of the moving target;

wherein, the determining the display mode of the prompt icon of the moving target according to the motion information of the moving target comprises: determining the danger degree grade of the moving target according to the motion information of the moving target; and determining the display mode of the prompt icon according to the danger degree grade.

In some embodiments, the display colors of the prompt icons corresponding to different risk level levels are different.

In some embodiments, the prompt icon includes a shape icon for representing the moving target.

In some embodiments, the prompt icon includes a shape icon for representing the moving target and a ring icon for representing an actual position range of the moving target, wherein the shape icon is located within the ring icon.

In some embodiments, the processor further implements:

acquiring a flight-restricted disablement certificate, and displaying the flight-restricted disablement certificate on the interactive interface; and if the certificate sending operation triggered by the user is detected, sending the flight restriction prohibition certificate to the unmanned aerial vehicle, so that the unmanned aerial vehicle prohibits the flight restriction region corresponding to the flight restriction prohibition certificate according to the flight restriction prohibition certificate.

In some embodiments, the processor further implements:

displaying the certificate identification of the acquired flight restriction prohibition certificate and a corresponding sending key in the interactive interface; and if the fact that the user operates the sending key is detected, sending the flight-limiting prohibition certificate to the unmanned aerial vehicle.

In some embodiments, the obtaining the flight-restricted disablement certificate comprises:

and acquiring a limited-flight prohibition certificate group corresponding to the unmanned aerial vehicle, wherein the limited-flight prohibition certificate group comprises a plurality of limited-flight prohibition certificates.

In some embodiments, the processor further implements:

displaying a certificate identifier corresponding to the authorization area on the interactive interface; if the authorization sending operation triggered by the user is detected, sending an authorization instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle forbids an authorization area corresponding to the certificate identifier according to the certificate identifier in the authorization instruction; and the unmanned aerial vehicle is internally stored with an authorization zone forbidden certificate corresponding to the certificate identifier.

In some embodiments, the processor further implements:

displaying a certificate identifier of an authorization zone forbidden certificate and a corresponding activation key in the interactive interface; and if the fact that the user operates the activation key is detected, generating an authorization instruction according to the certificate identifier, and sending the authorization instruction to the unmanned aerial vehicle.

In some embodiments, the processor further implements:

displaying a map corresponding to the current position of the unmanned aerial vehicle, and displaying an area corresponding to the authorization area on the map.

In some embodiments, the processor further implements:

and displaying the certificate information of the forbidden certificate of the authorization area corresponding to the authorization area at a preset position on the map.

In some embodiments, before sending the authorization instruction to the drone, the processor further implements:

acquiring the current position of the unmanned aerial vehicle; if the current position of the unmanned aerial vehicle and the position of the authorization area meet preset authorization conditions, displaying a position identifier corresponding to the authorization area and a corresponding authorization key in the map transmission picture or the map picture through a pop-up frame; and if the user is detected to operate the authorization key, generating an authorization instruction according to the certificate identifier corresponding to the authorization area.

In some embodiments, the generating an authorization instruction according to the certificate identifier corresponding to the authorization zone includes:

and verifying the user, and generating an authorization instruction according to the certificate identifier corresponding to the authorization area after the user passes the verification.

In some embodiments, the authenticating the user includes one of short message authentication, mailbox authentication, voice authentication, fingerprint authentication, password authentication, and identification number authentication.

In some embodiments, the current location of the drone and the location of the authorization zone satisfy a preset authorization condition, including:

and if the current position of the unmanned aerial vehicle and the position of the authorization area are within a preset range, determining that the current position of the unmanned aerial vehicle and the position of the authorization area meet preset authorization conditions.

acquiring motion information of a moving target sensed by the unmanned aerial vehicle; displaying a prompt icon corresponding to the moving target in an interactive interface displayed by the control terminal; and determining the display mode of the prompt icon according to the motion information of the moving target.

In some embodiments, the determining, according to the motion information of the moving object, a display manner of the prompt icon includes:

determining the danger degree grade of the moving target according to the motion information of the moving target; determining the display mode of the prompt icon according to the danger degree grade; and the display modes of the prompt icon corresponding to different danger degree grades are different.

In some embodiments, the prompt icon comprises a shape icon for representing the moving target.

In some embodiments, the prompt icon includes a shape icon and a ring icon, wherein the shape icon is located within the ring icon, the shape icon is used for representing the moving target, and the ring icon is used for representing the actual position range of the moving target.

In some embodiments, the moving target comprises a manned aircraft and the alert icon comprises an aircraft icon.

In some embodiments, the processor further implements: displaying the motion information proximate to the prompt icon.

In some embodiments, the interactive interface includes the map picture and/or the image transmission picture, the map picture is a map used by the unmanned aerial vehicle during flight, and the image transmission picture is a picture shot by the unmanned aerial vehicle.

In some embodiments, the processor further implements:

and if the switching operation of the map picture by the user is detected, switching and displaying the map picture and the image transmission picture.

In some embodiments, the map screen includes a switch key, and the processor further implements:

and if the switching key is detected to be operated by the user, switching and displaying the map picture and the image transmission picture.

and displaying the motion information at a position close to a prompt icon corresponding to the moving target with the highest danger level.

In some embodiments, the processor further implements:

displaying a flight icon corresponding to the unmanned aerial vehicle on the map picture, wherein the flight icon is used for indicating the current flight position and flight direction of the unmanned aerial vehicle.

In some embodiments, after the obtaining motion information of the moving target sensed by the drone, the processor further implements:

outputting prompt information for prompting a user that a moving target exists near the unmanned aerial vehicle; the prompt message comprises at least one of vibration prompt message, voice prompt message, character prompt message and interface change message.

In some embodiments, the processor further implements:

Referring to fig. 29, fig. 29 is a schematic block diagram of a flight control terminal according to an embodiment of the present application. As shown in fig. 29, the control terminal 600 includes a processor 601, a memory 602, and a display device 603, and the memory 602 and the display device 603 are connected to the processor 601 via a bus, such as an I2C (Inter-integrated Circuit) bus. This control terminal 600 communicates with unmanned aerial vehicle for control unmanned aerial vehicle flies.

The display device 603 is used for displaying, for example, an interactive interface, an image transmission screen, a map screen, and the like. The display device 603 includes a display screen disposed on the control terminal or a display independent of the control terminal, and the display independent of the control terminal may include a mobile phone, a tablet computer, a personal computer, or the like, or may be other electronic devices with a display screen. Wherein the display screen comprises an LED display screen, an OLED display screen, an LCD display screen and the like

Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The embodiment of the application further provides a flight system, and specifically as shown in fig. 1, the flight system comprises a control terminal 10 and an unmanned aerial vehicle 20, the control terminal 10 is used for controlling the unmanned aerial vehicle 20 to fly, and executing any one of the flight prompting methods provided by the embodiment of the application.

In an embodiment of the present application, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the flight guidance method according to any one of the above embodiments.

The computer-readable storage medium may be an internal storage unit of the control terminal according to any of the foregoing embodiments, for example, a memory or an internal memory of the control terminal. The computer readable storage medium may also be an external storage device of the control terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the control terminal.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The flight prompting method is applied to a control terminal, the control terminal is used for controlling an unmanned aerial vehicle to fly, and the method comprises the following steps:

acquiring obstacle information sensed by the unmanned aerial vehicle;

2. The method of claim 1, wherein the obstacle information includes orientation information and/or distance information, the orientation information being a direction of the obstacle relative to the drone, and the distance information being a distance of the obstacle relative to the drone.

3. The method of claim 2, wherein the orientation information comprises angle information.

4. The method of claim 1, wherein the drone includes a forward obstacle-sensing sensor and/or a rearward obstacle-sensing sensor;

displaying an obstacle prompt icon at a bounding box of the interactive interface, including:

and displaying the obstacle prompt icon at the upper boundary frame and/or the lower boundary frame of the interactive interface.

5. The method of claim 1, wherein displaying an obstacle-prompting icon at a bounding box of the interactive interface according to the obstacle information comprises:

determining a target boundary box in a plurality of boundary boxes of the interactive interface according to the azimuth information in the barrier information; and

displaying an obstacle alert icon at the target bounding box.

6. The method of claim 5, wherein the drone includes a forward obstacle sensing sensor, a rearward obstacle sensing sensor, a left obstacle sensing sensor, and/or a right obstacle sensing sensor; the orientation information includes: the barrier is arranged in any one of the front, the rear, the left and the right of the unmanned aerial vehicle; the target bounding box comprises any one of an upper bounding box, a lower bounding box, a left bounding box and a right bounding box.

7. The method of claim 1, wherein the obstacle alert icon comprises an obstacle alert bar located at a bounding box of the interactive interface.

8. The method of claim 7, wherein the width of the obstacle prompt bar is the same as the width of a bounding box in the interactive interface used to display the obstacle prompt bar; or

The width of the barrier prompt bar is smaller than the width of a boundary box used for displaying the barrier prompt bar in the interactive interface.

9. The method of claim 7, wherein the obstruction bar is a translucent icon or a transparent icon.

10. The method according to any one of claims 1 to 9, further comprising:

and if the distance information in the obstacle information is greater than a preset safe distance, or if no obstacle is detected, hiding the obstacle prompt icon.

11. The method according to any one of claims 1 to 9, wherein the displaying an obstacle prompt icon at a boundary box of the interactive interface according to the obstacle information comprises:

12. The method according to claim 11, wherein the determining a display color of an obstacle prompt icon displayed at a bounding box of the interactive interface according to the distance information in the obstacle information comprises:

13. The method of claim 12, wherein the preset color corresponding to the preset distance comprises yellow.

14. The method according to claim 11, wherein the determining a display color of an obstacle prompt icon displayed at a bounding box of the interactive interface according to the distance information in the obstacle information comprises:

if the unmanned aerial vehicle is determined to be in the emergency hovering state, determining a preset color corresponding to the emergency hovering state as a display color of the obstacle prompt icon;

the emergency hovering state is a hovering state of the unmanned aerial vehicle entering due to an obstacle.

15. The method of claim 14, wherein the preset color corresponding to the emergency hover state comprises red, or wherein the preset color corresponding to the emergency hover state exhibits a dynamic diffusion effect.

16. The method according to claim 11, wherein after determining a display color of an obstacle prompt icon displayed at a bounding box of the interactive interface according to the distance information in the obstacle information, the method further comprises:

outputting prompt information for prompting a user that an obstacle appears near the unmanned aerial vehicle;

the prompt message comprises at least one of vibration prompt message, voice prompt message and character prompt message.

17. The method according to any one of claims 1 to 9, wherein the displaying an obstacle prompt icon at a boundary box of the interactive interface according to the obstacle information comprises:

determining a target position in the obstacle prompt icon according to azimuth information in the obstacle information; and

determining a display color of the obstacle indication icon at the target position according to the distance information.

18. The method of any of claims 1 to 9, wherein after said obtaining obstacle information sensed by said drone, further comprising:

determining whether the unmanned aerial vehicle triggers an early warning condition according to the obstacle information, wherein the early warning condition is used for triggering and displaying an obstacle prompt icon;

and if the unmanned aerial vehicle triggers the early warning condition, displaying an obstacle prompt icon at a boundary frame of the interactive interface.

19. The method of claim 18, wherein determining whether the drone triggers a pre-warning condition based on the obstacle information comprises:

determining whether distance information in the obstacle information is less than or equal to a preset safety distance;

and if the distance information in the obstacle information is smaller than or equal to the preset safety distance, determining that the unmanned aerial vehicle triggers an early warning condition.

20. The method of claim 1, wherein the obstacle information comprises motion information of a moving object.

21. The method of claim 20, wherein the motion information comprises at least one of a speed of motion, a relative altitude, a relative distance, and a direction of motion;

wherein, the relative height is the relative height of the unmanned aerial vehicle of moving target, relative distance is the relative distance of unmanned aerial vehicle of moving target.

22. The method of claim 20, wherein the moving object comprises a manned aircraft and the obstacle alert icon comprises an aircraft icon.

23. The method of claim 22, wherein the motion information of the manned aircraft is obtained by an ADS-B device.

24. The method of claim 22, further comprising: displaying the movement information proximate to the aircraft icon.

25. The method of claim 20, wherein the map screen is included in the interactive interface, and the map screen is a map used by the drone during flight.

26. The method of claim 25, further comprising:

and displaying a prompt icon corresponding to the moving target on the map picture.

27. The method of claim 25, further comprising:

changing a display color of a bounding box of the map screen.

28. The method of claim 25, wherein the method comprises:

29. The method of claim 25, wherein the map screen includes a toggle button; the method further comprises the following steps:

30. The method according to claim 28, wherein after the switching between the display of the map screen and the map-transmission screen, the method further comprises:

31. The method according to claim 28, wherein after the switching between the display of the map screen and the map-transmission screen, the method further comprises:

32. The method of claim 20, wherein displaying an obstacle-prompting icon at a bounding box of the interactive interface according to the obstacle information comprises:

wherein, the determining the display mode of the prompt icon of the moving target according to the motion information of the moving target comprises:

determining the danger degree grade of the moving target according to the motion information of the moving target; and

and determining the display mode of the prompt icon according to the danger degree grade.

33. The method of claim 32, wherein the prompt icon for different risk levels is displayed in a different color.

34. The method of claim 32, wherein the prompt icon comprises a shape icon representing the moving object.

35. The method of claim 32, wherein the hint icon includes a shape icon for representing the moving object and a ring icon for representing an actual location range of the moving object, wherein the shape icon is located within the ring icon.

36. The method of claim 1, further comprising:

acquiring a flight-restricted disablement certificate, and displaying the flight-restricted disablement certificate on the interactive interface;

and if the certificate sending operation triggered by the user is detected, sending the flight restriction prohibition certificate to the unmanned aerial vehicle, so that the unmanned aerial vehicle prohibits the flight restriction region corresponding to the flight restriction prohibition certificate according to the flight restriction prohibition certificate.

37. The method of claim 36, further comprising:

displaying the certificate identification of the acquired flight restriction prohibition certificate and a corresponding sending key in the interactive interface;

and if the fact that the user operates the sending key is detected, sending the flight-limiting prohibition certificate to the unmanned aerial vehicle.

38. The method of claim 36, wherein obtaining the restricted-flight disablement certificate comprises:

39. The method of claim 1, further comprising:

displaying a certificate identifier corresponding to the authorization area on the interactive interface;

if the authorization sending operation triggered by the user is detected, sending an authorization instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle forbids an authorization area corresponding to the certificate identifier according to the certificate identifier in the authorization instruction;

and the unmanned aerial vehicle is internally stored with an authorization zone forbidden certificate corresponding to the certificate identifier.

40. The method of claim 39, further comprising:

displaying a certificate identifier of an authorization zone forbidden certificate and a corresponding activation key in the interactive interface;

and if the fact that the user operates the activation key is detected, generating an authorization instruction according to the certificate identifier, and sending the authorization instruction to the unmanned aerial vehicle.

41. The method of claim 39, further comprising:

42. The method of claim 41, further comprising:

43. The method of claim 39, wherein prior to sending the authorization instruction to the drone, the method further comprises:

acquiring the current position of the unmanned aerial vehicle;

if the current position of the unmanned aerial vehicle and the position of the authorization area meet preset authorization conditions, displaying a position identifier corresponding to the authorization area and a corresponding authorization key in the map transmission picture or the map picture through a pop-up frame;

and if the user is detected to operate the authorization key, generating an authorization instruction according to the certificate identifier corresponding to the authorization area.

44. The method of claim 43, wherein the generating the authorization instruction according to the certificate identifier corresponding to the authorization zone comprises:

45. The method of claim 44, wherein authenticating the user comprises one of SMS authentication, mailbox authentication, voice authentication, fingerprint authentication, password authentication, and identification number authentication.

46. The method of claim 43, wherein the current location of the drone and the location of the authorization zone satisfy a preset authorization condition, comprising:

47. The flight prompting method is applied to a control terminal, the control terminal is used for controlling an unmanned aerial vehicle to fly, and the method comprises the following steps:

48. The method of claim 47, wherein the motion information comprises at least one of a speed of motion, a relative altitude, a relative distance, and a direction of motion;

49. The method of claim 48, wherein the determining the display mode of the prompt icon according to the motion information of the moving object comprises:

determining a display mode of the prompt icon according to the danger degree grade;

and the display modes of the prompt icon corresponding to different danger degree grades are different.

50. The method of claim 49, wherein the prompt icon for different levels of risk is displayed in different colors.

51. The method of claim 49, wherein the prompt icon comprises a shape icon, and wherein the shape icon is used to represent the moving target.

52. The method of claim 49, wherein the hint icon includes a shape icon and a ring icon, wherein the shape icon is located within the ring icon, wherein the shape icon is used to represent the moving object, and wherein the ring icon is used to represent an actual location range of the moving object.

53. The method of any one of claims 47 to 52, wherein the moving object comprises a manned aircraft and the alert icon comprises an aircraft icon.

54. The method of claim 53, wherein the motion information of the manned aircraft is obtained by an ADS-B device.

55. The method of any one of claims 47 to 52, further comprising: displaying the motion information proximate to the prompt icon.

56. The method according to any one of claims 47 to 52, wherein the interactive interface comprises the map picture and/or the map transmission picture, the map picture is a map used by the unmanned aerial vehicle during flying, and the map transmission picture is a picture shot by the unmanned aerial vehicle.

57. The method of claim 56, further comprising:

changing a display color of a bounding box of the map screen.

58. The method of claim 56, further comprising:

59. The method of claim 56, wherein the map screen includes a toggle button, the method further comprising:

60. The method of claim 59, wherein after the switching between the display of the map screen and the map-based screen, the method further comprises:

61. The method of claim 59, wherein after the switching between the display of the map screen and the map-based screen, the method further comprises:

62. The method of any one of claims 47 to 52, further comprising:

63. The method of any of claims 47-52, wherein after said obtaining motion information of a moving target sensed by said drone, said method further comprises:

outputting prompt information for prompting a user that a moving target exists near the unmanned aerial vehicle;

the prompt message comprises at least one of vibration prompt message, voice prompt message, character prompt message and interface change message.

64. The method of claim 47, further comprising:

65. The method of claim 64, further comprising:

66. The method of claim 64, wherein obtaining the restricted-flight disablement certificate comprises:

67. The method of claim 47, further comprising:

68. The method of claim 67, further comprising:

69. The method of claim 67, further comprising:

70. The method of claim 69, further comprising:

71. The method of claim 67, wherein prior to sending the authorization instruction to the drone, the method further comprises:

acquiring the current position of the unmanned aerial vehicle;

72. The method of claim 71, wherein generating the authorization instruction according to the certificate identifier corresponding to the authorization zone comprises:

73. The method of claim 72, wherein authenticating the user comprises one of SMS authentication, mailbox authentication, voice authentication, fingerprint authentication, password authentication, and identification number authentication.

74. The method of claim 71, wherein the current location of the drone and the location of the authorization zone satisfy a preset authorization condition, comprising:

75. The flight prompting device is applied to a control terminal and comprises a processor and a memory;

the memory is used for storing a computer program;

the processor being configured to execute the computer program and, when executing the computer program, to carry out the steps of the method according to any one of claims 1 to 46.

76. The flight prompting device is applied to a control terminal and comprises a processor and a memory;

the memory is used for storing a computer program;

the processor being adapted to execute the computer program and, when executing the computer program, to carry out the steps of the method of any one of claims 47 to 74.

77. A control terminal, characterized in that the control terminal comprises: a display device, a memory, and a processor;

the display device is used for displaying;

the memory is used for storing a computer program;

78. A control terminal, characterized in that the control terminal comprises: a display device, a memory, and a processor;

the display device is used for displaying;

the memory is used for storing a computer program;

79. A flight system, comprising a drone and a control terminal according to claim 77 or 78, for controlling the flight of the drone.

80. 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 carry out the method of any one of claims 1 to 46, or the steps of the method of any one of claims 47 to 74.