CN113272754A

CN113272754A - Unmanned aerial vehicle control method and device, unmanned aerial vehicle, control terminal and system

Info

Publication number: CN113272754A
Application number: CN202080008006.7A
Authority: CN
Inventors: 艾强; 马亚南; 刘兴成
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2021-08-17
Also published as: WO2022061886A1

Abstract

Provided are a control method and device of an unmanned aerial vehicle, the unmanned aerial vehicle, a control terminal and a system. The method comprises the following steps: acquiring a first horizontal control instruction, wherein the first horizontal control instruction is used for instructing the unmanned aerial vehicle to be controlled to move horizontally by taking the yaw orientation of the machine head as a reference direction, and the first horizontal control instruction is generated by a user operating a rudder of a control terminal along a target direction (S301); determining attitude information of the unmanned aerial vehicle and relative direction information of the unmanned aerial vehicle relative to the control terminal (S302); and controlling the unmanned aerial vehicle to fly along the target direction according to the attitude information, the relative direction information and the first horizontal control instruction (S303). The unmanned aerial vehicle control system has the advantages that the unmanned aerial vehicle can be accurately controlled and operated based on the relative direction information of the unmanned aerial vehicle relative to the control terminal, particularly when the unmanned aerial vehicle is in a narrow area and meets an obstacle, the flight operation of the unmanned aerial vehicle can be greatly controlled by a user conveniently, so that the probability of machine explosion is effectively reduced, and the harm to social safety can be reduced.

Description

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

Technical Field

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

Background

Along with the rapid development of science and technology, unmanned aerial vehicle is more and more popularized in the crowd to make this equipment that originally could fly by professional, the entering is huge in family, and a lot of users who use unmanned aerial vehicle lack professional cultivation, the condition such as various fried machines, collision often appears, so not only has endangered self interests, has more led to the fact the hidden danger to social security.

For drones, a common general fryer situation is caused by human operations, such as: when there is the barrier near unmanned aerial vehicle, control unmanned aerial vehicle's the heart of flying hand and store a panic, easily distinguish unmanned aerial vehicle around. At this time, if the flying hand operates and controls the unmanned aerial vehicle to fly in a busy manner, the probability of occurrence of accidents such as a machine explosion and a collision of the unmanned aerial vehicle is easily increased.

Disclosure of Invention

The embodiment of the invention provides a control method, a control system, a control device and a control system of an unmanned aerial vehicle, and aims to solve the problems that in the prior art, due to the fact that the front, back, left and right directions of the unmanned aerial vehicle cannot be accurately identified, various conditions such as machine explosion, collision and the like are easy to occur, the benefits of the unmanned aerial vehicle are damaged, and hidden dangers are caused to social safety.

In a first aspect of the embodiments of the present invention, a method for controlling an unmanned aerial vehicle is provided, including:

acquiring a first horizontal control instruction, wherein the first horizontal control instruction is used for instructing the unmanned aerial vehicle to move horizontally by taking the yaw orientation of the machine head as a reference direction, and the first horizontal control instruction is generated by operating a rudder of a control terminal along a target direction by a user;

determining attitude information of the unmanned aerial vehicle and relative direction information of the unmanned aerial vehicle relative to a control terminal;

and controlling the unmanned aerial vehicle to fly along the target direction according to the attitude information, the relative direction information and the first horizontal control instruction.

In a second aspect of the embodiments of the present invention, there is provided a control device for an unmanned aerial vehicle, including:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement:

In a third aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle, including: the control device of the unmanned aerial vehicle of the second aspect.

In a fourth aspect of the embodiments of the present invention, a control terminal is provided, including: the control device of the unmanned aerial vehicle of the second aspect.

In a fifth aspect of the embodiments of the present invention, there is provided a control system for an unmanned aerial vehicle, including: the unmanned aerial vehicle and the control terminal of the third aspect are used for controlling the unmanned aerial vehicle.

In a sixth aspect of the embodiments of the present invention, there is provided a control system for an unmanned aerial vehicle, including: the control terminal and unmanned aerial vehicle of above-mentioned fourth aspect, control terminal is used for right unmanned aerial vehicle controls.

A seventh aspect of the embodiments of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the method for controlling an unmanned aerial vehicle according to the first aspect.

According to the technical scheme provided by the embodiment of the invention, the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal are determined by acquiring the first horizontal control instruction, and then the unmanned aerial vehicle is controlled to fly relative to the control terminal along the operation direction of the rudder according to the attitude information, the relative direction information and the first horizontal control instruction, so that the unmanned aerial vehicle is effectively controlled and operated accurately based on the relative direction information of the unmanned aerial vehicle relative to the control terminal, and particularly when the unmanned aerial vehicle is in a narrow zone and meets an obstacle, the flight operation of the unmanned aerial vehicle can be controlled by a user conveniently, so that the probability of machine explosion is effectively reduced, the harm to social safety can be greatly reduced, and the practicability of the method is further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a first schematic control diagram of an unmanned aerial vehicle provided in the prior art;

fig. 2 is a schematic control diagram of an unmanned aerial vehicle according to the prior art;

fig. 3 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a schematic diagram of determining relative direction information of the drone relative to a control terminal according to an embodiment of the present invention;

fig. 5 is a schematic diagram of determining a target command corresponding to the control command according to the posture information and the relative direction information according to the embodiment of the present invention;

fig. 5a is a scene schematic diagram of a control method of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6 is a schematic flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is a schematic flowchart of a process of acquiring target posture information of the control terminal according to the embodiment of the present invention;

fig. 8 is a schematic diagram of obtaining target posture information of the control terminal according to the embodiment of the present invention;

fig. 9 is a schematic flowchart of determining the target posture information in the preset postures based on the communication signals according to the embodiment of the present invention;

fig. 10 is a schematic flowchart of a control method for a drone according to another embodiment of the present invention;

fig. 11 is a schematic flowchart of determining relative direction information of the unmanned aerial vehicle with respect to a control terminal according to an embodiment of the present invention;

fig. 12 is a schematic diagram of establishing an unmanned aerial vehicle coordinate system and establishing a terminal coordinate system according to an embodiment of the present invention;

fig. 13 is a schematic flowchart of a process of determining relative direction information of the drone with respect to the control terminal based on the coordinate system of the drone and the coordinate system of the terminal according to the embodiment of the present invention;

fig. 14 is a schematic flowchart of determining a target command corresponding to the control command according to the posture information and the relative direction information according to the embodiment of the present invention;

fig. 15 is a schematic diagram of a control method of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 16 is a diagram illustrating relative direction information provided by an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 18 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 19 is a schematic structural diagram of a control terminal according to an embodiment of the present invention;

fig. 20 is a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.

It should be understood that the term "and/or" as used herein is merely one type of association relationship that describes an associated object, meaning that three types of relationships may exist. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In order to facilitate understanding of the technical solutions of the present application, the following briefly describes the prior art:

for the unmanned aerial vehicle, as shown in fig. 1, when the unmanned aerial vehicle 100 is normally controlled, the direction of the unmanned aerial vehicle 100 can be moved left, right, front, and back according to the yaw direction of the head of the unmanned aerial vehicle 100, and if the remote controller 101 controls left, right, front, and back, the direction of the unmanned aerial vehicle 100 can be moved left, right, front, and back according to the yaw direction of the head of the unmanned aerial vehicle 100. When the drone 100 is near, the user can choose to look at the head position directly with the naked eye or to calibrate its position through the view of the camera, so as to control the drone 100 to move. When the drone 100 is relatively far from the human user and the yaw orientation of the head of the drone 100 cannot be seen by the naked eye (but the drone 100 can also be seen, but the yaw orientation of the head of the drone 100 cannot be identified), it is not possible to determine the yaw orientation of the head of the drone 100 to control the drone 100 by the naked eye. At this time, the unmanned aerial vehicle 100 can only be operated and controlled by the scene of the camera and the display of the app, and if the unmanned aerial vehicle 100 is located between two obstacles, the requirement on the control operation of the operator is higher in order to safely escape from the dangerous environment. While the average crowd user operates in this situation, there is a high probability of a crash or fryer condition. For example: when an obstacle exists near the drone 100, the flying palm of the drone 100 is controlled to be panicked, and the front, back, left and right of the drone 100 are easily confused. In this case, if the flying hand is operated in a busy state to control the unmanned aerial vehicle 100 to fly, the probability of occurrence of a situation other than a blast, a collision, or the like in the unmanned aerial vehicle 100 is likely to increase.

For example, as shown in fig. 2, when an obstacle is found on the right side of the drone 100, the professional flyer does: the yaw orientation of the aircraft nose of the unmanned aerial vehicle 100 is determined through the camera positioned on the unmanned aerial vehicle 100, and then the relative position between the obstacle and the unmanned aerial vehicle 100 is judged, so that the unmanned aerial vehicle 100 can be controlled to fly leftwards and away from the obstacle. However, for a novice or a person who is not skilled enough in the technology or who is not separated under a tense situation, it is easy to make the unmanned aerial vehicle 100 collide against an obstacle.

In summary, the operation habit of a person in a state of not being separated from the left and right and being in a hurry and a foot disorder is not considered at all because of the existing flight control operation. Therefore, many control operations of the drone using the remote control device are directed to the flyer who has a certain training experience, and not to beginners and people who do not have a sense of direction. Therefore, the easy condition that the aircraft nose of present unmanned aerial vehicle can't be correctly judged according to the camera condition to the flyer appears, perhaps, though the relative direction information between barrier and the unmanned aerial vehicle can be distinguished to the flyer, can't judge the driftage orientation of unmanned aerial vehicle's aircraft nose to the operation of mistake is done easily and the condition that leads to unmanned aerial vehicle to appear exploding the machine.

In order to avoid the above situation that the unmanned aerial vehicle is easily exploded or collided due to the fact that the unmanned aerial vehicle is controlled by the flying hand in a busy and disorderly manner, the embodiment provides a control method, a device, an unmanned aerial vehicle, a control terminal and a system for the unmanned aerial vehicle. Specifically, the method comprises the steps that a first horizontal control instruction is obtained, the first horizontal control instruction is used for indicating to control the unmanned aerial vehicle to move horizontally with the yaw direction of a machine head as a reference direction, and the first horizontal control instruction is generated by a user operating a rudder of a control terminal along a target direction; determining attitude information of the unmanned aerial vehicle and relative direction information of the unmanned aerial vehicle relative to a control terminal; according to attitude information, relative direction information and a first horizontal control instruction, control unmanned aerial vehicle along the flight of target direction, it is specific, can control unmanned aerial vehicle for control terminal along the operation direction flight of rudder, thereby realized effectively that the relative direction information based on unmanned aerial vehicle for control terminal carries out accurate control operation to unmanned aerial vehicle, especially when unmanned aerial vehicle is in narrow and small area and meets the barrier, can greatly make things convenient for the user to control unmanned aerial vehicle's flight operation, so not only reduced the probability of exploding the machine effectively, and can also significantly reduce the harm to social security, the practicality of the method has further been improved.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Fig. 3 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention; referring to fig. 3, this embodiment provides a control method for an unmanned aerial vehicle, where an execution main body of the method may be a control device for the unmanned aerial vehicle, and it can be understood that the control device for the unmanned aerial vehicle may be implemented as software or a combination of software and hardware, and when being applied specifically, the method may be applied to the unmanned aerial vehicle, that is, the control device for the unmanned aerial vehicle may be disposed on the unmanned aerial vehicle, and at this time, the unmanned aerial vehicle may serve as the execution main body of the control method. Alternatively, the method may be applied to a control terminal, that is, a control device of the unmanned aerial vehicle may be disposed on the control terminal, and at this time, the control terminal may serve as an execution subject of the control method. Specifically, the control method of the unmanned aerial vehicle may include:

step S301: acquiring a first horizontal control instruction, wherein the first horizontal control instruction is used for indicating to control the unmanned aerial vehicle to horizontally move by taking the yaw orientation of the machine head as a reference direction, and the first horizontal control instruction is generated by operating a rudder of a control terminal along a target direction by a user;

step S302: and determining attitude information of the unmanned aerial vehicle and relative direction information of the unmanned aerial vehicle relative to the control terminal.

Step S303: and controlling the unmanned aerial vehicle to fly along the target direction according to the attitude information, the relative direction information and the first horizontal control instruction.

The above steps are explained in detail below:

step S301: and acquiring a first horizontal control instruction, wherein the first horizontal control instruction is used for instructing the unmanned aerial vehicle to move horizontally by taking the yaw orientation of the machine head as a reference direction, and the first horizontal control instruction is generated by operating a rudder of the control terminal along a target direction by a user.

Wherein the first level control command may be a pitch control command (pitch lever generated) or a roll control command (roll lever generated); the first horizontal control command may refer to command information for controlling the drone, and the control command may be used to instruct the drone to be controlled to move horizontally in the yaw orientation of the head. It is understood that the first horizontal control command may include not only the reference direction described above, but also other command information for controlling the drone, such as: target attitude information, target moving speed, preset moving route, and the like, and those skilled in the art can set the first horizontal control instruction according to specific application requirements and design requirements, which are not described herein again.

In addition, the embodiment does not limit the specific obtaining manner of the first level control command, and a person skilled in the art may set the first level control command according to specific application requirements and design requirements, where one achievable manner is: when the execution subject of the control method of the unmanned aerial vehicle is the control terminal, the first horizontal control instruction may be generated by the execution operation input by the user on the control terminal, for example: the control terminal is provided with a rudder rocker, and a user can move the rudder rocker, so that a first horizontal control instruction comprising a reference direction can be generated. Further, the rudder may include a mechanical rudder and a virtual rudder, and the direction generated by the rudder may include a horizontal direction and a roll direction, and specifically, the first horizontal control command is generated by the user operating the rudder of the control terminal, and at this time, the reference direction may be the same as the operating direction of the rudder stick.

Another way that can be achieved is: the first level control instruction may be obtained by performing analysis processing based on the position information, the attitude information, and the environment information of the drone, for example: the position information of the unmanned aerial vehicle is P, the attitude angle corresponding to the attitude information is yaw angle yaw, roll angle and pitch angle, and the environment information is that an obstacle exists 10 meters away from the right side of the front. Then can be based on foretell unmanned aerial vehicle's positional information, attitude information and the environmental information that is located then confirm that the reference direction that is used for controlling the flight of unmanned aerial vehicle is left side direction, front side direction etc. then can be based on reference direction generation first horizontal control instruction to avoid colliding between unmanned aerial vehicle and the barrier.

Yet another way to achieve this is: when this unmanned aerial vehicle's control method's execution subject is unmanned aerial vehicle, first level control instruction can be that control terminal sends to unmanned aerial vehicle, and is concrete, and the user can input the execution operation in order to generate first level control instruction to control terminal, and then control terminal can be initiatively or passively with the first level control instruction of generating send unmanned aerial vehicle to realize controlling unmanned aerial vehicle based on first level control instruction.

Of course, the specific implementation manner of obtaining the first horizontal control instruction is not limited to the above-mentioned exemplary manner, and those skilled in the art may also use other manners to obtain the first horizontal control instruction as long as the accuracy and reliability of obtaining the first horizontal control instruction can be ensured, and details are not described herein again.

After acquiring the first level control instruction, attitude information of the drone may be determined. Specifically, the attitude information of the unmanned aerial vehicle can be acquired through a first sensor arranged on the unmanned aerial vehicle, and the first sensor can comprise at least one of the following: an Inertial Measurement Unit (IMU for short), a compass and a gyroscope combination Unit. Of course, those skilled in the art may also adopt other manners to obtain the attitude information of the unmanned aerial vehicle, as long as the accuracy and reliability of obtaining the attitude information of the unmanned aerial vehicle can be ensured.

In addition, after the first horizontal control instruction is acquired, relative direction information of the unmanned aerial vehicle relative to the control terminal can be further determined, wherein the relative direction information of the unmanned aerial vehicle relative to the control terminal can specifically refer to relative direction information of the yaw orientation of the head of the unmanned aerial vehicle relative to the yaw orientation of the head of the control terminal. Specifically, as shown in fig. 4, assuming that the yaw direction of the head of the drone 400 is D1, and the yaw direction of the head of the control terminal 401 is D2, the relative direction information of the drone 400 with respect to the control terminal 401 may include an angle α formed between the yaw direction D1 of the head and the yaw direction D2 of the head, and the relative direction information may be direction information formed by the yaw direction D1 of the head pointing to the yaw direction D2 of the head.

In addition, the specific obtaining manner of the relative direction information is not limited in this embodiment, and a person skilled in the art may set the obtaining manner according to specific application requirements and design requirements, for example: the unmanned aerial vehicle can be provided with attitude sensors such as a first compass and a first IMU, the control terminal can be provided with attitude sensors such as a second compass and a second IMU, and then the relative direction information of the unmanned aerial vehicle relative to the control terminal is determined through the first compass on the unmanned aerial vehicle, the second compass on the first IMU and the control terminal and the second IMU. Or, the unmanned aerial vehicle can be provided with attitude sensors such as a first Global positioning System (GPS for short) and a first IMU, the control terminal can be provided with attitude sensors such as a second GPS and a second IMU, and then the relative direction information of the unmanned aerial vehicle relative to the control terminal can be determined through the first GPS on the unmanned aerial vehicle, the second GPS and the second IMU on the first IMU and the control terminal.

Of course, the specific implementation manner for determining the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal in this embodiment is not limited to the above-mentioned exemplary manner, and those skilled in the art may also determine the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal in other manners, as long as the accuracy and reliability of determining the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal can be ensured, which is not described herein again.

Step S303: and controlling the unmanned aerial vehicle to fly relative to the control terminal along the operation direction of the rudder according to the attitude information, the relative direction information and the first horizontal control instruction.

After acquiring the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal, the unmanned aerial vehicle can be controlled to fly along the operation direction of the rudder relative to the control terminal based on the attitude information of the unmanned aerial vehicle, the relative direction information of the unmanned aerial vehicle relative to the control terminal, and the first horizontal control instruction. Specifically, according to attitude information, relative directional information and a horizontal control command, controlling the unmanned aerial vehicle to fly relative to the control terminal along the operating direction of the rudder may include:

step S3031: and generating a second horizontal control instruction corresponding to the first horizontal control instruction according to the attitude information, the relative direction information and the first horizontal control instruction, wherein the second horizontal control instruction comprises a target direction corresponding to the reference direction, and the target direction is the operation direction of the rudder.

However, in order to avoid the situation that various kinds of bombs, collisions, and the like easily occur due to the fact that the directions of the unmanned aerial vehicle in front, back, left, and right directions cannot be accurately recognized, after acquiring the attitude information, the relative direction information, and the first horizontal control command, the attitude information, the relative direction information, and the first horizontal control command may be used to generate a second horizontal control command corresponding to the first horizontal control command, where the second horizontal control command includes a target direction corresponding to the reference direction, and the target direction is used for controlling the unmanned aerial vehicle in the coordinate system of the control terminal.

Referring to fig. 5, when the target attitude in the second horizontal control command is consistent with the attitude information of the drone, that is, when the attitude information of the drone does not need to be adjusted, the relative direction information of the drone with respect to the control terminal includes an included angle α, and in the geodetic coordinate system, the reference direction is taken as a direction corresponding to an included angle β 1 formed between the reference direction and the yaw direction D2 of the head of the control terminal: after the reference direction included in the first horizontal control instruction is obtained, the reference direction needs to be adjusted based on the relative direction information (corresponding to the included angle α) of the unmanned aerial vehicle with respect to the control terminal, so as to obtain the target direction located in the coordinate system of the control terminal, the target direction and the yaw orientation D1 of the nose of the unmanned aerial vehicle form a direction corresponding to an included angle beta (the sum of the included angle alpha and the included angle beta 1), namely, in order to form an included angle beta 1 between the yaw orientation of the target machine head of the unmanned aerial vehicle and the yaw orientation of the machine head of the control terminal, the yaw orientation of the machine head of the unmanned aerial vehicle needs to be controlled to be adjusted by an angle beta, thereby realized can converting the reference direction that is arranged in the geodetic coordinate system into the target direction in the control terminal coordinate system to be convenient for control unmanned aerial vehicle for control terminal along the target direction fly.

It is noted that in other application scenarios, the angle β between the target direction and the yaw orientation D1 of the nose of the drone may have other values, such as: the included angle β is a difference between the included angle α and the included angle β 1, and the like, and those skilled in the art can set the included angle β according to a specific application scenario and an application requirement, which are not described herein again.

Of course, the specific implementation manner of the second level control instruction in this embodiment is not limited to the implementation manner defined above, and those skilled in the art may set the second level control instruction according to specific application requirements and design requirements as long as the accuracy and reliability of determining the second level control instruction can be ensured, which is not described herein again.

Step S3032: and controlling the unmanned aerial vehicle to fly along the target direction relative to the control terminal.

After the second horizontal control instruction is acquired, the unmanned aerial vehicle can be controlled based on the second horizontal control instruction, specifically, the unmanned aerial vehicle can be controlled to move relative to the control terminal based on the target direction included in the second horizontal control instruction, so that the problem that in the prior art, when the yaw orientation of the head of the unmanned aerial vehicle cannot be identified, or the unmanned aerial vehicle is in a narrow zone and meets an application scene of an obstacle, the flight operation of the unmanned aerial vehicle cannot be accurately controlled is effectively solved.

For example, referring to fig. 5a, the remote controller 501 is communicatively connected to the unmanned aerial vehicle 500, and when detecting that there are obstacles on the right side and the upper side of the unmanned aerial vehicle 500, in order to avoid collision between the unmanned aerial vehicle 500 and the obstacles, at time T1, the remote controller 501 may send a first horizontal control instruction to the unmanned aerial vehicle 500, where the first horizontal control instruction includes a rear direction for controlling the unmanned aerial vehicle 500 to move, that is, the first horizontal control instruction is used for controlling the unmanned aerial vehicle 500 to move backwards relative to the remote controller 500. After the first horizontal control instruction is acquired, attitude information of the drone 500 and relative direction information of the drone 500 with respect to the remote controller 501 may be determined, and then a second horizontal control instruction corresponding to the first horizontal control instruction is determined based on the attitude information, the relative direction information, and the first horizontal control instruction, the second horizontal control instruction including a target moving direction corresponding to a rear direction, which may be a direction inclined at an angle of 90 ° to the left side. After acquiring the second level control instruction, the drone 500 may be controlled to move relative to the control terminal based on the second level control instruction, for example: at T2 moment, relative position and relative attitude information between unmanned aerial vehicle 500 and the remote controller 501 are as shown in the figure to realized that unmanned aerial vehicle 500 can move backward for remote controller 500, and then increased the distance between unmanned aerial vehicle 500 and the barrier, guaranteed the fail safe nature of unmanned aerial vehicle 500 flight effectively.

According to the control method of the unmanned aerial vehicle, the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal are determined by acquiring the first horizontal control instruction, and then the unmanned aerial vehicle is controlled to fly relative to the control terminal along the operation direction of the rudder according to the attitude information, the relative direction information and the first horizontal control instruction, so that the unmanned aerial vehicle is effectively controlled and operated accurately based on the relative direction information of the unmanned aerial vehicle relative to the control terminal, especially when the yaw direction of the head of the unmanned aerial vehicle is in a narrow zone and meets an obstacle, the flight operation of the unmanned aerial vehicle can be controlled by a user conveniently, the probability of a machine explosion is effectively reduced, the harm to social safety can be greatly reduced, and the practicability of the method is further improved.

Fig. 6 is a schematic flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 6, before determining the relative direction information of the drone with respect to the control terminal, the method in this embodiment may further include:

step S601: and acquiring target attitude information of the control terminal.

Step S602: and adjusting the control terminal based on the target attitude information.

In order to ensure the quality and efficiency of the control terminal for controlling the unmanned aerial vehicle, the control terminal can be subjected to attitude control and adjustment before determining the relative direction information of the unmanned aerial vehicle relative to the control terminal. Specifically, target attitude information of the terminal device may be obtained, where the target attitude information may include at least one of a yaw orientation, a pitch angle, and a roll angle of a head of the control terminal, and certainly, the target attitude information may also include other information, and a person skilled in the art may adjust the target attitude information according to a specific application requirement and an application scenario, and details are not described herein.

In addition, in this embodiment, a specific obtaining manner of the target posture information is not limited, and a person skilled in the art may perform the apparatus according to specific application requirements and design requirements, and preferably, as shown in fig. 7, obtaining the target posture information of the control terminal may include:

step S701: the control terminal who obtains a plurality of gestures of predetermineeing carries out a plurality of communication signal of communication connection with unmanned aerial vehicle.

Step S702: target attitude information is determined among a plurality of preset attitudes based on a plurality of communication signals.

In order to ensure the quality and efficiency of communication between the control terminal and the unmanned aerial vehicle, a plurality of preset postures can be configured for the control terminal at the same position, specifically, refer to fig. 8, and the example is described by taking a plurality of preset postures including preset posture 1, preset posture 2, preset posture 3, preset posture 4 and preset posture 5, and it can be understood that any two postures in the plurality of preset postures are different.

After a plurality of preset gestures are configured, a plurality of communication signals of communication connection between the control terminal of the preset gestures and the unmanned aerial vehicle can be acquired, specifically, the communication signals between the unmanned aerial vehicle and the control terminals of different preset gestures can be acquired by using the signal detection device, during specific implementation, a plurality of preset communication signals between the control terminal of the same preset gesture and the unmanned aerial vehicle can be acquired by using the signal detection device, then in the preset communication signals, the preset communication signal with the best signal quality is selected to serve as a target communication signal between the control terminal of the preset gesture and the unmanned aerial vehicle, and at the moment, the number of the communication signals is consistent with the number of the preset gestures. After the plurality of communication signals are acquired, the plurality of communication signals may be analyzed to determine target posture information in a plurality of preset postures based on the plurality of communication signals. Specifically, referring to fig. 9, determining the target pose information in the plurality of preset poses based on the plurality of communication signals may include:

step S7021: among the plurality of communication signals, a target signal having the largest signal strength is acquired.

Step S7022: and determining a preset gesture corresponding to the target signal as target gesture information in the plurality of preset gestures.

Taking an example that the plurality of communication signals include a communication signal a corresponding to the preset posture 1, a communication signal b corresponding to the preset posture 2, a communication signal c corresponding to the preset posture 3, a communication signal d corresponding to the preset posture 4, and a communication signal e corresponding to the preset posture 5, after the plurality of communication signals are acquired, the plurality of communication signals may be analyzed and compared to obtain a target signal with the maximum signal strength, and as a result of analyzing and comparing the plurality of communication signals, the target signal is the communication signal b corresponding to the preset posture 2, that is, the signal strength of the communication signal b is greater than the signal strengths of the other communication signals (the communication signal a, the communication signal c, the communication signal d, and the communication signal e). Then, the preset posture 2 corresponding to the communication signal b can be determined as the target posture information in the plurality of preset postures, so that the accuracy and reliability of determining the target posture information are effectively ensured.

After the target posture information is acquired, the control terminal can be adjusted based on the target posture information, namely, the final posture of the control terminal is the target posture information. When unmanned aerial vehicle communicates with the above-mentioned control terminal who is in target attitude information, can guarantee communication quality and efficiency effectively.

In the embodiment, the target attitude information of the control terminal is acquired, and then the control terminal is adjusted based on the target attitude information, so that the communication quality and efficiency between the unmanned aerial vehicle and the control terminal are effectively ensured, and the accuracy and reliability of controlling the unmanned aerial vehicle are further improved.

Fig. 10 is a schematic flowchart of a control method for a drone according to another embodiment of the present invention; on the basis of any of the above embodiments, with continued reference to fig. 10, before acquiring the control instruction, the method in this embodiment may further include:

step S1001: an execution operation for switching a control mode of the drone is acquired.

Step S1002: according to the execution operation, the control mode of the unmanned aerial vehicle is adjusted to a headless control mode, and the headless control mode is related to the recorded historical flight direction of the unmanned aerial vehicle.

Wherein, to unmanned aerial vehicle, can have ordinary control mode and headless control mode, in unmanned aerial vehicle's headless control mode, can record unmanned aerial vehicle relative direction information for control terminal when unmanned aerial vehicle takes off to regard unmanned aerial vehicle relative direction information for control terminal as unmanned aerial vehicle's flight direction.

Taking the takeoff direction as the right ahead of the remote control device as an example, at this time, the corresponding relationship between the flight direction of the unmanned aerial vehicle and the control direction on the control terminal is as follows: when a rudder rocker of the remote control equipment is pushed forward, the unmanned aerial vehicle flies along the direction of the takeoff direction; when the rudder rocker pushes backwards, the aircraft flies in the direction opposite to the takeoff direction; the rocker pushes away on the right side, and unmanned aerial vehicle flies towards control terminal's right side, and the rocker pushes away on the left side, and unmanned aerial vehicle flies towards control terminal's left side.

After the unmanned aerial vehicle rotates 180 degrees clockwise, the corresponding relation between the flight direction of the unmanned aerial vehicle and the control direction on the remote control equipment is as follows: when a rudder rocker of the remote control equipment is pushed forward, the unmanned aerial vehicle flies in the direction opposite to the takeoff direction, and when the rudder rocker is pushed backward, the unmanned aerial vehicle flies in the direction of the takeoff direction; the rudder rocker pushes away to the right, and unmanned aerial vehicle flies towards control terminal's right side, and the rocker pushes away to the left, and unmanned aerial vehicle flies towards control terminal's left side.

In order to switch and adjust the control mode of the unmanned aerial vehicle, the control terminal may include an operating element (which may be a mechanical control, a software program control, or the like) for switching the control mode of the unmanned aerial vehicle, and a user may input an execution operation to the operating element, where the execution operation may be any one of the following: click operation, slide operation, toggle operation, and the like. After the execution operation for switching the control mode of the unmanned aerial vehicle is acquired, the control mode of the unmanned aerial vehicle can be adjusted to be a headless control mode based on the execution operation, and the headless control mode is related to the recorded historical flight direction of the unmanned aerial vehicle, so that the control mode of the unmanned aerial vehicle can be adjusted at any time based on different application scenes and application requirements, and the flexibility and the reliability of the method are further improved.

In some examples, after adjusting the control mode of the drone to the headless control mode, the method in this embodiment may further include: and controlling the unmanned aerial vehicle to be in a hovering state.

After the control mode of the unmanned aerial vehicle is adjusted to the headless control mode, in order to avoid the situation that an aircraft explodes or collides with an obstacle in the initial period of time when the unmanned aerial vehicle is adjusted to the headless control mode, the unmanned aerial vehicle can be controlled to be in a hovering state. Specifically, after the control mode of the unmanned aerial vehicle is adjusted to the headless control mode, and before the control instruction is acquired, the unmanned aerial vehicle can be controlled to be in the hovering state. Then can control unmanned aerial vehicle based on the control command who obtains, and then guaranteed to carry out the accurate reliability controlled to unmanned aerial vehicle.

Fig. 11 is a schematic flowchart of determining relative direction information of an unmanned aerial vehicle with respect to a control terminal according to an embodiment of the present invention; on the basis of any of the foregoing embodiments, with reference to fig. 11, this embodiment provides a determination method of relative direction information of an unmanned aerial vehicle with respect to a control terminal, specifically, determining the relative direction information of the unmanned aerial vehicle with respect to the control terminal in this embodiment may include:

step S1101: and acquiring first position information of the unmanned aerial vehicle and second position information of the control terminal.

Specifically, in order to determine the relative direction information of the unmanned aerial vehicle relative to the control terminal, the first position information of the unmanned aerial vehicle may be acquired by a third sensor arranged on the unmanned aerial vehicle, and the third sensor includes at least one of the following: global positioning system GPS, software radio network SDR. Similarly, the second position information of the control terminal may be acquired by a fourth sensor disposed on the control terminal, the fourth sensor including at least one of: global positioning system GPS, software radio network SDR.

It should be noted that, when the method execution subject in this embodiment is the control terminal, after the first position information of the unmanned aerial vehicle is acquired by the third sensor disposed on the unmanned aerial vehicle, the first position information of the unmanned aerial vehicle may be sent to the control terminal. Similarly, when the method execution main body in this embodiment is the unmanned aerial vehicle, after the second position information of the control terminal is acquired by the fourth sensor arranged on the control terminal, the second position information of the control terminal may be sent to the unmanned aerial vehicle.

Step S1102: and establishing an unmanned aerial vehicle coordinate system according to the first position information and the attitude information of the unmanned aerial vehicle.

The unmanned aerial vehicle coordinate system can be a two-dimensional plane coordinate system or a three-dimensional space coordinate system, after the first position information is obtained, the first position information can be used as a coordinate origin, and then the unmanned aerial vehicle coordinate system can be established based on the attitude information of the unmanned aerial vehicle.

For example, as shown in fig. 12, after the first position information of the drone is acquired, the first position information may be used as a coordinate origin, and then the head direction in the attitude information of the drone may be used as an X-axis direction, and a vertical direction perpendicular to the head direction may be used as a Y-axis direction, so that an X2-Y2 two-dimensional plane coordinate system may be established.

Similarly, after the first position information of the unmanned aerial vehicle is acquired, the first position information may be used as a coordinate origin, then a machine head direction in the attitude information of the unmanned aerial vehicle may be used as an X-axis direction, a vertical direction perpendicular to the machine head direction may be used as a Y-axis direction, and a horizontal direction perpendicular to the machine head direction may be used as a Z-axis, so that an XYZ three-dimensional space coordinate system may be established.

It should be noted that the correspondence between the coordinate system of the unmanned aerial vehicle and the attitude information of the unmanned aerial vehicle is not limited to the above described correspondence, and those skilled in the art can arbitrarily set the correspondence according to specific application requirements and design requirements, as long as the accurate reliability of establishing the coordinate system of the unmanned aerial vehicle can be ensured, which is not described herein any more.

Step S1103: and establishing a terminal coordinate system according to the second position information and the target posture information of the control terminal.

The established terminal coordinate system may be a two-dimensional plane coordinate system or a three-dimensional space coordinate system, after the second position information is obtained, the second position information may be used as a coordinate origin, and then the terminal coordinate system may be established based on the target posture information of the control terminal.

For example, as shown in fig. 12, after the second position information of the control terminal is acquired, the second position information may be used as a coordinate origin, and then the handpiece direction in the target posture information of the control terminal may be used as an X-axis direction, and a direction perpendicular to the handpiece direction may be used as a Y-axis direction, so that an X1-Y1 two-dimensional plane coordinate system may be established.

Similarly, after the second position information of the control terminal is acquired, the second position information may be used as a coordinate origin, and then the machine head direction in the target posture information of the control terminal may be used as an X-axis direction, a vertical direction perpendicular to the machine head direction may be used as a Y-axis direction, and a horizontal direction perpendicular to the machine head direction may be used as a Z-axis, so that an XYZ three-dimensional space coordinate system may be established.

It should be noted that the correspondence between the established terminal coordinate system and the target pose information of the control terminal is not limited to the correspondence described above, and those skilled in the art may arbitrarily set the correspondence according to specific application requirements and design requirements as long as the accuracy and reliability of establishing the terminal coordinate system can be ensured, which is not described herein again.

Step S1104: and determining the relative direction information of the unmanned aerial vehicle relative to the control terminal based on the unmanned aerial vehicle coordinate system and the terminal coordinate system.

After the coordinate system of the unmanned aerial vehicle and the coordinate system of the terminal are acquired, the coordinate system of the unmanned aerial vehicle and the coordinate system of the terminal can be analyzed to determine the relative direction information of the unmanned aerial vehicle relative to the control terminal. Specifically, referring to fig. 13, determining the relative direction information of the drone with respect to the control terminal based on the coordinate system of the drone and the coordinate system of the terminal may include:

step S11041: in an unmanned aerial vehicle coordinate system, a first coordinate axis corresponding to a machine head of the unmanned aerial vehicle is obtained.

Step S11042: and in the terminal coordinate system, acquiring a second coordinate axis corresponding to the machine head of the terminal equipment.

Step S11043: and determining included angle information formed between the first coordinate axis and the second coordinate axis.

Step S11044: and determining the relative direction information of the unmanned aerial vehicle relative to the control terminal according to the included angle information.

After the coordinate system of the unmanned aerial vehicle is established, a first coordinate axis corresponding to the head of the unmanned aerial vehicle can be obtained in the coordinate system of the unmanned aerial vehicle, and specifically, when the coordinate system of the unmanned aerial vehicle is a two-dimensional coordinate system, the first coordinate axis can be an X axis or a Y axis; when the coordinate system of the unmanned aerial vehicle is a three-dimensional coordinate system, the first coordinate system may be an X-axis, a Y-axis, or a Z-axis.

Similarly, after the terminal coordinate system is established, a second coordinate axis corresponding to the handpiece of the terminal device can be obtained in the terminal coordinate system, and specifically, when the terminal coordinate system is a two-dimensional coordinate system, the second coordinate axis can be an X axis or a Y axis; when the terminal coordinate system is a three-dimensional coordinate system, the second coordinate axis may be an X-axis, a Y-axis, or a Z-axis.

Specifically, referring to fig. 4 and 12, taking a first coordinate axis corresponding to a head of the unmanned aerial vehicle as an X2 axis and a second coordinate axis corresponding to a head of the terminal device as an X1 axis as an example for explanation, after the first coordinate axis and the second coordinate axis are obtained, included angle information formed between the first coordinate axis and the second coordinate axis may be determined. And then, determining the relative direction information of the unmanned aerial vehicle relative to the control terminal based on the included angle information formed between the first coordinate axis and the second coordinate axis, wherein one achievable mode is that the included angle information formed between the first coordinate axis and the second coordinate axis is determined as the relative direction information of the unmanned aerial vehicle relative to the control terminal, so that the accuracy and reliability of determining the relative direction information of the unmanned aerial vehicle relative to the control terminal are effectively ensured.

Fig. 14 is a schematic flowchart of determining a target command corresponding to a control command according to the posture information and the relative direction information according to the embodiment of the present invention; on the basis of any one of the foregoing embodiments, this embodiment provides an implementation manner of determining the second horizontal control instruction, and specifically, in this embodiment, generating the second horizontal control instruction corresponding to the first horizontal control instruction according to the attitude information, the relative direction information, and the first horizontal control instruction may include:

step S1401: and adjusting the reference direction according to the attitude information and the relative direction information to obtain a target direction corresponding to the reference direction.

Step S1402: based on the target direction and the first horizontal control instruction, a second horizontal control instruction is determined.

It is understood that for one direction information, there may be different expressions in different coordinate systems, for example: in the geodetic coordinate system, the reference direction is a lower left direction; for the above-mentioned reference direction, if the reference direction in the coordinate system of the control terminal may be a right direction, etc., for convenience of describing the direction, the direction in the geodetic coordinate system may be the reference direction, and the direction in the coordinate system of the control terminal corresponding to the reference direction may be the target direction.

Specifically, after the attitude information and the relative direction information are acquired, the reference direction may be adjusted based on the attitude information and the relative direction information, so that the target direction corresponding to the reference direction may be obtained. For example, angle information corresponding to the relative direction information is obtained, and then a sum of the reference direction and the angle information may be determined as the target direction, or a difference between the target direction and the angle information may be determined as the target direction. After the target direction is obtained, the target direction and the control instruction can be analyzed to determine the target instruction, so that the accuracy degree of obtaining the second horizontal control instruction is effectively ensured, and the accuracy and reliability of controlling the unmanned aerial vehicle are further improved.

In specific application, referring to fig. 15-16, in order to accurately control an unmanned aerial vehicle, a body and a remote controller of the unmanned aerial vehicle may be provided with a posture sensor for detecting posture information and a positioning sensor for performing positioning operation, where the posture sensor may include a compass and a gyroscope, and the positioning sensor may include an SDR communication module or a GPS positioning module. Specifically, the control method may include the steps of:

step 1: the user clicks a button on the remote control for entering an automated direction recognition mode (headless control mode) to enable the drone to switch between headless and normal control modes.

After switching to the automatic direction recognition mode, the drone may be first controlled to be in a hovering state, i.e., to be stopped for a period of time to wait for a next indication.

Step 2: prompt information is displayed on a display interface of the application program, and the prompt information is used for prompting a user to determine the target posture of the remote controller.

And step 3: and acquiring the position of the remote controller through a positioning sensor arranged on the remote controller according to the prompt information.

And 4, step 4: the target attitude of the remote controller can be determined in a plurality of preset attitude information according to the position of the remote controller, the target attitude is the attitude information corresponding to the strongest communication signal between the remote controller and the unmanned aerial vehicle, and when the remote controller is in the target attitude, the yaw orientation of the head of the remote controller is over against the unmanned aerial vehicle.

And 5: the attitude information and the unmanned aerial vehicle position information of the unmanned aerial vehicle are determined through an attitude sensor and a positioning sensor on the unmanned aerial vehicle.

Step 6: establishing a first coordinate system of the remote controller based on the position of the remote controller and the target posture of the remote controller; and establishing a second coordinate system where the unmanned aerial vehicle is located based on the unmanned aerial vehicle position information and the unmanned aerial vehicle attitude information.

And 7: and determining the relative direction information of the unmanned aerial vehicle relative to the remote controller according to the first coordinate system and the second coordinate system.

The first coordinate system and the second coordinate system can be respectively realized through GPS positioning modules arranged on the unmanned aerial vehicle and the remote controller; or, the first coordinate system and the second coordinate system can be realized by the SDR modules respectively arranged on the unmanned aerial vehicle and the remote controller. Then, the first coordinate system and the second coordinate system established by the GPS positioning module may obtain the first relative direction information, and the first coordinate system and the second coordinate system established by the SDR positioning module may obtain the second relative direction information, and since the accuracy of the data obtained by the GPS positioning module is lower than the accuracy of the data obtained by the SDR positioning module, when there is a deviation between the first relative direction information and the second relative direction information, the second relative direction information obtained by the SDR positioning module may be determined as the relative direction information. Alternatively, the fitting process may be performed on the first relative direction information and the second relative direction information to obtain final relative direction information. Or, when the relative direction information who obtains has the deviation, the user can carry out appropriate correction operation to unmanned aerial vehicle's control direction through the naked eye observation by oneself to the realization carries out accurate control to unmanned aerial vehicle.

Of course, those skilled in the art may also determine the relative direction information of the unmanned aerial vehicle with respect to the remote controller in other manners, as long as the accuracy and reliability of determining the relative direction information can be ensured, which is not described herein again.

And 8: and acquiring a control instruction for controlling the unmanned aerial vehicle, adjusting the control instruction based on the relative direction information, and acquiring a target control instruction for controlling the unmanned aerial vehicle.

Specifically, when the obtained target control instruction includes a left movement direction, the airplane may be translated leftward on the information of the relative direction of the remote controller according to the information displayed on the display interface of the remote controller.

According to the control method of the unmanned aerial vehicle, the control instruction is obtained, then the attitude information of the unmanned aerial vehicle and the relative direction information of the unmanned aerial vehicle relative to the control terminal are determined, the target instruction corresponding to the control instruction is determined according to the attitude information and the relative direction information, and the target instruction comprises the target direction used for controlling the unmanned aerial vehicle; then can control unmanned aerial vehicle based on the target direction that target instruction and target instruction correspond to realized that the user can carry out accurate control operation to unmanned aerial vehicle based on unmanned aerial vehicle for control terminal's relative orientation information, especially when unmanned aerial vehicle is in narrow and small area and meets the barrier, can greatly make things convenient for the operator to control unmanned aerial vehicle's flight operation, reduce the probability of exploding the machine effectively, can significantly reduce the harm to social security, further improved the practicality of this method.

Fig. 17 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention; referring to fig. 17, the present embodiment provides a control device for a drone, and the control device may be used to execute the control method for the drone corresponding to fig. 3. Specifically, the control device may include:

a memory 12 for storing a computer program;

a processor 11 for executing the computer program stored in the memory 12 to implement:

acquiring a first horizontal control instruction, wherein the first horizontal control instruction is used for indicating to control the unmanned aerial vehicle to horizontally move by taking the yaw orientation of the machine head as a reference direction, and the first horizontal control instruction is generated by operating a rudder of a control terminal along a target direction by a user;

In addition, the structure of the control device of the unmanned aerial vehicle may further include a communication interface 13, which is used for realizing communication between the control device of the unmanned aerial vehicle and other devices or a communication network.

In some examples, when controlling the drone to fly in the target direction according to the attitude information, the relative direction information and the first horizontal control instruction, the processor 11 is configured to: generating a second horizontal control instruction according to the attitude information, the relative direction information and the first horizontal control instruction; and controlling the unmanned aerial vehicle to fly along the target direction.

In some examples, prior to determining the relative directional information of the drone with respect to the control terminal, the processor 11 is further configured to: acquiring target attitude information of a control terminal; and adjusting the control terminal based on the target attitude information.

In some examples, the target attitude information of the control terminal includes at least one of a yaw orientation, a pitch angle, and a roll angle of a head of the control terminal.

In some examples, in obtaining the target pose information of the control terminal, the processor 11 is further configured to: acquiring a plurality of communication signals for communication connection between a plurality of control terminals with preset postures and the unmanned aerial vehicle; target attitude information is determined among a plurality of preset attitudes based on a plurality of communication signals.

In some examples, in determining the target pose information in a plurality of preset poses based on the plurality of communication signals, the processor 11 is further configured to: acquiring a target signal with the maximum signal intensity from a plurality of communication signals; and determining a preset gesture corresponding to the target signal as target gesture information in the plurality of preset gestures.

In some examples, prior to fetching the control instructions, processor 11 is further configured to: acquiring execution operation for switching a control mode of the unmanned aerial vehicle; according to the execution operation, the control mode of the unmanned aerial vehicle is adjusted to a headless control mode, and the headless control mode is related to the recorded historical flight direction of the unmanned aerial vehicle.

In some examples, after adjusting the control mode of the drone to headless control mode, processor 11 is further to: and controlling the unmanned aerial vehicle to be in a hovering state.

In some examples, in determining the relative directional information of the drone with respect to the control terminal, the processor 11 is further configured to: acquiring first position information of an unmanned aerial vehicle and second position information of a control terminal; establishing an unmanned aerial vehicle coordinate system according to the first position information and the attitude information of the unmanned aerial vehicle; establishing a terminal coordinate system according to the second position information and the target posture information of the control terminal; and determining the relative direction information of the unmanned aerial vehicle relative to the control terminal based on the unmanned aerial vehicle coordinate system and the terminal coordinate system.

In some examples, in determining relative directional information of the drone with respect to the control terminal based on the drone coordinate system and the terminal coordinate system, the processor 11 is to: in an unmanned aerial vehicle coordinate system, acquiring a first coordinate axis corresponding to a head of an unmanned aerial vehicle; in a terminal coordinate system, acquiring a second coordinate axis corresponding to a machine head of the terminal equipment; determining included angle information formed between the first coordinate axis and the second coordinate axis; and determining the relative direction information of the unmanned aerial vehicle relative to the control terminal according to the included angle information.

In some examples, when determining the target instruction corresponding to the control instruction according to the attitude information and the relative direction information, the processor 11 is configured to: adjusting the reference direction according to the attitude information and the relative direction information to obtain a target direction corresponding to the reference direction; based on the target direction and the control instruction, a target instruction is determined.

In some examples, the apparatus is applied to a drone or a control terminal.

The apparatus shown in fig. 17 can perform the method of the embodiment shown in fig. 3-16, and reference may be made to the related description of the embodiment shown in fig. 3-16 for parts of this embodiment that are not described in detail. The implementation process and technical effect of the technical solution are described in the embodiments shown in fig. 3 to fig. 16, and are not described herein again.

Fig. 18 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention; referring to fig. 18, the present embodiment provides a drone, which may include a fuselage 21 and the control device 22 of the drone shown in fig. 17, wherein the control device 22 may be disposed on the fuselage 21.

The specific implementation principle and implementation effect of the unmanned aerial vehicle provided in the embodiment shown in fig. 18 are consistent with those of the control device of the unmanned aerial vehicle corresponding to fig. 17, and reference may be made to the above statements specifically, which are not described herein again.

Fig. 19 is a schematic structural diagram of a control terminal according to an embodiment of the present invention; referring to fig. 19, the present embodiment provides a control terminal, which can be used to control an unmanned aerial vehicle, and the control terminal can include a terminal body 31 and the above-mentioned control device 32 of the unmanned aerial vehicle shown in fig. 17, wherein the control device 32 can be disposed on the terminal body 31.

The specific implementation principle and implementation effect of the control terminal provided in the embodiment shown in fig. 19 are consistent with those of the control device of the unmanned aerial vehicle corresponding to fig. 17, and reference may be made to the above statements specifically, which are not described herein again.

Fig. 20 is a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention, and referring to fig. 20, the embodiment provides a control system of an unmanned aerial vehicle, where the control system may include: the above-described drone 41 and the control terminal 42 shown in fig. 18, the control terminal 42 is used to control the drone 41.

Fig. 20 is a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention, and referring to fig. 20, the embodiment provides a control system of an unmanned aerial vehicle, where the control system may include: the control terminal 42 and the drone 41 shown in fig. 19 are described above, and the control terminal 42 is used to control the drone 41.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the control method for the unmanned aerial vehicle in fig. 3 to 16.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

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

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

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

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:

2. The method of claim 1, wherein controlling the drone to fly in the target direction according to the attitude information, relative direction information, and the first horizontal control command comprises:

generating a second horizontal control instruction according to the attitude information, the relative direction information and the first horizontal control instruction;

and controlling the unmanned aerial vehicle to fly along the target direction.

3. The method of claim 1, wherein prior to determining relative directional information of the drone with respect to a control terminal, the method further comprises:

acquiring target attitude information of the control terminal;

and adjusting the control terminal based on the target attitude information.

4. The method of claim 3, wherein the target attitude information of the control terminal comprises at least one of a yaw orientation, a pitch angle, and a roll angle of a head of the control terminal.

5. The method according to claim 3, wherein the obtaining target posture information of the control terminal comprises:

acquiring a plurality of communication signals of a plurality of preset postures of the control terminal in communication connection with the unmanned aerial vehicle;

determining the target pose information among the plurality of preset poses based on the plurality of communication signals.

6. The method of claim 5, wherein determining the target pose information among the plurality of preset poses based on the plurality of communication signals comprises:

acquiring a target signal with the maximum signal intensity from the plurality of communication signals;

and determining a preset gesture corresponding to the target signal as the target gesture information in the plurality of preset gestures.

7. The method of any of claims 1-6, wherein prior to obtaining the first level control instruction, the method further comprises:

acquiring an execution operation for switching a control mode of the unmanned aerial vehicle;

according to the execution operation, adjusting the control mode of the unmanned aerial vehicle to a headless control mode, wherein the headless control mode is related to the recorded historical flight direction of the unmanned aerial vehicle.

8. The method of claim 7, wherein after adjusting the control mode of the drone to headless control mode, the method further comprises:

controlling the unmanned aerial vehicle to be in a hovering state.

9. The method of any one of claims 1-6, wherein determining relative directional information of the drone with respect to a control terminal comprises:

acquiring first position information of the unmanned aerial vehicle and second position information of the control terminal;

establishing an unmanned aerial vehicle coordinate system according to the first position information and the attitude information of the unmanned aerial vehicle;

establishing a terminal coordinate system according to the second position information and the target posture information of the control terminal;

and determining relative direction information of the unmanned aerial vehicle relative to the control terminal based on the unmanned aerial vehicle coordinate system and the terminal coordinate system.

10. The method of claim 9, wherein determining relative directional information of the drone with respect to the control terminal based on the drone coordinate system and the terminal coordinate system comprises:

acquiring a first coordinate axis corresponding to a machine head of the unmanned aerial vehicle in the unmanned aerial vehicle coordinate system;

acquiring a second coordinate axis corresponding to the machine head of the terminal equipment in the terminal coordinate system;

determining included angle information formed between the first coordinate axis and the second coordinate axis;

and determining the relative direction information of the unmanned aerial vehicle relative to the control terminal according to the included angle information.

11. The method according to any one of claims 1 to 6, wherein the method is applied to the drone or the control terminal.

12. A control device of an unmanned aerial vehicle, comprising:

a memory for storing a computer program;

13. The apparatus of claim 12, wherein controlling the drone to fly in the target direction according to the attitude information, relative direction information, and the first horizontal control command comprises:

and controlling the unmanned aerial vehicle to fly along the target direction.

14. The apparatus of claim 12, wherein prior to determining the relative directional information of the drone with respect to the control terminal, the processor is further configured to:

acquiring target attitude information of the control terminal;

and adjusting the control terminal based on the target attitude information.

15. The apparatus of claim 14, wherein the target attitude information of the control terminal comprises at least one of a yaw orientation, a pitch angle, and a roll angle of a head of the control terminal.

16. The apparatus of claim 14, wherein in the obtaining target pose information of the control terminal, the processor is further configured to:

17. The apparatus of claim 16, wherein in determining the target pose information in the plurality of preset poses based on the plurality of communication signals, the processor is further configured to:

18. The apparatus of any of claims 12-17, wherein prior to fetching the control instruction, the processor is further configured to:

19. The apparatus of claim 18, wherein after adjusting the control mode of the drone to headless control mode, the processor is further configured to:

controlling the unmanned aerial vehicle to be in a hovering state.

20. The apparatus of any of claims 12-17, wherein in determining relative directional information of the drone with respect to a control terminal, the processor is further configured to:

21. The apparatus of claim 20, wherein in determining relative directional information of the drone with respect to the control terminal based on the drone coordinate system and the terminal coordinate system, the processor is to:

22. The apparatus according to any one of claims 12-17, wherein the apparatus is applied to the drone or the control terminal.

23. An unmanned aerial vehicle, comprising: the control device of a drone of any one of claims 12-22.

24. A control terminal, comprising: the control device of a drone of any one of claims 12-22.

25. A control system of a drone, comprising: the drone and the control terminal of claim 23, the control terminal for controlling the drone.

26. A control system of a drone, comprising: the control terminal and drone of claim 24, said control terminal for controlling said drone.

27. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the control method of a drone according to any one of claims 1 to 11 are stored.