CN113454557A

CN113454557A - Unmanned aerial vehicle, control method and device thereof, remote control terminal and unmanned aerial vehicle system

Info

Publication number: CN113454557A
Application number: CN202080013783.0A
Authority: CN
Inventors: 黄敏
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-05-20
Filing date: 2020-05-20
Publication date: 2021-09-28
Also published as: WO2021232273A1

Abstract

An unmanned aerial vehicle and a control method and device thereof, a remote control terminal and an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system comprises an unmanned aerial vehicle (100) and the remote control terminal (200), and the remote control terminal (200) is used for switching an auxiliary control part (220) of the remote control terminal from a non-trigger state to a trigger state and generating a first trigger signal when acquiring a first user instruction which indicates that the auxiliary control part is switched from the non-trigger state to the trigger state; sending a first trigger signal to the drone (100); the unmanned aerial vehicle (100) is used for entering an auxiliary control mode (S201) if a first trigger signal sent by the remote control terminal (200) is received when the unmanned aerial vehicle (100) is in a manual control mode; in the auxiliary control mode, if a first control signal sent by a remote control terminal (200) is received, determining a first target attitude of the unmanned aerial vehicle (100) according to the first control signal (S202); determining an auxiliary attitude control quantity according to the first target attitude and the first attitude of the unmanned aerial vehicle (100) corresponding to the preset state (S203); according to the first target attitude and the auxiliary attitude control quantity, the unmanned aerial vehicle (100) is controlled to rotate, so that the unmanned aerial vehicle (100) is in a preset state (S204).

Description

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

Technical Field

The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle, a control method and device thereof, a remote control terminal and an unmanned aerial vehicle system.

Background

Currently, some nobody can provide different working modes for a user to select, so that the user can obtain different control experiences. For example, the work mode of the traversing machine comprises a self-stabilization mode and a manual control mode, and in the self-stabilization mode, the flight controller of the traversing machine can autonomously control the posture of the traversing machine so that the traversing machine is kept in a steady state; in the manual control mode, a user needs to manually operate a rocker of the remote controller to control the posture of the traversing machine, so that the traversing machine is kept in a stable state, specifically, the posture of the traversing machine is controlled according to the rod amount of the striking rod, and the flight controller cannot autonomously participate in the posture control of the traversing machine. However, for many users, in the manual control mode, it is difficult to manually control the traversing device to be maintained in a steady state due to insufficient manipulation experience. Especially, a beginner generally needs to exercise for a long time on a simulator to have better control perception, and if the traversing machine is directly controlled under the condition of being insensitive to the posture control of the traversing machine, the traversing machine is easy to be out of control and even explode.

Disclosure of Invention

The application provides an unmanned aerial vehicle, a control method and device thereof, a remote control terminal and an unmanned aerial vehicle system.

In a first aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle, where the method is applicable to an unmanned aerial vehicle, the unmanned aerial vehicle is in communication connection with a remote control terminal, the remote control terminal includes an auxiliary control unit, and the method includes:

when the unmanned aerial vehicle is in a manual control mode, if a first trigger signal sent by the remote control terminal is received, entering an auxiliary control mode, wherein the first trigger signal is generated when the remote control terminal is triggered by the auxiliary control part;

in the auxiliary control mode, if a first control signal sent by the remote control terminal is received, determining a first target attitude of the unmanned aerial vehicle according to the first control signal;

determining an auxiliary attitude control quantity according to the first target attitude and a first attitude of the unmanned aerial vehicle corresponding to a preset state;

and controlling the unmanned aerial vehicle to rotate according to the first target attitude and the auxiliary attitude control quantity, so that the unmanned aerial vehicle is in the preset state.

In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle's controlling means, controlling means locates on the unmanned aerial vehicle, unmanned aerial vehicle and remote control terminal communication connection, remote control terminal includes auxiliary control portion, controlling means includes:

storage means for storing program instructions;

one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, including:

a body;

the power system is connected with the machine body and used for providing power for the movement of the machine body;

the control device of unmanned aerial vehicle of the second aspect of this application, by the organism supports.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling a drone according to the first aspect of the present application.

In a fifth aspect, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle, where the method is applied to a remote control terminal, the remote control terminal is in communication connection with the unmanned aerial vehicle, the remote control terminal includes an auxiliary control unit, and the method includes:

acquiring a first user instruction, wherein the first user instruction is used for instructing to switch the auxiliary control part from a non-trigger state to a trigger state;

according to the first user instruction, the auxiliary control part is switched from the non-trigger state to the trigger state, and a first trigger signal is generated;

sending the first trigger signal to the unmanned aerial vehicle;

when the unmanned aerial vehicle is in a manual control mode, the first trigger signal is used for triggering the unmanned aerial vehicle to enter an auxiliary control mode;

under the auxiliary control mode, unmanned aerial vehicle can assist the adjustment unmanned aerial vehicle's gesture makes unmanned aerial vehicle is in preset state.

In a sixth aspect, an embodiment of the present application provides an unmanned aerial vehicle's controlling means, controlling means locates on the remote control terminal, the remote control terminal with unmanned aerial vehicle communication connection, the remote control terminal includes auxiliary control portion, controlling means includes:

storage means for storing program instructions;

sending the first trigger signal to the unmanned aerial vehicle;

In a seventh aspect, an embodiment of the present application provides a remote control terminal for an unmanned aerial vehicle, including:

a main body portion;

an auxiliary control unit provided in the main body; and

the sixth aspect of the present application the control device for an unmanned aerial vehicle, with the auxiliary control portion is electrically connected, and by the main body portion supports.

In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method for a drone according to the fifth aspect of the present application.

In a ninth aspect, an embodiment of the present application provides an unmanned aerial vehicle system, including:

an unmanned aerial vehicle; and

the remote control terminal is in communication connection with the unmanned aerial vehicle and comprises an auxiliary control part;

the remote control terminal is used for switching the non-trigger state of the auxiliary control part into the trigger state and generating a first trigger signal when a first user instruction which instructs to switch the non-trigger state of the auxiliary control part into the trigger state is acquired; sending the first trigger signal to the unmanned aerial vehicle;

the unmanned aerial vehicle is used for entering an auxiliary control mode if receiving a first trigger signal sent by the remote control terminal when the unmanned aerial vehicle is in a manual control mode; in the auxiliary control mode, if a first control signal sent by the remote control terminal is received, determining a first target attitude of the unmanned aerial vehicle according to the first control signal; determining an auxiliary attitude control quantity according to the first target attitude and a first attitude of the unmanned aerial vehicle corresponding to a preset state; and controlling the unmanned aerial vehicle to rotate according to the first target attitude and the auxiliary attitude control quantity, so that the unmanned aerial vehicle is in the preset state.

According to the technical scheme that this application embodiment provided, this application is in under the manual control mode at unmanned aerial vehicle, can trigger unmanned aerial vehicle through auxiliary control portion and get into the auxiliary control mode, thereby when user manual control unmanned aerial vehicle's gesture, carry out the auxiliary regulation to unmanned aerial vehicle's gesture, make unmanned aerial vehicle be in and predetermine the state, help the user to revise unmanned aerial vehicle's gesture, improve flight experience, reduce unmanned aerial vehicle's the degree of difficulty of controlling, be applicable to the beginner that unmanned aerial vehicle controlled.

Drawings

In order to more clearly illustrate the technical solutions in 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 only 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 inventive labor.

Fig. 1A is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application;

fig. 1B is a schematic structural diagram of a remote control terminal in an embodiment of the present application;

fig. 2 is a schematic flowchart of a method of controlling an unmanned aerial vehicle on the unmanned aerial vehicle side in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a control device of the unmanned aerial vehicle in an embodiment of the present application;

fig. 4 is a schematic structural diagram of a drone in an embodiment of the present application;

fig. 5 is a schematic flowchart of a method of controlling an unmanned aerial vehicle at a remote control terminal in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a control device of a drone in another embodiment of the present application;

fig. 7 is a schematic structural diagram of a remote control terminal in another embodiment of the present application.

Detailed Description

For many users, in the manual control mode, it is difficult to manually control the traversing device to keep a steady state due to insufficient control experience. Especially, a beginner generally needs to exercise for a long time on a simulator to have better control perception, and if the traversing machine is directly controlled under the condition of being insensitive to the posture control of the traversing machine, the traversing machine is easy to be out of control and even explode.

To this, this application is in under the manual control mode at unmanned aerial vehicle, can trigger unmanned aerial vehicle through auxiliary control portion and get into the auxiliary control mode to when user manual control unmanned aerial vehicle's gesture, carry out supplementary regulation to unmanned aerial vehicle's gesture, make unmanned aerial vehicle be in preset state, help the user to revise unmanned aerial vehicle's gesture, improve flight experience, reduce unmanned aerial vehicle's the degree of difficulty of controlling, be applicable to the beginner that unmanned aerial vehicle controlled.

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 only a part of the embodiments of the present application, and not all of the 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 application.

It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.

The working modes of the unmanned aerial vehicle can include a self-stabilization mode and a manual control mode, wherein in the self-stabilization mode, the flight controller of the unmanned aerial vehicle can autonomously control the attitude of the unmanned aerial vehicle, so that the unmanned aerial vehicle is kept in a stable state, for example, after a user loosens a rocker, the unmanned aerial vehicle can return to a horizontal position; under manual control mode (also called aco mode), need the rocker of user's manual operation remote controller or other remote control terminals to control unmanned aerial vehicle's gesture for unmanned aerial vehicle keeps at steady state, specifically according to the pole volume control unmanned aerial vehicle's of putting the pole gesture, flight controller can not independently participate in unmanned aerial vehicle's attitude control. In one embodiment, in the manual control mode, the striking rod body begins to incline, and the inclination speed is faster when the striking rod amount is larger.

An embodiment of the present application provides an unmanned aerial vehicle system, please refer to fig. 1A, and this unmanned aerial vehicle system can include unmanned aerial vehicle 100 and remote control terminal 200, and unmanned aerial vehicle 100 and remote control terminal 200 communication connection can adopt different communication connection modes between unmanned aerial vehicle 100 and the remote control terminal 200, like bluetooth, wifi or other wireless communication connection modes.

The unmanned aerial vehicle 100 of the embodiment of the application can be a traversing machine and can also be an unmanned aerial vehicle of other types.

It should be understood that the operation mode of the drone 100 of the present embodiment includes a manual control mode. It should be further understood that the drone 100 of the present embodiment may include other modes of operation besides the manual control mode, such as a self-stabilizing mode or others. Illustratively, the drone 100 is a traversing machine that includes a self-stabilizing mode and a manual control mode.

It should be noted that, the control method of the unmanned aerial vehicle according to the embodiment of the present application is executed when the unmanned aerial vehicle is in the manual control mode.

The remote control terminal 200 of the embodiment of the application can be a remote controller, and can also be other terminals capable of remotely controlling the unmanned aerial vehicle 100, such as a mobile phone, a tablet computer and other intelligent terminals.

The remote control terminal 200 of the embodiment of the present application may include an auxiliary control unit, and in the manual control mode, when the auxiliary control unit is triggered, the drone 100 may enter the auxiliary control mode. Wherein, under the auxiliary control mode, unmanned aerial vehicle 100 can assist the gesture of adjustment unmanned aerial vehicle 100 for unmanned aerial vehicle 100 is in and predetermines the state. In this embodiment, the preset state may include one or more states of the drone 100. Illustratively, the preset state includes a state of the drone 100, such as a horizontal state in which the plane of the body of the drone 100 is parallel to the horizontal plane. When the drone 100 is placed horizontally, the plane of the fuselage is parallel to the horizontal plane. It should be understood that the preset state may be other.

The auxiliary control part can be a physical key or a virtual key. For example, referring to fig. 1B, the remote control terminal 200 is a remote controller, which may include a main body 210, and the auxiliary control unit 220 is a physical key disposed on the main body 210. The auxiliary control part 220 may be provided at a side of the main body part 210 to facilitate a user's operation; it should be understood that the auxiliary control part 220 may be provided at other positions of the main body part 210. Further, referring to fig. 1B again, the remote controller may further include a joystick 230 disposed on the main body 210, and the user may control the attitude of the drone 100, such as at least one of a pitch attitude, a roll attitude, and a yaw attitude, by operating the joystick 230.

It should be understood that when the remote controller is provided with a display screen, the auxiliary control part may be a virtual key on an operation interface displayed on the display screen, and the joystick may be a virtual joystick on the operation interface.

Illustratively, the remote control terminal 200 is an intelligent terminal, the auxiliary control unit may be a virtual key on an operation interface displayed by the intelligent terminal, and the joystick may be a virtual joystick on the operation interface.

In the first and second embodiments, the implementation process of the control method of the unmanned aerial vehicle according to the embodiment of the present application will be described in detail from the unmanned aerial vehicle side and the remote control terminal side, respectively.

Example one

Fig. 2 is a schematic flowchart of a method of controlling an unmanned aerial vehicle on the unmanned aerial vehicle side in an embodiment of the present application; the execution main body of the control method of the unmanned aerial vehicle can be an unmanned aerial vehicle flight controller, and can also be other controllers arranged on the unmanned aerial vehicle. In this embodiment, an execution subject of the control method of the unmanned aerial vehicle is taken as an example of a flight controller. Referring to fig. 2, the method for controlling the drone of the present embodiment may include S201 to S204.

In S201, when the unmanned aerial vehicle is in the manual control mode, if a first trigger signal sent by the remote control terminal is received, the unmanned aerial vehicle enters the auxiliary control mode, where the first trigger signal is generated when the remote control terminal is triggered by the auxiliary control unit.

The user can operate the auxiliary control part in a single-click mode, a double-click mode, a long-press mode or the like, so that the auxiliary control part is in a trigger state. When the unmanned aerial vehicle is in a manual control mode and the auxiliary control part is switched from a non-trigger state to a trigger state, the remote control terminal generates a first trigger signal and sends the first trigger signal to the unmanned aerial vehicle.

In the embodiment of the application, when the unmanned aerial vehicle is in a manual control mode, the auxiliary control part is in an effective state; when unmanned aerial vehicle is in the non-manual control mode, supplementary control portion can be in valid state, also can be in invalid state. When the auxiliary control part is in an effective state, the auxiliary control part can be switched between different states by operating the auxiliary control part by a user, and for example, the auxiliary control part is switched between a trigger state and a non-trigger state by operating the auxiliary control part by the user; when the auxiliary control unit is in an invalid state, the auxiliary control unit is always in a non-triggered state, and even if the user operates the auxiliary control unit, the auxiliary control unit is not switched from the non-triggered state to another state.

In S202, in the auxiliary control mode, if a first control signal sent by the remote control terminal is received, a first target attitude of the unmanned aerial vehicle is determined according to the first control signal.

In this application embodiment, first control signal is the control signal of user manual control unmanned aerial vehicle's gesture. Illustratively, the remote control terminal is a remote controller, and the first control signal is generated when a user operates a rocker of the remote controller; illustratively, the remote control terminal is a mobile phone, and the first control signal is generated when a user operates a virtual joystick on an operation interface displayed on the mobile phone.

Optionally, the first control signal carries a stick amount generated when the user operates the joystick, and the first target posture is determined according to the stick amount.

In S203, an auxiliary attitude control amount is determined according to the first target attitude and the first attitude of the unmanned aerial vehicle corresponding to the preset state.

After the preset state is determined, the first posture is a known quantity.

Illustratively, preset the gesture and be the horizontality, when unmanned aerial vehicle was in the horizontality, first gesture included unmanned aerial vehicle's every single move gesture and roll gesture.

According to the first target attitude and the first attitude of the unmanned aerial vehicle corresponding to the preset state, the implementation process of determining the auxiliary attitude control quantity may include, but is not limited to, steps (1) to (2):

(1) determining attitude deviation according to the first target attitude and the first attitude of the unmanned aerial vehicle corresponding to the preset state;

(2) and determining the auxiliary attitude control quantity according to the attitude deviation.

In the embodiment of the application, the attitude deviation is a difference obtained by subtracting the first target attitude from the first attitude, and the auxiliary attitude control quantity is the attitude deviation.

In S204, the unmanned aerial vehicle is controlled to rotate according to the first target attitude and the auxiliary attitude control quantity, so that the unmanned aerial vehicle is in a preset state.

Exemplarily, preset the state and be the horizontality, when unmanned aerial vehicle is in the manual control mode and auxiliary control portion is triggered, at the in-process of user's manual leveling unmanned aerial vehicle, the supplementary leveling of participating in unmanned aerial vehicle of flight controller, when revising user's manual leveling unmanned aerial vehicle, because the attitude deviation that the experience of controlling is not enough brings improves flight experience and reduces unmanned aerial vehicle's the degree of difficulty of controlling.

Different strategies can be adopted to control the rotation of the unmanned aerial vehicle, and for example, in some embodiments, the unmanned aerial vehicle is controlled to reach the first target attitude first, and then the unmanned aerial vehicle is controlled to rotate according to the auxiliary attitude control quantity, so that the unmanned aerial vehicle is in a preset state, namely, manual control is realized first, and then the attitude deviation generated by the manual control is corrected.

In other embodiments, the unmanned aerial vehicle is directly controlled to rotate according to the first target attitude and the auxiliary attitude control quantity, so that the unmanned aerial vehicle is in a preset state, namely, the manual control and the correction of the attitude deviation are synchronously executed.

The attitude of the unmanned aerial vehicle can be controlled step by step (namely, in a step manner) according to the first target attitude and the auxiliary attitude control quantity, so that the unmanned aerial vehicle can quickly reach the preset state, and the attitude of the unmanned aerial vehicle can be controlled step by step according to the first target attitude and the auxiliary attitude control quantity, so that the unmanned aerial vehicle can stably reach the preset state.

Illustratively, when the unmanned aerial vehicle gradually controls the attitude of the unmanned aerial vehicle according to the first target attitude and the auxiliary attitude control amount so that the unmanned aerial vehicle smoothly reaches the preset state, the unmanned aerial vehicle is controlled to rotate according to the first target attitude, the auxiliary attitude control amount and the preset angular velocity when the unmanned aerial vehicle rotates so that the unmanned aerial vehicle is in the preset state. So, can control unmanned aerial vehicle more steadily and arrive and preset the state, reach at unmanned aerial vehicle and preset the state in-process, unmanned aerial vehicle's gesture changes comparatively level and smooth, has reduced the gesture change difference of unmanned aerial vehicle different moments for unmanned aerial vehicle's gesture changes comparatively evenly and fine and smooth.

Wherein, according to first target gesture, supplementary gesture controlled variable and predetermined unmanned aerial vehicle angular velocity when rotating, control unmanned aerial vehicle and rotate for unmanned aerial vehicle is in the realization process of predetermineeing the state and can include but not limited to step I ~ II:

I. carrying out integral processing on the angular velocity to determine an attitude adjustment gradient of the unmanned aerial vehicle;

II. According to the first target attitude, the auxiliary attitude control quantity and the attitude adjusting gradient, the unmanned aerial vehicle is controlled to rotate, so that the unmanned aerial vehicle is in a preset state.

In the embodiment of the present application, the integration duration Δ t corresponding to the integration interval of the integration process is 1/integration frequency. The integration frequency of the integration process may be a default value or may be set by the user. Alternatively, the integration frequency of the integration process is 1kHz (unit: kilohertz), but of course, the integration frequency of the integration process may be set to other magnitudes.

Further, in some embodiments, the method for controlling the drone may further include: and outputting the auxiliary attitude control quantity to display, realizing a teaching effect, and guiding the user to operate the leveling unmanned aerial vehicle. Illustratively, in some embodiments, the remote control terminal is provided with a display screen, and the auxiliary attitude control quantity is displayed through the display screen of the remote control terminal; in still other embodiments, the auxiliary attitude control amount is transmitted to an external display device for display. The display device may include video glasses, such as first Person referred to as main viewing angle fpv (first Person view) glasses, or may be other, such as an intelligent terminal in communication connection with the unmanned aerial vehicle.

Illustratively, the remote control terminal is the remote controller, and the pole volume of the rocker of the remote controller that the output is supplementary gesture control volume corresponds is in order to show, and the direction and the pole volume that can guide the user to play the pole are in order to level unmanned aerial vehicle.

In addition, in some embodiments, after entering the auxiliary control mode after receiving the first trigger signal sent by the remote control terminal, if receiving the second trigger signal sent by the remote control terminal, the auxiliary control mode is exited. The second trigger signal is used for indicating that the auxiliary control part is switched from a trigger state to a non-trigger state, and exemplarily, the user is switched to release the auxiliary control part by pressing the auxiliary control part, so that the auxiliary control part is switched from the trigger state to the non-trigger state; illustratively, when the auxiliary control part is in the trigger state, the user clicks the auxiliary control part to switch the auxiliary control part from the trigger state to the non-trigger state. After quitting the auxiliary control mode, the user grasps complete unmanned aerial vehicle's control right again, at this moment, by user manual operation so that unmanned aerial vehicle reachs the preset state completely, flight controller can not independently participate in unmanned aerial vehicle's attitude control.

For example, in some embodiments, after exiting the auxiliary control mode, if a second control signal sent by the remote control terminal is received, a second target attitude of the unmanned aerial vehicle is determined according to the second control signal; and controlling the unmanned aerial vehicle to rotate according to the second target attitude. In this application embodiment, the second control signal is also the control signal of user manual control unmanned aerial vehicle's gesture. Illustratively, the remote control terminal is a remote controller, and the second control signal is generated when a user operates a rocker of the remote controller; illustratively, the remote control terminal is a mobile phone, and the second control signal is generated when the user operates a virtual joystick on an operation interface displayed on the mobile phone. Optionally, the second control signal carries a stick amount generated when the user operates the joystick, and the second target posture is determined according to the stick amount.

To further improve the universality of the drone system, in some embodiments, the control method of the drone may further include: the picture that the shooting device that sends unmanned aerial vehicle obtained passes picture and unmanned aerial vehicle's real-time gesture to outside display device to picture that passes through display device display unmanned aerial vehicle, and the picture that shows at display device passes the third visual angle view that superposes unmanned aerial vehicle on the picture. Wherein the third perspective view is used to indicate a real-time pose. Optionally, the real-time pose is a pose of the drone in a world coordinate system, and may also be a pose of the drone in other coordinate systems. Illustratively, the third visual angle view is used for showing the virtual model of unmanned aerial vehicle under the real-time gesture to show unmanned aerial vehicle's real-time gesture more directly perceivedly, be favorable to guiding the manual regulation unmanned aerial vehicle of user and arrive preset state. Wherein the real-time attitude may include at least one of a pitch attitude, a roll attitude, and a yaw attitude of the drone. Furthermore, the display device can also display the attitude line corresponding to the real-time attitude on the picture transmission picture so as to indicate at least one of the pitching attitude, the rolling attitude and the yawing attitude of the unmanned aerial vehicle, and the display of the attitude line is simpler. Of course, the display device may also display the value or other parameters corresponding to the real-time attitude on the image-transmitted screen, such as the voltage of the battery of the unmanned aerial vehicle. When the display device is first person called main visual angle FPV glasses, the picture is shot by the FPV shooting device on the unmanned aerial vehicle.

Corresponding to the control method of the unmanned aerial vehicle of the above embodiment, the embodiment of the application further provides a control device of the unmanned aerial vehicle, and the control device of the unmanned aerial vehicle of the embodiment is arranged on the unmanned aerial vehicle. Unmanned aerial vehicle and remote control terminal communication connection, remote control terminal include auxiliary control portion. Referring to fig. 3, the control device 110 of the drone of the present embodiment may include a first storage device 111 and one or more first processors 112.

Wherein, the first storage device 111 is used for storing program instructions; the first storage device 111 stores a computer program of executable instructions of the control method of the drone, and the first storage device 111 may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the control device 110 of the drone may cooperate with a network first storage device 111 that performs a storage function of the memory through a network connection. The memory may be an internal storage unit of the control device 110 of the drone, such as a hard disk or memory of the control device 110 of the drone. The memory may also be an external storage device of the control apparatus 110 of the drone, such as a plug-in hard disk provided on the control apparatus 110 of the drone, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory may also include both an internal memory unit and an external memory device of the control apparatus 110 of the drone. The memory is used for storing computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.

The one or more first processors 112, invoking program instructions stored in the first storage 111, the one or more first processors 112, individually or collectively, being configured to, when executed, perform the following: when the unmanned aerial vehicle is in a manual control mode, if a first trigger signal sent by the remote control terminal is received, entering an auxiliary control mode, wherein the first trigger signal is generated when the remote control terminal is triggered by an auxiliary control part; in the auxiliary control mode, if a first control signal sent by a remote control terminal is received, determining a first target attitude of the unmanned aerial vehicle according to the first control signal; determining an auxiliary attitude control quantity according to the first target attitude and the first attitude of the unmanned aerial vehicle corresponding to the preset state; according to the first target attitude and the auxiliary attitude control quantity, the unmanned aerial vehicle is controlled to rotate, so that the unmanned aerial vehicle is in a preset state.

The first processor 112 of this embodiment can implement the control method of the unmanned aerial vehicle according to the embodiment shown in fig. 2 of this application, and the control device 110 of the unmanned aerial vehicle according to this embodiment will be described with reference to the control method of the unmanned aerial vehicle according to the above embodiment.

The first processor 112 may be a flight controller of the drone, or may be another controller provided on the drone.

The first Processor 112 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the first processor 112 may be any conventional processor or the like.

Further, this application embodiment still provides an unmanned aerial vehicle, please refer to fig. 4, and the unmanned aerial vehicle of this application embodiment can include organism, driving system and the controlling means 110 of the unmanned aerial vehicle of above-mentioned embodiment. Wherein. Driving system and organism are connected, and the driving system of this embodiment is used for providing power for the removal of organism, and unmanned aerial vehicle's controlling means 110 is supported by the organism.

In addition, the present embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the first processor 112, the control method of the unmanned aerial vehicle according to the above embodiment is implemented.

Example two

Fig. 5 is a schematic flowchart of a method of controlling an unmanned aerial vehicle at a remote control terminal in an embodiment of the present application; the main execution body of the control method of the unmanned aerial vehicle is the main controller of the remote control terminal, and can also be other controllers arranged on the remote control terminal. Referring to fig. 5, the method for controlling an unmanned aerial vehicle of the present embodiment may include S501 to S503.

In S501, a first user instruction instructing to switch the assist control unit from the non-trigger state to the trigger state is acquired.

The first user instruction may include an operation instruction of the auxiliary control portion operated by the user (e.g., single click, double click, long press, or the like) when the auxiliary control device is in a non-trigger state. For example, when the auxiliary control device is in the non-trigger state, the user clicks the auxiliary control part to trigger the auxiliary control device to be switched from the non-trigger state to the trigger state.

In S502, the assist control unit is switched from the non-trigger state to the trigger state according to a first user instruction, and a first trigger signal is generated; wherein, when unmanned aerial vehicle is in under the manual control mode, first triggering signal is used for triggering unmanned aerial vehicle and gets into the auxiliary control mode, and under the auxiliary control mode, unmanned aerial vehicle can assist adjustment unmanned aerial vehicle's gesture for unmanned aerial vehicle is in and predetermines the state.

In the embodiment of the present application, the two steps of "switching the assist control unit from the non-trigger state to the trigger state" and "generating the first trigger signal" may be performed simultaneously, or the step of "switching the assist control unit from the non-trigger state to the trigger state" may be performed before the step of "generating the first trigger signal".

Wherein, under the auxiliary control mode, unmanned aerial vehicle assists the gesture of adjustment unmanned aerial vehicle for the realization process that unmanned aerial vehicle is in the preset state can refer to the description of corresponding part in embodiment one, and it is no longer repeated here.

In S503, a first trigger signal is sent to the drone.

Optionally, the preset state includes a horizontal state; wherein, under the horizontality, unmanned aerial vehicle's fuselage plane is on a parallel with the horizontal plane.

Optionally, the control method of the unmanned aerial vehicle further includes: receiving an auxiliary attitude control quantity sent by the unmanned aerial vehicle; displaying the auxiliary attitude control quantity; the auxiliary attitude control quantity is determined according to attitude deviation between a first target attitude of the unmanned aerial vehicle corresponding to a first control signal sent by the remote control terminal and a first attitude of the unmanned aerial vehicle corresponding to a preset state.

Optionally, the remote control terminal includes a remote controller, and displays the auxiliary attitude control quantity, including: determining the rod amount of a rocker of the remote controller corresponding to the auxiliary attitude control amount; and displaying the rod amount of the rocker of the remote controller corresponding to the auxiliary attitude control amount.

Optionally, the remote control terminal includes a remote controller, and the first control signal is generated when a user operates a joystick of the remote controller.

Optionally, after the auxiliary control unit is switched from the non-trigger state to the trigger state according to the first user instruction, the method further includes: acquiring a second user instruction, wherein the second user instruction is used for instructing the auxiliary control part to be switched from a trigger state to a non-trigger state; according to a second user instruction, the auxiliary control part is switched from a trigger state to a non-trigger state, and a second trigger signal is generated; and sending a second trigger signal to the unmanned aerial vehicle to trigger the unmanned aerial vehicle to exit the auxiliary control mode. The second user instruction may include an operation instruction of the auxiliary control portion operated by the user (e.g., single click, double click, or long press operation) when the auxiliary control device is in the trigger state. Illustratively, when the auxiliary control device is in the trigger state, the user clicks the auxiliary control part to trigger the auxiliary control device to be switched from the trigger state to the non-trigger state. After quitting the auxiliary control mode, the user grasps complete unmanned aerial vehicle's control right again, at this moment, by user manual operation so that unmanned aerial vehicle reachs the preset state completely, flight controller can not independently participate in unmanned aerial vehicle's attitude control.

Optionally, the control method of the unmanned aerial vehicle further includes: acquiring an image transmission picture acquired by a shooting device of the unmanned aerial vehicle and a real-time attitude of the unmanned aerial vehicle; displaying a picture, and adding a third view angle view of the unmanned aerial vehicle on the picture; wherein the third perspective view is used to indicate a real-time pose.

Optionally, the third perspective view is used to display a virtual model of the drone in a real-time pose.

Optionally, the drone comprises a traversing machine.

It should be understood that, for the parts of the control method of the drone according to the second embodiment that are not developed, reference may be made to the description of the corresponding parts of the control method of the drone according to the first embodiment.

Corresponding to the unmanned aerial vehicle's of above-mentioned embodiment control method, this application embodiment still provides an unmanned aerial vehicle's controlling means, and the unmanned aerial vehicle's of this embodiment controlling means locates on the remote control terminal, and remote control terminal and unmanned aerial vehicle communication connection, remote control terminal include auxiliary control portion. Referring to fig. 6, the control device 240 of the drone of the present embodiment may include a second storage device 241 and one or more second processors 242.

Second storage 241 for storing program instructions; the second storage device 241 stores a computer program of executable instructions of the control method of the drone, and the second storage device 241 may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the control device 240 of the drone may cooperate with a network second storage device 241 that performs a storage function of the memory through a network connection. The memory may be an internal storage unit of the control device 240 of the drone, such as a hard disk or memory of the control device 240 of the drone. The memory may also be an external storage device of the control apparatus 240 of the drone, such as a plug-in hard disk provided on the control apparatus 240 of the drone, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory may also include both an internal memory unit and an external memory device of the control apparatus 240 of the drone. The memory is used for storing computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.

The one or more second processors 242, invoking program instructions stored in the second storage 241, the one or more second processors 242, individually or collectively, being configured to, when executed, perform the following: acquiring a first user instruction, wherein the first user instruction is used for instructing to switch the auxiliary control part from a non-trigger state to a trigger state; according to a first user instruction, switching an auxiliary control part from a non-trigger state to a trigger state, and generating a first trigger signal; sending a first trigger signal to the unmanned aerial vehicle; when the unmanned aerial vehicle is in a manual control mode, the first trigger signal is used for triggering the unmanned aerial vehicle to enter an auxiliary control mode; under the auxiliary control mode, unmanned aerial vehicle can assist adjustment unmanned aerial vehicle's gesture for unmanned aerial vehicle is in and predetermines the state.

The second processor 242 of this embodiment can implement the control method of the unmanned aerial vehicle according to the embodiment shown in fig. 5 of this application, and the control device 240 of the unmanned aerial vehicle of this embodiment will be described with reference to the control method of the unmanned aerial vehicle according to the second embodiment.

The second Processor 242 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the second processor 242 may be any conventional processor or the like.

Further, this application embodiment still provides a remote control terminal of unmanned aerial vehicle, please refer to fig. 1B and fig. 7, remote control terminal 200 of this application embodiment can include main part 210, auxiliary control portion 220 and the controlling means 240 of unmanned aerial vehicle of the second embodiment of the aforesaid, wherein, auxiliary control portion 220 locates main part 210, and unmanned aerial vehicle's controlling means 240 is connected with auxiliary control portion 220 electricity to unmanned aerial vehicle's controlling means 240 is supported by main part 210.

The remote control terminal 200 of the embodiment of the application can be a remote controller, and can also be other terminals capable of remotely controlling the unmanned aerial vehicle, such as mobile phones, tablet computers and other intelligent terminals.

Illustratively, the remote control terminal 200 is a remote controller, and the control device 240 of the drone may also be electrically connected to a rocker of the remote controller.

In addition, a computer-readable storage medium is provided in the embodiments of the present application, and a computer program is stored on the computer-readable storage medium, and when being executed by the second processor 242, the computer program implements the control method of the drone according to the second embodiment.

EXAMPLE III

An embodiment of the present application provides an unmanned aerial vehicle system, please refer to fig. 1A and 1B, the unmanned aerial vehicle system may include an unmanned aerial vehicle 100 and a remote control terminal 200 in communication connection with the unmanned aerial vehicle 100, and the remote control terminal 200 may include an auxiliary control portion 220.

The remote control terminal 200 is configured to, when a first user instruction instructing to switch the auxiliary control unit 220 from the non-trigger state to the trigger state is acquired, switch the auxiliary control unit 220 from the non-trigger state to the trigger state, and generate a first trigger signal; send a first trigger signal to the drone 100.

The unmanned aerial vehicle 100 is used for entering an auxiliary control mode if receiving a first trigger signal sent by the remote control terminal 200 when the unmanned aerial vehicle 100 is in a manual control mode; in the auxiliary control mode, if a first control signal sent by the remote control terminal 200 is received, determining a first target attitude of the unmanned aerial vehicle 100 according to the first control signal; determining an auxiliary attitude control quantity according to the first target attitude and the first attitude of the unmanned aerial vehicle 100 corresponding to the preset state; according to first target gesture and supplementary gesture control volume, control unmanned aerial vehicle 100 rotates for unmanned aerial vehicle 100 is in and predetermines the state.

Optionally, the preset state includes a horizontal state; wherein, under the horizontality, the fuselage plane of unmanned aerial vehicle 100 is on a parallel with the horizontal plane.

Optionally, the unmanned aerial vehicle 100 is specifically configured to determine an attitude deviation according to the first target attitude and the first attitude of the unmanned aerial vehicle 100 corresponding to the preset state; and determining the auxiliary attitude control quantity according to the attitude deviation.

Optionally, the unmanned aerial vehicle 100 is specifically configured to control the rotation of the unmanned aerial vehicle 100 according to the first target attitude, the auxiliary attitude control amount, and the preset angular velocity of the unmanned aerial vehicle 100 during rotation, so that the unmanned aerial vehicle 100 is in a preset state.

Optionally, the unmanned aerial vehicle 100 is specifically configured to perform integration processing on the angular velocity, and determine an attitude adjustment gradient of the unmanned aerial vehicle 100; according to first target gesture, supplementary gesture controlled variable and gesture adjustment gradient, control unmanned aerial vehicle 100 rotates for unmanned aerial vehicle 100 is in and predetermines the state.

Optionally, the drone 100 is further configured to output the auxiliary attitude control quantity for display; the drone 100 is specifically configured to output the stick amount of the joystick 230 of the remote controller corresponding to the auxiliary attitude control amount for display.

Optionally, the unmanned aerial vehicle 100 is specifically configured to send the auxiliary attitude control quantity to the remote control terminal 200; the remote control terminal 200 is further configured to receive the auxiliary attitude control quantity sent by the drone 100, and display the auxiliary attitude control quantity.

Optionally, the remote control terminal 200 includes a remote controller, and the first control signal is generated when the user operates a joystick 230 of the remote controller.

Optionally, the remote control terminal 200 is further configured to, after the auxiliary control unit 220 is switched from the non-trigger state to the trigger state according to the first user instruction, if a second user instruction is obtained, switch the auxiliary control unit 220 from the trigger state to the non-trigger state, and generate a second trigger signal; sending a second trigger signal to the drone 100; the drone 100 is further configured to exit the auxiliary control mode if receiving a second trigger signal sent by the remote control terminal 200 after entering the auxiliary control mode upon receiving the first trigger signal sent by the remote control terminal 200, where the second trigger signal is used to instruct the auxiliary control unit 220 to switch from the trigger state to the non-trigger state.

Optionally, after exiting the auxiliary control mode, if a second control signal sent by the remote control terminal 200 is received, the unmanned aerial vehicle 100 is further configured to determine a second target attitude of the unmanned aerial vehicle 100 according to the second control signal; and controlling the unmanned aerial vehicle 100 to rotate according to the second target attitude.

Optionally, the unmanned aerial vehicle 100 is further configured to send the image-transmission picture acquired by the shooting device of the unmanned aerial vehicle 100 and the real-time posture of the unmanned aerial vehicle 100 to an external display device; the remote control terminal 200 is further configured to obtain an image-transmission picture obtained by a shooting device of the drone 100 and a real-time attitude of the drone 100; displaying a map transmission picture, and adding a third view angle view of the unmanned aerial vehicle 100 to the map transmission picture; wherein the third perspective view is used to indicate a real-time pose.

Optionally, the third perspective view is used to display a virtual model of the drone 100 in a real-time pose.

Optionally, the drone 100 includes a traversing machine.

The rest of the unexploded parts can refer to the description of the corresponding parts in the first embodiment and the second embodiment, and are not described again here.

The computer-readable storage medium of the embodiment of the present application may be an internal storage unit, such as a hard disk or a memory, of the unmanned aerial vehicle or the remote control terminal described in any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the drone or the remote control terminal, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the drone or the remote control terminal. The computer-readable storage medium is used for storing the computer program and other programs and data required by the drone or remote control terminal, and may also be used for temporarily storing data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is only a few examples of the present application, and certainly should not be taken as limiting the scope of the present application, which is therefore intended to cover all modifications that are within the scope of the present application and which are equivalent to the claims.

Claims

1. A control method of an unmanned aerial vehicle is characterized in that the method is suitable for the unmanned aerial vehicle, the unmanned aerial vehicle is in communication connection with a remote control terminal, the remote control terminal comprises an auxiliary control part, and the method comprises the following steps:

2. The method of claim 1, wherein the preset state comprises a horizontal state;

wherein, under the horizontality, unmanned aerial vehicle's fuselage plane is on a parallel with the horizontal plane.

3. The method according to claim 1 or 2, wherein the determining an auxiliary attitude control quantity according to the first target attitude and a first attitude of the drone corresponding to a preset state comprises:

determining attitude deviation according to the first target attitude and the first attitude of the unmanned aerial vehicle corresponding to the preset state;

and determining the auxiliary attitude control quantity according to the attitude deviation.

4. The method of claim 1 or 2, wherein said controlling the drone to rotate according to the first target attitude and the auxiliary attitude control quantity so that the drone is in the preset state comprises:

according to the first target attitude, the auxiliary attitude control quantity and the preset angular speed of the unmanned aerial vehicle during rotation, the unmanned aerial vehicle is controlled to rotate, so that the unmanned aerial vehicle is in the preset state.

5. The method of claim 4, wherein said controlling the drone to rotate according to the first target attitude, the auxiliary attitude control amount, and a preset angular velocity at which the drone rotates, such that the drone is in the preset state, comprises:

performing integral processing on the angular velocity to determine an attitude adjustment gradient of the unmanned aerial vehicle;

controlling the unmanned aerial vehicle to rotate according to the first target attitude, the auxiliary attitude control quantity and the attitude adjusting gradient, so that the unmanned aerial vehicle is in the preset state.

6. The method of claim 1, further comprising:

and outputting the auxiliary attitude control quantity for display.

7. The method of claim 6, wherein the remote control terminal comprises a remote control, and wherein outputting the auxiliary gesture control amount for display comprises:

and outputting the rod amount of the rocker of the remote controller corresponding to the auxiliary attitude control amount for display.

8. The method of claim 6, wherein the outputting the auxiliary gesture control amount for display comprises:

and sending the auxiliary attitude control quantity to an external display device for display.

9. The method of claim 1, wherein the remote control terminal comprises a remote control, and the first control signal is generated when a user operates a joystick of the remote control.

10. The method according to claim 1, wherein after entering the auxiliary control mode after receiving the first trigger signal sent by the remote control terminal, the method further comprises:

and if a second trigger signal sent by the remote control terminal is received, exiting the auxiliary control mode, wherein the second trigger signal is used for indicating the auxiliary control part to be switched from a trigger state to a non-trigger state.

11. The method of claim 10, wherein after said exiting said secondary control mode, further comprising:

if a second control signal sent by the remote control terminal is received, determining a second target attitude of the unmanned aerial vehicle according to the second control signal;

and controlling the unmanned aerial vehicle to rotate according to the second target attitude.

12. The method of claim 1, further comprising:

sending the image transmission picture acquired by the shooting device of the unmanned aerial vehicle and the real-time posture of the unmanned aerial vehicle to an external display device, so that the image transmission picture of the unmanned aerial vehicle is displayed through the display device, and a third visual angle view of the unmanned aerial vehicle is superposed on the image transmission picture displayed by the display device;

wherein the third perspective view is to indicate the real-time pose.

13. The method of claim 12, wherein the third perspective view is used to display a virtual model of the drone in the real-time pose.

14. The method of claim 1, wherein the drone comprises a traversing machine.

15. The utility model provides an unmanned aerial vehicle's controlling means, its characterized in that, controlling means locates on the unmanned aerial vehicle, unmanned aerial vehicle and remote control terminal communication connection, remote control terminal includes auxiliary control portion, controlling means includes:

storage means for storing program instructions;

16. The apparatus of claim 15, wherein the preset state comprises a horizontal state;

17. The apparatus of claim 15 or 16, wherein the one or more processors, when determining an auxiliary attitude control quantity according to the first attitude of the drone corresponding to the first target attitude and a preset state, are further configured, individually or collectively, to:

18. The apparatus of claim 15 or 16, wherein the one or more processors, when controlling the drone to turn according to the first target attitude and the auxiliary attitude control amount such that the drone is in the preset state, are further configured, individually or collectively, to:

19. The apparatus of claim 18, wherein the one or more processors, when controlling the drone to rotate according to the first target pose, the auxiliary pose control amount, and a preset angular velocity at which the drone rotates, such that the drone is in the preset state, are further configured, individually or collectively, to:

20. The apparatus of claim 15, wherein the one or more processors are further configured, individually or collectively, to:

and outputting the auxiliary attitude control quantity for display.

21. The apparatus of claim 20, wherein the remote control terminal comprises a remote control, and wherein the one or more processors, when outputting the auxiliary gestural control quantity for display, are further configured, individually or collectively, to:

22. The apparatus of claim 20, wherein the one or more processors, when outputting the auxiliary gestural control quantity for display, are further configured, individually or collectively, to:

23. The apparatus of claim 15, wherein the remote control terminal comprises a remote control, and the first control signal is generated when a user operates a joystick of the remote control.

24. The apparatus of claim 15, wherein the one or more processors, individually or collectively, after entering a secondary control mode upon receiving a first trigger signal sent by the remote control terminal, are further configured to:

25. The apparatus of claim 24, wherein the one or more processors, individually or collectively, are further configured for performing the following after exiting the secondary control mode:

26. The apparatus of claim 15, wherein the one or more processors are further configured, individually or collectively, to:

wherein the third perspective view is to indicate the real-time pose.

27. The apparatus of claim 26, wherein the third perspective view is for displaying a virtual model of the drone in the real-time pose.

28. The apparatus of claim 15, wherein the drone comprises a traversing machine.

29. An unmanned aerial vehicle, comprising:

a body;

the control device of a drone of any one of claims 15 to 28, supported by the body.

30. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the method of controlling a drone of any one of claims 1 to 14.

31. A control method of an unmanned aerial vehicle is characterized in that the method is applied to a remote control terminal, the remote control terminal is in communication connection with the unmanned aerial vehicle, the remote control terminal comprises an auxiliary control part, and the method comprises the following steps:

sending the first trigger signal to the unmanned aerial vehicle;

32. The method of claim 31, wherein the preset state comprises a horizontal state;

33. The method of claim 31, further comprising:

receiving the auxiliary attitude control quantity sent by the unmanned aerial vehicle;

displaying the auxiliary attitude control quantity;

the auxiliary attitude control quantity is determined according to attitude deviation between a first target attitude of the unmanned aerial vehicle corresponding to a first control signal sent by the remote control terminal and a first attitude of the unmanned aerial vehicle corresponding to the preset state.

34. The method of claim 33, wherein the remote control terminal comprises a remote control, and wherein the displaying the auxiliary gesture control amount comprises:

determining the rod amount of a rocker of the remote controller corresponding to the auxiliary attitude control amount;

and displaying the rod amount of the rocker of the remote controller corresponding to the auxiliary attitude control amount.

35. The method of claim 33, wherein the remote control terminal comprises a remote control, and wherein the first control signal is generated when a user operates a joystick of the remote control.

36. The method of claim 31, wherein after switching the auxiliary control from the non-triggered state to the triggered state according to the first user instruction, further comprising:

acquiring a second user instruction, wherein the second user instruction is used for instructing to switch the auxiliary control part from the trigger state to the non-trigger state;

according to the second user instruction, the auxiliary control part is switched from the trigger state to the non-trigger state, and a second trigger signal is generated;

sending the second trigger signal to the drone to trigger the drone to exit the auxiliary control mode.

37. The method of claim 31, further comprising:

acquiring an image transmission picture acquired by a shooting device of the unmanned aerial vehicle and a real-time posture of the unmanned aerial vehicle;

displaying the image transmission picture, and adding a third visual angle view of the unmanned aerial vehicle on the image transmission picture;

wherein the third perspective view is to indicate the real-time pose.

38. The method of claim 37, wherein the third perspective view is used to display a virtual model of the drone in the real-time pose.

39. The method of claim 31, wherein the drone comprises a traversing machine.

40. The utility model provides an unmanned aerial vehicle's controlling means, its characterized in that, controlling means locates on the remote control terminal, the remote control terminal with unmanned aerial vehicle communication connection, the remote control terminal includes auxiliary control portion, controlling means includes:

storage means for storing program instructions;

sending the first trigger signal to the unmanned aerial vehicle;

41. The apparatus of claim 40, wherein the preset state comprises a horizontal state;

42. The apparatus of claim 40, wherein the one or more processors are further configured, individually or collectively, to:

displaying the auxiliary attitude control quantity;

43. The apparatus of claim 42, wherein the remote control terminal comprises a remote control, and wherein the one or more processors, when displaying the auxiliary gesture control amount, are further configured, individually or collectively, to:

44. The device of claim 42, wherein the remote control terminal comprises a remote control, and the first control signal is generated when a user operates a joystick of the remote control.

45. The apparatus of claim 40, wherein the one or more processors, individually or collectively, after switching the auxiliary control from the non-triggered state to the triggered state according to the first user instruction, are further configured to:

46. The apparatus of claim 40, wherein the one or more processors are further configured, individually or collectively, to:

wherein the third perspective view is to indicate the real-time pose.

47. The apparatus of claim 46, wherein the third perspective view is for displaying a virtual model of the drone in the real-time pose.

48. The apparatus of claim 40, wherein the drone comprises a traversing machine.

49. A remote control terminal of unmanned aerial vehicle, its characterized in that includes:

a main body portion;

an auxiliary control unit provided in the main body; and

the control device of a drone of any one of claims 40 to 48, electrically connected to the auxiliary control portion and supported by the main body portion.

50. A computer-readable storage medium, on which a computer program is stored, the program, when being executed by a processor, implementing the method of controlling a drone of any one of claims 31 to 39.

51. An unmanned aerial vehicle system, characterized in that, the unmanned aerial vehicle system includes:

an unmanned aerial vehicle; and

52. The system of claim 51, wherein the preset state comprises a horizontal state;

53. The system according to claim 51 or 52, wherein the drone is specifically configured to determine an attitude deviation according to the first target attitude and a first attitude of the drone corresponding to the preset state; and determining the auxiliary attitude control quantity according to the attitude deviation.

54. The system of claim 51 or 52, wherein the drone is specifically configured to control the drone to rotate according to the first target attitude, the auxiliary attitude control quantity and a preset angular velocity at which the drone rotates, so that the drone is in the preset state.

55. The system of claim 54, wherein the drone is specifically configured to integrate the angular velocity to determine a pose adjustment gradient of the drone; controlling the unmanned aerial vehicle to rotate according to the first target attitude, the auxiliary attitude control quantity and the attitude adjusting gradient, so that the unmanned aerial vehicle is in the preset state.

56. The system of claim 51, wherein the drone is further configured to output the auxiliary attitude control quantity for display.

57. The system of claim 56, wherein the drone is specifically configured to output for display a stick amount of a stick of the remote control corresponding to the auxiliary attitude control amount.

58. The system of claim 56, wherein said drone is specifically configured to send said auxiliary attitude control quantity to said remote control terminal;

and the remote control terminal is also used for receiving the auxiliary attitude control quantity sent by the unmanned aerial vehicle and displaying the auxiliary attitude control quantity.

59. The system of claim 51, wherein the remote control terminal comprises a remote control, and the first control signal is generated when a user operates a joystick of the remote control.

60. The system according to claim 51, wherein said remote control terminal is further configured to, after switching said auxiliary control unit from said non-triggered state to said triggered state according to said first user instruction, switch said auxiliary control unit from said triggered state to said non-triggered state and generate a second trigger signal if a second user instruction is obtained; sending the second trigger signal to the unmanned aerial vehicle;

the unmanned aerial vehicle is also used for exiting the auxiliary control mode if receiving a second trigger signal sent by the remote control terminal after receiving the first trigger signal sent by the remote control terminal and entering the auxiliary control mode, wherein the second trigger signal is used for indicating the auxiliary control part to be switched from a trigger state to a non-trigger state.

61. The system of claim 60, wherein the drone is further configured to determine a second target attitude of the drone according to a second control signal sent by the remote control terminal if the drone receives the second control signal after exiting the auxiliary control mode; and controlling the unmanned aerial vehicle to rotate according to the second target attitude.

62. The system of claim 51, wherein the UAV is further configured to send the video frames captured by the camera of the UAV and the real-time pose of the UAV to an external display device;

the remote control terminal is also used for acquiring the image transmission picture acquired by the shooting device of the unmanned aerial vehicle and the real-time attitude of the unmanned aerial vehicle; displaying the image transmission picture, and adding a third visual angle view of the unmanned aerial vehicle on the image transmission picture;

wherein the third perspective view is to indicate the real-time pose.

63. The system of claim 62, wherein the third perspective view is used to display a virtual model of the drone in the real-time pose.

64. The system of claim 51, wherein the drone comprises a traversing machine.