CN113491100A

CN113491100A - Unmanned aerial vehicle system and control method and device thereof

Info

Publication number: CN113491100A
Application number: CN202080016221.1A
Authority: CN
Inventors: 谢振生; 刘帅
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2021-10-08
Also published as: WO2021217408A1

Abstract

A control method of a drone system, the drone system including a drone (100) and a pan-tilt head (200) mounted on the drone, the method comprising: acquiring an operation mode of the unmanned aerial vehicle (S201); determining a following strategy between the unmanned aerial vehicle and the holder according to the operation mode (S202); controlling the unmanned aerial vehicle and the holder according to the following strategy (S203); the following strategy includes one of a first following strategy and a second following strategy, wherein: under a first following strategy, the unmanned aerial vehicle changes along with the attitude change of the holder; under the second following strategy, the cradle head changes along with the attitude change of the unmanned aerial vehicle. The problem of the cloud platform shake that probably exists when the cloud platform follows unmanned aerial vehicle leads to the video stability decline of cloud platform shooting at the cloud platform is solved to the problem of the unmanned aerial vehicle stability decline that probably exists when unmanned aerial vehicle follows the cloud platform has been solved, thereby has improved user experience and unmanned aerial vehicle system's reliability. Also discloses a control device of the unmanned aerial vehicle system and the unmanned aerial vehicle system.

Description

Unmanned aerial vehicle system and control method and device thereof

Technical Field

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

Background

At present, when at least one of the drone and the pan/tilt head is controlled (including fully automatic control and semi-automatic control, but not including full manual control), the pan/tilt head will enter a mode in which the pan/tilt head follows the drone. Under the mode that the unmanned aerial vehicle is followed to the cloud platform, unmanned aerial vehicle's control command is direct to be responded by unmanned aerial vehicle, and the cloud platform reads unmanned aerial vehicle's gesture, if read unmanned aerial vehicle's driftage gesture as the target driftage gesture of cloud platform. At this moment, if unmanned aerial vehicle receives influences such as wind disturbance, unmanned aerial vehicle's driftage gesture can have great shake, and the driftage gesture of cloud platform also can follow unmanned aerial vehicle's driftage gesture and have certain shake, influences the performance of cloud platform, like the video stability of cloud platform shooting.

Disclosure of Invention

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

In a first aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle system, where the unmanned aerial vehicle system includes an unmanned aerial vehicle and a pan-tilt head mounted on the unmanned aerial vehicle, and the method includes:

acquiring an operation mode of the unmanned aerial vehicle;

determining a following strategy between the unmanned aerial vehicle and the holder according to the operation mode;

controlling the unmanned aerial vehicle and the holder according to the following strategy;

the following policy includes one of a first following policy and a second following policy, wherein:

under the first following strategy, the unmanned aerial vehicle changes along with the attitude change of the holder;

under the second following strategy, the cradle head changes along with the change of the posture of the unmanned aerial vehicle.

In a second aspect, an embodiment of the present application provides a control device for an unmanned aerial vehicle system, the unmanned aerial vehicle system includes an unmanned aerial vehicle and a holder carried on the unmanned aerial vehicle, the device includes:

storage means for storing program instructions; and

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:

acquiring an operation mode of the unmanned aerial vehicle;

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

an unmanned aerial vehicle;

a cradle head mounted on the unmanned aerial vehicle; and

the control device of the unmanned aerial vehicle system is at least partially arranged on the unmanned aerial vehicle and is respectively in communication connection with the unmanned aerial vehicle and the holder;

wherein, unmanned aerial vehicle system's controlling means includes:

storage means for storing program instructions; and

acquiring an operation mode of the unmanned aerial vehicle;

In a fourth aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle system, where the unmanned aerial vehicle system includes an unmanned aerial vehicle, a pan-tilt head mounted on the unmanned aerial vehicle, and a first control device, the method includes:

determining, by the first control device, a following policy between the drone and the pan/tilt head according to a current performance requirement of the drone system;

In a fifth aspect, an embodiment of the present application provides a control device of an unmanned aerial vehicle system, the unmanned aerial vehicle system includes an unmanned aerial vehicle, carries on cloud platform and a first control device on the unmanned aerial vehicle, the device includes:

storage means for storing program instructions; and

In a sixth aspect, an embodiment of the present application provides an unmanned aerial vehicle system, which includes:

an unmanned aerial vehicle;

a cradle head mounted on the unmanned aerial vehicle; and

the control device of the unmanned aerial vehicle system is in communication connection with the unmanned aerial vehicle and the holder respectively, and comprises a first control device carried on the unmanned aerial vehicle;

wherein, unmanned aerial vehicle system's controlling means still includes:

storage means for storing program instructions; and

According to the technical scheme provided by the embodiment of the application, the following strategy between the unmanned aerial vehicle and the cloud platform is determined according to the current performance requirement of the operation mode or the unmanned aerial vehicle system, the following strategy is selected to be one of a first following strategy that the unmanned aerial vehicle follows the cloud platform and a second following strategy that the cloud platform follows the unmanned aerial vehicle, so that the problem that the stability of the cloud platform shooting video is reduced due to the fact that the cloud platform shakes when the cloud platform follows the unmanned aerial vehicle is solved, the problem that the stability of the unmanned aerial vehicle is reduced when the unmanned aerial vehicle follows the cloud platform is solved, and the reliability of user experience and the unmanned aerial vehicle system is improved.

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

fig. 2 is a schematic method flow chart of a control method of an unmanned aerial vehicle system in an embodiment of the present application;

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

fig. 4 is a block diagram of an unmanned aerial vehicle system according to an embodiment of the present application;

fig. 5 is a schematic flow chart of a method of controlling a drone system according to another embodiment of the present application;

fig. 6 is a schematic structural diagram of a control device of an unmanned aerial vehicle system in another embodiment of the present application;

fig. 7 is a block diagram of a drone system in another embodiment of the present application.

Detailed Description

At present, when unmanned aerial vehicle and cloud platform are controlled in a full-manual mode, if a user takes a lever to control unmanned aerial vehicle and cloud platform, unmanned aerial vehicle, cloud platform and unmanned aerial vehicle and cloud platform can be controlled independently and controlled simultaneously as required, and the mode that unmanned aerial vehicle is followed to the cloud platform or the mode that unmanned aerial vehicle follows the cloud platform can be triggered to enter. And when at least one in unmanned aerial vehicle and the cloud platform is controlled (including full-automatic controlled and semi-automatic controlled, but not including full manual control), can control unmanned aerial vehicle alone, alone control cloud platform and control unmanned aerial vehicle and cloud platform simultaneously, but only can trigger the mode that gets into the cloud platform and follow unmanned aerial vehicle, and can not trigger the mode that gets into unmanned aerial vehicle and follow the cloud platform.

Illustratively, when unmanned aerial vehicle is controlled, and the cloud platform is not controlled, like navigation module control unmanned aerial vehicle's driftage gesture or speed etc. this moment, think that the navigation needs control unmanned aerial vehicle, so be in the mode that unmanned aerial vehicle followed the cloud platform at present, unmanned aerial vehicle also can only respond to the control of navigation and initiatively withdraw from the mode that unmanned aerial vehicle followed the cloud platform, and the cloud platform then gets into the mode that the cloud platform followed the aircraft. When the pan-tilt is controlled and the unmanned aerial vehicle is not controlled, such as the pitch axis speed of the navigation control pan-tilt, the yaw attitude of the pan-tilt follows the yaw attitude of the unmanned aerial vehicle, at this moment, even if the current mode that the unmanned aerial vehicle follows the pan-tilt is in, the pan-tilt can also respond to the control of the navigation and actively quit the mode that the unmanned aerial vehicle follows the pan-tilt, if the yaw direction of the pan-tilt is expected to be aligned with the yaw direction of the unmanned aerial vehicle at this moment, and the pitch axis and/or the roll axis of the pan-tilt operate in an expected state, the pan-tilt can enter the mode that the pan-tilt follows the unmanned aerial vehicle. When unmanned aerial vehicle and cloud platform are controlled simultaneously, unmanned aerial vehicle and cloud platform respond to control separately, if hope the driftage direction of cloud platform and unmanned aerial vehicle's driftage direction alignment this moment, the cloud platform then can enter the mode that the aircraft was followed to the cloud platform.

Under unmanned aerial vehicle's mode is followed at the cloud platform, if unmanned aerial vehicle trembles, the cloud platform then can follow the unmanned aerial vehicle tremble and tremble, leads to the problem that the video that the cloud platform was shot rocked. To this end, this application confirms the following strategy between unmanned aerial vehicle and the cloud platform according to the current performance demand of operational mode or unmanned aerial vehicle system, will follow the strategy and select for unmanned aerial vehicle to follow in the first following strategy of cloud platform and the second of cloud platform following unmanned aerial vehicle and follow the strategy, thereby solved the cloud platform shake that probably exists when unmanned aerial vehicle is followed to the cloud platform and leaded to the problem that the video stability of cloud platform shooting descends, and solved the problem that unmanned aerial vehicle stability descends that probably exists when unmanned aerial vehicle follows the cloud platform, thereby user experience and unmanned aerial vehicle system's reliability has been improved.

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.

Referring to fig. 1, the drone system of the embodiment of the present application may include a drone 100 and a cradle head 200 mounted on the drone 100. Wherein, unmanned aerial vehicle 100 can be many rotor unmanned aerial vehicle, also can be fixed wing unmanned aerial vehicle. The pan/tilt head 200 may be a two-axis pan/tilt head, a three-axis pan/tilt head, or other types of pan/tilt heads.

Further, please refer to fig. 1 again, the drone system may further include a first control device 300, the first control device 300 is mounted on the drone 100, and the first control device 300 may be built in the drone 100 or may be externally mounted on the drone 100. In the embodiment of the present application, the first control device 300 may be a part of the drone 100, and the first control device 300 is, for example, a navigation module of the drone 100; of course, the first control device 300 may not be part of the drone 100.

Further, please refer to fig. 1 again, the drone system may further include a second control device 400 remote from the drone 100, the second control device 400 may be capable of communicating with the drone 100, for example, the drone 100 further includes a flight controller (not shown), the second control device 400 may communicate with the navigation module via the flight controller, and the second control device 400 may also communicate with the navigation module directly. The second control device 400 may be a remote controller of the drone 100, or other remote control terminals capable of controlling the drone 100, such as a mobile phone, a tablet computer, an intelligent bracelet, and the like.

It should be noted that the control method and apparatus for the unmanned aerial vehicle system in the embodiment of the present application are applicable to an intelligent controlled scenario of the unmanned aerial vehicle system, where the intelligent control includes full-automatic control and semi-automatic control. Illustratively, the first control device is a navigation module of the unmanned aerial vehicle, the second control device is a remote controller of the unmanned aerial vehicle, and when the unmanned aerial vehicle system is controlled in a full-automatic mode, the unmanned aerial vehicle and/or the holder are/is automatically controlled through the navigation module; when the unmanned aerial vehicle system is controlled semi-automatically, the unmanned aerial vehicle and/or the cloud platform can be controlled through the navigation module and the user operation remote controller, wherein when the unmanned aerial vehicle and/or the cloud platform are controlled through the navigation module, at least one of the following two conditions can be included:

(1) the navigation module automatically controls the unmanned aerial vehicle and/or the holder;

(2) and the navigation module controls the unmanned aerial vehicle and/or the holder according to a control instruction generated when the user operates the remote controller.

In addition, it should be noted that, no matter whether the unmanned aerial vehicle system is controlled fully automatically or semi-automatically, the flight controller may also participate in the control process of the unmanned aerial vehicle and/or the pan/tilt/zoom, for example, when the unmanned aerial vehicle system is controlled fully automatically, the unmanned aerial vehicle sends an automatic control instruction to the navigation module, and the navigation module controls the unmanned aerial vehicle and/or the pan/tilt/zoom according to the control instruction; illustratively, when the unmanned aerial vehicle system is controlled semi-automatically, a control instruction generated when a user operates the remote controller is transmitted to the navigation module through the flight controller, and the navigation module controls the unmanned aerial vehicle and/or the holder according to the control instruction.

It should be further noted that, besides an unmanned aerial vehicle, the control method and apparatus of the unmanned aerial vehicle system according to the embodiment of the present application are also applicable to other movable platforms equipped with a pan-tilt, for example, the movable platform may include an unmanned vehicle, a ground-end robot, and the like, and the embodiment of the present application takes the unmanned aerial vehicle as an example.

The unmanned aerial vehicle system, the control method and the control device thereof according to the embodiment of the application are specifically described below.

Example one

Fig. 2 is a schematic method flow chart of a control method of an unmanned aerial vehicle system in an embodiment of the present application; the execution main body of the control method of the unmanned aerial vehicle system can be the first control device, and can also be other controllers arranged on the unmanned aerial vehicle. Referring to fig. 2, the method for controlling an unmanned aerial vehicle system according to the embodiment of the present application may include steps S201 to S203.

Wherein, in S201, the operation mode of the drone is obtained.

In this application embodiment, when the unmanned aerial vehicle system is intelligently controlled, the unmanned aerial vehicle can be in an operation mode, and this operation mode can include but not limited to one of shooting mode, obstacle avoidance mode, return journey mode and automatic landing mode.

The shooting mode may be used to control the pan-tilt head to shoot according to a preset shooting strategy, and in the embodiment of the present application, the shooting mode may include, but is not limited to, at least one of a time-lapse shooting mode, a one-key short-film mode, a focus following mode, and a panorama shooting mode.

The time-delay shooting mode can be used for controlling the holder to shoot according to the preset shooting time interval control, and the preset shooting time interval can be a default interval and can also be set by a user. Furthermore, the time-delay shooting mode can also be used for controlling a shooting device on the holder to shoot according to the preset video time length to obtain the video with the preset video time length, and the preset video time length can be the default time length and can also be set by a user. Illustratively, the time-lapse photography mode may include, but is not limited to, at least one of a free-time-lapse photography mode, a directional time-lapse photography mode, a surround-time-lapse photography mode, and a track time-lapse photography mode. It should be noted that, when the unmanned aerial vehicle is in the free delay shooting mode, the user can freely control the unmanned aerial vehicle and the pan-tilt; when the unmanned aerial vehicle is in the directional delay photography mode, the unmanned aerial vehicle automatically flies along a preset air route; when the unmanned aerial vehicle is in a surrounding time-delay shooting mode, the unmanned aerial vehicle automatically flies around the target; when unmanned aerial vehicle was in the track time delay photography mode, unmanned aerial vehicle was followed and is set for the track flight, at unmanned aerial vehicle flight in-process, the angle of pitch of cloud platform can be adjusted.

The one-key short film mode can be used for controlling the unmanned aerial vehicle to operate according to a preset flight mode, and a video with the duration being less than the preset duration is generated according to an image shot by the holder in the process that the unmanned aerial vehicle operates according to the preset flight mode. The preset time length can be a default time length or can be set by a user. The preset flight mode may include, but is not limited to, at least one of an asteroid mode in which the drone flies along a trajectory similar to an asteroid, a progressive mode, a circle mode, a spiral mode; in the progressive mode, the unmanned aerial vehicle flies from the side close to the target to the direction far away from the target; in the surround mode, the unmanned aerial vehicle flies around the target; in the spiral mode, the drone flies descending around the target.

The focus-following mode may be used to track a target object so that the target object is always in the image taken through the pan-tilt. The focus following mode may include, but is not limited to, at least one of a focus mode, a surround tracking mode, and a smart following mode, wherein in the focus mode, the drone stays in a current position and does not fly autonomously, and only the head and the pan-tilt (including the shooting device on the pan-tilt) move following the target, wherein the user's pole-making may control the drone to move: the roll bar controls the aircraft to rotate around the target, the pitch bar controls the unmanned aerial vehicle to approach or leave the target, the throttle bar controls the height of the aircraft, and the yaw bar controls the composition; in the surrounding tracking mode, the unmanned aerial vehicle flies around a target (which can be a static target or a dynamic target), the tripod head locks the target to shoot, and the surrounding tracking mode allows a user to set the flying speed of the unmanned aerial vehicle around the target; under the mode is followed to intelligence, the cloud platform is followed all the time and is shot the target, divide into two kinds of following modes of intelligence and parallel, and the user is beaten the pole and can be controlled unmanned aerial vehicle and remove: roll pole control unmanned aerial vehicle is rotatory around the target, and every single move pole control unmanned aerial vehicle is close to or keeps away from the target, and throttle lever control unmanned aerial vehicle height, yaw pole control composition, intelligence are followed and are shown as the relative distance that the aircraft keeps present and target, follow the target and remove and fly, and parallel is followed and is shown as the shooting that the aircraft keeps relative target and follow the angle, realizes that the side is followed.

The panorama shooting mode can be used for controlling the holder to carry out panorama shooting, and the existing panorama shooting mode can be selected in the panorama shooting mode, and is not repeated here.

Keep away the barrier mode and can be used for controlling unmanned aerial vehicle to keep away the barrier in unmanned aerial vehicle's at least one orientation, keeping away under the barrier mode, the user can freely control unmanned aerial vehicle flight through the mode of beating the pole, and unmanned aerial vehicle is at the flight in-process, if meet the barrier, then can be automatic to detour, realizes keeping away the barrier. The obstacle avoidance mode may include, but is not limited to, at least one of an omni-directional obstacle avoidance mode and a unidirectional obstacle avoidance mode.

The return flight mode can be used for controlling the unmanned aerial vehicle to return to the takeoff position, and the automatic landing mode can be used for controlling the unmanned aerial vehicle to automatically land.

In the embodiment of the application, the unmanned aerial vehicle can be triggered to enter the corresponding operation mode through the instruction triggering mode, and the unmanned aerial vehicle can also be triggered to enter the corresponding operation mode through other modes. Illustratively, the unmanned aerial vehicle is triggered to enter a corresponding operation mode through an instruction triggering mode, and in this embodiment, before the operation mode of the unmanned aerial vehicle is acquired, a control instruction sent by a control device of the unmanned aerial vehicle is acquired. Wherein, controlling means can control unmanned aerial vehicle and cloud platform, and control command is used for instructing and controls in unmanned aerial vehicle and the cloud platform at least one. For example, the control device may be capable of controlling the attitude and/or speed of the drone and the attitude and/or speed of the pan/tilt, and the control instructions may be for instructing the control of the attitude and/or speed of at least one of the drone and the pan/tilt. Further, in this embodiment, when implementing S201, the operation mode of the drone is determined according to the control instruction. Illustratively, the control instruction is used for triggering the unmanned aerial vehicle to enter a free delay shooting mode, and then the operation mode is determined to be the free delay shooting mode; and the control instruction is used for triggering the unmanned aerial vehicle to enter an obstacle avoidance mode, and then the operation mode is determined to be the obstacle avoidance mode.

Optionally, in some embodiments, the control device includes a first control device provided to the drone. In this embodiment, control command can be generated by first controlling means is automatic, at this moment, can carry out automatic control to unmanned aerial vehicle and cloud platform through first controlling means.

In some embodiments, the control device includes a first control device provided on the drone and a second control device remote from the drone, the first control device being in communication with the second control device. In this embodiment, the control instruction may be automatically generated by the first control device, or the control instruction may be generated when the second control device is operated by a user, or the control instruction may include a control instruction automatically generated by the first control device and a control instruction generated when the second control device is operated by a user. Illustratively, the first control device is a navigation module of the drone. When the control device comprises a first control device and a second control device, the navigation module can be communicated with the second control device through a flight controller of the unmanned aerial vehicle, or the navigation module is directly communicated with the second control device.

The action in the execution process of the operation mode can include an action automatically performed by the unmanned aerial vehicle system according to a preset rule, and/or an action performed by the unmanned aerial vehicle system according to an operation instruction sent by a remote control device of the unmanned aerial vehicle. For example, in some embodiments, the unmanned aerial vehicle system is in a fully-automatically controlled scene, and the action in the execution process of the operation mode is an action automatically performed by the unmanned aerial vehicle system according to a preset rule; in some embodiments, the unmanned aerial vehicle system is in a semi-automatic controlled scene, and the action in the execution process of the operation mode can be an action automatically performed by the unmanned aerial vehicle system according to a preset rule, an action performed by the unmanned aerial vehicle system according to an operation instruction sent by a remote control device of the unmanned aerial vehicle, and the action automatically performed by the unmanned aerial vehicle system according to the preset rule and an action performed by the unmanned aerial vehicle system according to an operation instruction sent by the remote control device of the unmanned aerial vehicle can be included.

In this application embodiment, the action in the execution process of the operation mode can include the action of unmanned aerial vehicle and the action of cloud platform, and is exemplary, and the action of cloud platform is through the long-range trigger of user operation second controlling means, and unmanned aerial vehicle's action is first device automatic triggering.

Wherein, preset rule can include unmanned aerial vehicle's flight strategy and/or the shooting strategy of cloud platform, and exemplarily, unmanned aerial vehicle encircles the target flight, and the cloud platform tracks the target and shoots. It should be understood that, in the embodiment of the present application, both the flight policy of the drone and the shooting policy of the pan-tilt-zoom are related to the operation mode of the drone determined in S201.

In S202, determining a following strategy between the unmanned aerial vehicle and the holder according to the operation mode; the following strategy includes one of a first following strategy and a second following strategy, wherein: under a first following strategy, the unmanned aerial vehicle changes along with the attitude change of the holder; under the second following strategy, the cradle head changes along with the attitude change of the unmanned aerial vehicle.

Under the strategy is followed to first, the cloud platform is given earlier to unmanned aerial vehicle's control command, the cloud platform responds unmanned aerial vehicle's control command earlier, then unmanned aerial vehicle reads the gesture of cloud platform as unmanned aerial vehicle's target gesture, if when unmanned aerial vehicle follows the driftage gesture of cloud platform, unmanned aerial vehicle can read the driftage gesture of cloud platform as unmanned aerial vehicle's target driftage gesture, because the control accuracy of cloud platform is greater than unmanned aerial vehicle's control accuracy, so the stability of cloud platform is better, the cloud platform can not arouse the shake because of wind disturbs etc. therefore the video stability of cloud platform shooting is better. However, under the first following strategy, if the cradle head is abnormal, the unmanned aerial vehicle may be caused to be abnormal, so that the stability of the unmanned aerial vehicle is reduced.

Under the strategy is followed to the second, unmanned aerial vehicle's control command is direct to be responded by unmanned aerial vehicle, and unmanned aerial vehicle's gesture is read to the cloud platform, if when unmanned aerial vehicle's driftage gesture was followed to the cloud platform, the target driftage gesture of cloud platform was regarded as to the driftage gesture of cloud platform is read to the cloud platform, and at this moment, if the cloud platform appears unusually, unmanned aerial vehicle then can not receive the influence, is favorable to the stability of unmanned aerial vehicle system. However, under the second following strategy, if unmanned aerial vehicle receives influences such as wind disturbance, there can be great shake in unmanned aerial vehicle's gesture, and there is certain shake in unmanned aerial vehicle's gesture also can be followed to the gesture of cloud platform, influences the performance of cloud platform, like the video stability of cloud platform shooting.

Therefore, according to the control method of the unmanned aerial vehicle system, the following strategy between the unmanned aerial vehicle and the pan-tilt head is selected to be one of the first following strategy and the second following strategy according to the operation mode of the unmanned aerial vehicle, so that the problem of pan-tilt shooting video jitter caused by pan-tilt jitter possibly existing when the pan-tilt head follows the unmanned aerial vehicle is solved, the problem of stability reduction of the unmanned aerial vehicle possibly existing when the unmanned aerial vehicle follows the pan-tilt head is solved, and the user experience and the reliability of the unmanned aerial vehicle system are improved.

In this application embodiment, the performance demands of the unmanned aerial vehicle systems that different operation modes correspond may be different, and therefore, when determining the following strategy between the unmanned aerial vehicle and the pan/tilt head according to the operation modes, the following strategy between the unmanned aerial vehicle and the pan/tilt head can be determined according to the performance demands of the unmanned aerial vehicle systems that different operation modes correspond. For example, if the importance level of the first performance of the drone system is higher than the importance level of the second performance of the drone system in the operating mode, the following policy between the drone and the pan/tilt head is determined to be the first following policy. If the importance degree of the first performance of the unmanned aerial vehicle system is lower than the importance degree of the second performance of the unmanned aerial vehicle system in the running mode, determining that the following strategy between the unmanned aerial vehicle and the holder is a second following strategy.

For example, the first performance may include stability of the pan/tilt head for shooting, the second performance may include safety of the unmanned aerial vehicle, and if in the operating mode, the importance degree of the stability of the pan/tilt head for shooting is higher than the importance degree of the safety of the unmanned aerial vehicle, it is determined that the following policy between the unmanned aerial vehicle and the pan/tilt head is the first following policy, and it is ensured that the pan/tilt head shoots an image with stronger stability; if under the operation mode, the important degree that the cloud platform is used for the stability of shooing is less than the important degree of unmanned aerial vehicle's security, then confirm that follow the strategy between unmanned aerial vehicle and the cloud platform is the second and follow the strategy, ensure the security of unmanned aerial vehicle flight. It should be understood that the first and second properties may be other as well.

For example, the operation mode may include one of a shooting mode, an auxiliary flight mode, a return flight mode and an automatic landing mode, the shooting mode may include a first shooting mode, when the operation mode is the first shooting mode or the auxiliary flight mode, an importance degree of stability that the cradle head is used for shooting is higher than an importance degree of security of the unmanned aerial vehicle, at this time, the following strategy is selected as a first following strategy, and it is ensured that the unmanned aerial vehicle is in the first shooting mode or when keeping away from the obstacle mode, stability of an image shot by the cradle head. Wherein the first photographing mode may include at least one of a delay photographing mode, a one-key short-film mode, a focus following mode, and a panorama photographing mode. The delayed photography mode may include at least one of a free-delay photography mode, a directional delayed photography mode, a surround-delay photography mode, and a track-delay photography mode. It should be noted that, the auxiliary flight mode is usually that the unmanned aerial vehicle is used in a complex environment (such as an environment with many obstacles), and the possibility that the pan-tilt-zoom is required to take a picture is very high, so the auxiliary flight mode is usually that the unmanned aerial vehicle is used in a complex environment (such as an environment with many obstacles), and the possibility that the pan-tilt-zoom is required to take a picture is very high, and when the operation mode is the auxiliary flight mode, the importance degree of the stability of the pan-tilt-zoom for taking a picture is higher than the importance degree of the safety of the unmanned aerial vehicle.

When the operation mode is return voyage mode or automatic landing mode, the important degree that the cloud platform is used for the stability of shooing is less than the important degree of unmanned aerial vehicle's security, and at this moment, will follow the strategy selection and follow the strategy for the second, ensure unmanned aerial vehicle at the security of return voyage or automatic landing in-process.

Further, after determining a following strategy between the unmanned aerial vehicle and the cradle head according to the operation mode, if the following strategy is a first following strategy, sending first information to the unmanned aerial vehicle, and sending second information to the cradle head. The first information is used for indicating the unmanned aerial vehicle to request the cloud platform to follow the cloud platform, and the second information is used for indicating the cloud platform to allow the unmanned aerial vehicle to follow the cloud platform. So, realized that unmanned aerial vehicle follows the cloud platform, ensured that the cloud platform is used for the stability of shooing. Optionally, when triggering unmanned aerial vehicle to enter into corresponding operation mode through control command, if the important degree that the cloud platform that operation mode corresponds is used for the stability of shooing is higher than the important degree of unmanned aerial vehicle's security, first information and second information then can be carried in control command. Optionally, after determining a following strategy between the unmanned aerial vehicle and the pan/tilt head according to the operation mode, if the following strategy is the first following strategy, the first information and the second information are generated.

Further, after determining a following strategy between the unmanned aerial vehicle and the cradle head according to the operation mode, if the following strategy is a second following strategy, sending third information to the unmanned aerial vehicle, and sending fourth information to the cradle head. The third information is used for indicating the cloud deck to request the unmanned aerial vehicle to follow the unmanned aerial vehicle, and the fourth information is used for indicating the unmanned aerial vehicle to allow the cloud deck to follow the unmanned aerial vehicle. So, realized that the cloud platform follows unmanned aerial vehicle, ensured the security of unmanned aerial vehicle and cloud platform. Of course, it can be understood that, in practical application, the fourth information may not be sent to the cradle head, that is, the cradle head may enter the cradle head and airplane mode without being allowed by the unmanned aerial vehicle.

In S203, the unmanned aerial vehicle and the holder are controlled according to the following strategy.

When the following strategy is a first following strategy, controlling the unmanned aerial vehicle and the cradle head to enter the first following strategy, and at the moment, controlling the unmanned aerial vehicle and the cradle head to be in a mode that the unmanned aerial vehicle follows the cradle head; when following the strategy for the second and following the strategy, control unmanned aerial vehicle and cloud platform and all get into the second and follow the strategy, this moment, unmanned aerial vehicle and cloud platform all are in the mode that the unmanned aerial vehicle was followed to the cloud platform.

Exemplarily, the unmanned aerial vehicle system further comprises a first control device arranged on the unmanned aerial vehicle, and when S203 is realized, the unmanned aerial vehicle and the holder are controlled through the first control device according to the following strategy, so that the unmanned aerial vehicle and the holder are automatically controlled through the first control device to enter the corresponding following strategy.

Further, in other embodiments, the operation mode of the drone may not be considered, and it is determined whether the importance level of the security of the drone is higher than the importance level of the stability of the pan/tilt/zoom for shooting or the importance level of the stability of the pan/tilt/zoom for shooting is higher than the importance level of the security of the drone according to the environmental information (such as obstacle information) around the drone and/or the state information (such as the speed of the drone) of the drone. If the important degree of the safety of the unmanned aerial vehicle is determined to be higher than the important degree of the stability of the tripod head for shooting according to the environmental information around the unmanned aerial vehicle and/or the state information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle and the tripod head to enter a mode that the tripod head follows the unmanned aerial vehicle; if the important degree of the stability of the tripod head for shooting is determined to be higher than the important degree of the safety of the unmanned aerial vehicle according to the environmental information around the unmanned aerial vehicle and/or the state information of the unmanned aerial vehicle, the unmanned aerial vehicle and the tripod head are controlled to enter a mode that the unmanned aerial vehicle follows the tripod head.

Illustratively, when the number of obstacles around the unmanned aerial vehicle is greater than a preset number threshold, the unmanned aerial vehicle has a high possibility of automatically avoiding obstacles according to images shot by the pan-tilt, so that the pan-tilt is required to acquire stable images, that is, when the number of obstacles around the unmanned aerial vehicle is greater than the preset number threshold, it is determined that the importance degree of the stability of the pan-tilt for shooting is higher than the importance degree of the safety of the unmanned aerial vehicle; illustratively, when the speed of the unmanned aerial vehicle is less than the preset speed threshold and the pan-tilt is not currently in the return process, the importance level of the safety of the unmanned aerial vehicle is determined to be higher than the importance level of the stability of the pan-tilt for shooting. Optionally, before determining that the importance degree of the safety of the unmanned aerial vehicle is higher than the importance degree of the stability of the pan-tilt for shooting or that the importance degree of the stability of the pan-tilt for shooting is higher than the importance degree of the safety of the unmanned aerial vehicle according to the environmental information around the unmanned aerial vehicle and/or the state information of the unmanned aerial vehicle, requesting a user whether to allow the unmanned aerial vehicle system to enter the determination mode, and if so, entering the determination mode; otherwise, forbidding to enter the judgment mode.

Corresponding to the control method of the unmanned aerial vehicle system of the embodiment, the embodiment of the application also provides a control device of the unmanned aerial vehicle system. Referring to fig. 3, the control device of the drone system of an embodiment of the present application may include a first storage device and one or more first processors.

Wherein the first storage device is used for storing program instructions. One or more first processors invoking program instructions stored in the first storage device, the one or more first processors individually or collectively configured to, when the program instructions are executed, perform operations comprising: acquiring an operation mode of the unmanned aerial vehicle; determining a following strategy between the unmanned aerial vehicle and the holder according to the operation mode; controlling the unmanned aerial vehicle and the holder according to the following strategy; the following strategy includes one of a first following strategy and a second following strategy, wherein: under a first following strategy, the unmanned aerial vehicle changes along with the attitude change of the holder; under the second following strategy, the cradle head changes along with the attitude change of the unmanned aerial vehicle.

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

Further, an unmanned aerial vehicle system is also provided in the embodiments of the present application, please refer to fig. 1 and fig. 4, and the unmanned aerial vehicle system may include an unmanned aerial vehicle 100, a cradle head 200, and the control device of the unmanned aerial vehicle system of the above embodiments. Wherein, cloud platform 200 carries on unmanned aerial vehicle 100, and unmanned aerial vehicle 100 is located to unmanned aerial vehicle system's controlling means part at least, and unmanned aerial vehicle system's controlling means communicates respectively with unmanned aerial vehicle 100 and cloud platform 200.

Example two

Referring to fig. 1, the unmanned aerial vehicle system according to the embodiment of the present application may include an unmanned aerial vehicle 100, a cradle head 200, and a first control device 300, wherein the cradle head 200 and the first control device 300 are mounted on the unmanned aerial vehicle 100.

Fig. 5 is a schematic flow chart of a method of controlling a drone system according to another embodiment of the present application; the execution main body of the control method of the unmanned aerial vehicle system can be the first control device, and can also be other controllers arranged on the unmanned aerial vehicle. Referring to fig. 5, the method for controlling an unmanned aerial vehicle system according to the embodiment of the present application may include steps S501 to S502.

In S501, according to the current performance requirement of the unmanned aerial vehicle system, a following strategy between the unmanned aerial vehicle and the holder is determined through the first control device; the following strategy includes one of a first following strategy and a second following strategy, wherein: under a first following strategy, the unmanned aerial vehicle changes along with the attitude change of the holder; under the second following strategy, the cradle head changes along with the attitude change of the unmanned aerial vehicle.

In S502, the unmanned aerial vehicle and the pan/tilt head are controlled according to the following strategy.

According to the control method of the unmanned aerial vehicle system, the following strategy between the unmanned aerial vehicle and the holder is selected to be one of the first following strategy and the second following strategy according to the current performance requirement of the unmanned aerial vehicle system, so that the problem of holder shooting video jitter caused by holder jitter possibly existing when the holder follows the unmanned aerial vehicle is solved, the problem of stability reduction of the unmanned aerial vehicle possibly existing when the unmanned aerial vehicle follows the holder is solved, and the user experience and the reliability of the unmanned aerial vehicle system are improved.

Optionally, determining, by the first control device, a following policy between the unmanned aerial vehicle and the pan/tilt head according to a current performance requirement of the unmanned aerial vehicle system, includes: if the current performance requirement of the unmanned aerial vehicle system indicates that the importance degree of the first performance of the unmanned aerial vehicle system is higher than the importance degree of the second performance of the unmanned aerial vehicle system, determining the following strategy between the unmanned aerial vehicle and the holder as a first following strategy through the first control device.

Optionally, determining, by the first control device, a following policy between the unmanned aerial vehicle and the pan/tilt head according to a current performance requirement of the unmanned aerial vehicle system, includes: if the current performance requirement of the unmanned aerial vehicle system indicates that the importance degree of the first performance of the unmanned aerial vehicle system is lower than the importance degree of the second performance of the unmanned aerial vehicle system, determining the following strategy between the unmanned aerial vehicle and the holder as a second following strategy through the first control device.

Optionally, the first performance includes that the cloud platform is used for the stability of shooing, and the second performance includes unmanned aerial vehicle's security.

Optionally, the current performance requirement is determined according to the operation mode of the unmanned aerial vehicle, in this embodiment of the application, the performance requirements of the unmanned aerial vehicle systems corresponding to different operation modes may be different, and therefore, the following strategy between the unmanned aerial vehicle and the pan-tilt head may be determined according to the performance requirements of the unmanned aerial vehicle systems corresponding to different operation modes.

Optionally, the operation mode includes one of a shooting mode, an obstacle avoidance mode, a return journey mode and an automatic landing mode; the shooting mode comprises a first shooting mode, and when the operation mode is the first shooting mode or the obstacle avoidance mode, the importance degree of the stability of the tripod head for shooting is higher than that of the safety of the unmanned aerial vehicle; when the operation mode is a return flight mode or an automatic landing mode, the importance degree of the stability of the tripod head for shooting is lower than that of the safety of the unmanned aerial vehicle.

Optionally, the first shooting mode includes at least one of a time-lapse shooting mode, a one-key short-film mode, a focus following mode, and a panorama shooting mode; wherein: the time-delay shooting mode is used for controlling the holder to shoot according to the preset shooting time interval; the one-key short film mode is used for controlling the unmanned aerial vehicle to operate according to a preset flight mode and generating a video with the duration being less than the preset duration according to the image; the focus following mode is used for tracking a target object, so that the target object is always in an image shot by a holder; and the panoramic shooting mode is used for controlling the holder to carry out panoramic shooting.

Optionally, the time-lapse photographing mode includes at least one of a free-time-lapse photographing mode, a directional time-lapse photographing mode, a surround-time-lapse photographing mode, and a trajectory time-lapse photographing mode.

Optionally, the action in the execution process of the operation mode is an action automatically performed by the unmanned aerial vehicle system according to a preset rule; and/or the action in the execution process of the operation mode comprises the action of the unmanned aerial vehicle system according to an operation instruction sent by a remote control device of the unmanned aerial vehicle.

Optionally, before determining the following policy between the unmanned aerial vehicle and the pan/tilt head through the first control device according to the current performance requirement of the unmanned aerial vehicle system, the method further includes: the operation mode of the unmanned aerial vehicle is obtained through the first control device.

Optionally, before obtaining the operation mode of the drone through the first control device, the method further includes: acquiring a control instruction sent by a control device of the unmanned aerial vehicle through a first control device, wherein the control device of the unmanned aerial vehicle can control the unmanned aerial vehicle and a holder, and the control instruction is used for instructing to control at least one of the unmanned aerial vehicle and the holder; obtain unmanned aerial vehicle's operational mode through first controlling means, include: and determining the operation mode of the unmanned aerial vehicle through the first control device according to the control instruction.

Optionally, the drone system further includes a second control device remote from the drone, the first control device being in communication with the second control device.

Optionally, the control instruction is automatically generated by the first control device and/or the control instruction is generated by a user operating the second control device.

Optionally, the first control device is a navigation module of the unmanned aerial vehicle.

Optionally, according to following the tactics, control unmanned aerial vehicle and cloud platform, include: and controlling the unmanned aerial vehicle and the holder through the first control device according to the following strategy.

Optionally, after determining the following policy between the unmanned aerial vehicle and the pan/tilt head by the first control device according to the current performance requirement of the unmanned aerial vehicle system, the method further includes: if the following strategy is a first following strategy, sending first information to the unmanned aerial vehicle, and sending second information to the holder; the first information is used for indicating the unmanned aerial vehicle to request the cloud platform to follow the cloud platform, and the second information is used for indicating the cloud platform to allow the unmanned aerial vehicle to follow the cloud platform.

The rest of the unexploded parts can be referred to the description of the corresponding parts in the first embodiment, and the description is omitted here.

Corresponding to the control method of the unmanned aerial vehicle system of the second embodiment, the embodiment of the application further provides a control device of the unmanned aerial vehicle system. Referring to fig. 6, the control device of the drone system of the present embodiment may include a first storage device and two or more second processors.

Wherein the second storage is to store program instructions. One or more second processors invoking program instructions stored in the second storage device, the one or more second processors individually or collectively configured to, when the program instructions are executed, perform operations comprising: determining a following strategy between the unmanned aerial vehicle and the holder through the first control device according to the current performance requirement of the unmanned aerial vehicle system; controlling the unmanned aerial vehicle and the holder according to the following strategy; the following strategy includes one of a first following strategy and a second following strategy, wherein: under a first following strategy, the unmanned aerial vehicle changes along with the attitude change of the holder; under the second following strategy, the cradle head changes along with the attitude change of the unmanned aerial vehicle.

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

Further, please refer to fig. 1 and fig. 7, an embodiment of the present application provides an unmanned aerial vehicle system, which includes an unmanned aerial vehicle 100, a cradle head 200, and a control device of the unmanned aerial vehicle system according to the second embodiment, wherein the cradle head 200 is mounted on the unmanned aerial vehicle 100. The control device of the drone system may include the first control device 300 mounted on the drone 100, or certainly may not include the first control device.

Illustratively, the second processor includes a processor of the first control device 300; illustratively, the second processor is communicatively coupled to the first control device 300.

The storage device in the above embodiments stores a computer program of executable instructions of the control method of the drone system, and the storage device 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 of the drone system may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory may be an internal storage unit of the control device of the drone system, such as a hard disk or a memory of the control device of the drone system. The memory may also be an external storage device of the control device of the drone system, such as a plug-in hard disk provided on the control device of the drone system, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on. Further, the memory may also include both an internal storage unit and an external storage device of the control apparatus of the drone system. 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 Processor of the above embodiments 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, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the control method of the unmanned aerial vehicle system according to the first embodiment or the second embodiment.

The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the drone system of any of the preceding embodiments. The computer readable storage medium may also be an external storage device of the drone system, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), etc. 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 system. The computer-readable storage medium is used for storing the computer program and other programs and data required by the drone system, and may also be used for temporarily storing data that has been or will 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 system, the unmanned aerial vehicle system including an unmanned aerial vehicle and a pan/tilt head mounted on the unmanned aerial vehicle, the method comprising:

acquiring an operation mode of the unmanned aerial vehicle;

2. The method of claim 1, wherein determining a follow-up strategy between the drone and the pan/tilt head according to the operating mode comprises:

if the importance degree of the first performance of the unmanned aerial vehicle system is higher than the importance degree of the second performance of the unmanned aerial vehicle system in the running mode, determining that the following strategy between the unmanned aerial vehicle and the holder is the first following strategy.

3. The method of claim 1, wherein determining a follow-up strategy between the drone and the pan/tilt head according to the operating mode comprises:

if the importance degree of the first performance of the unmanned aerial vehicle system is lower than the importance degree of the second performance of the unmanned aerial vehicle system in the running mode, determining that the following strategy between the unmanned aerial vehicle and the holder is the second following strategy.

4. The method of claim 2 or 3, wherein the first performance comprises stability of the pan/tilt head for shooting, and the second performance comprises security of the drone.

5. The method of claim 4, wherein the operational mode comprises one of a shoot mode, an obstacle avoidance mode, a return mode, and an automatic landing mode;

the shooting mode comprises a first shooting mode, and when the operation mode is the first shooting mode or the obstacle avoidance mode, the importance degree of the stability of the tripod head for shooting is higher than that of the safety of the unmanned aerial vehicle;

when the operation mode is the return flight mode or when the automatic landing mode, the important degree of the stability that the cloud platform is used for shooing is lower than the important degree of unmanned aerial vehicle's security.

6. The method of claim 5, wherein the first photographing mode includes at least one of a delay photographing mode, a one-touch short-film mode, a focus following mode, and a panorama photographing mode; wherein:

the time-delay shooting mode is used for controlling the holder to shoot according to the preset shooting time interval;

the one-key short film mode is used for controlling the unmanned aerial vehicle to operate according to a preset flight mode and generating a video with the duration being less than the preset duration according to the image shot by the holder;

the focus following mode is used for tracking a target object, so that the target object is always in an image shot by the holder;

and the panoramic shooting mode is used for controlling the holder to carry out panoramic shooting.

7. The method of claim 6, wherein the delayed photography mode comprises at least one of a free-delay photography mode, a directional-delay photography mode, a surround-delay photography mode, and a track-delay photography mode.

8. The method of claim 1, wherein prior to obtaining the operating mode of the drone, further comprising:

acquiring a control instruction sent by a control device of the unmanned aerial vehicle, wherein the control device can control the unmanned aerial vehicle and the holder, and the control instruction is used for instructing to control at least one of the unmanned aerial vehicle and the holder;

the obtaining of the operation mode of the unmanned aerial vehicle comprises:

and determining the operation mode of the unmanned aerial vehicle according to the control instruction.

9. The method of claim 8, wherein the control device comprises a first control device provided to the drone.

10. The method of claim 9, wherein the control device further comprises a second control device remote from the drone, the first control device communicatively coupled with the second control device.

11. The method of claim 10, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated by a user operating the second control device.

12. The method of claim 1, wherein the drone system further comprises a first control device provided to the drone, and wherein controlling the drone and the pan/tilt head according to the following strategy comprises:

and controlling the unmanned aerial vehicle and the holder through the first control device according to the following strategy.

13. The method of claim 9 or 12, wherein the first control device is a navigation module of the drone.

14. The method of claim 1, wherein said determining a follow-up strategy between said drone and said pan/tilt head according to said operating mode further comprises:

if the following strategy is the first following strategy, sending first information to the unmanned aerial vehicle, and sending second information to the holder;

the first information is used for indicating the unmanned aerial vehicle to request the cloud deck to follow the cloud deck, and the second information is used for indicating the cloud deck to allow the unmanned aerial vehicle to follow the cloud deck.

15. The method of claim 1, wherein the action during execution of the operational mode is an action automatically performed by the drone system according to a preset rule; and/or

And the action in the execution process of the running mode comprises the action of the unmanned aerial vehicle system according to an operation instruction sent by a remote control device of the unmanned aerial vehicle.

16. The utility model provides a controlling means of unmanned aerial vehicle system, its characterized in that, unmanned aerial vehicle system includes unmanned aerial vehicle and carries on cloud platform on the unmanned aerial vehicle, the device includes:

storage means for storing program instructions; and

acquiring an operation mode of the unmanned aerial vehicle;

17. The control apparatus of claim 16, wherein the one or more processors, when determining a follow strategy between the drone and the pan-tilt head according to the operational mode, are further configured, individually or collectively, to:

18. The control apparatus of claim 16, wherein the one or more processors, when determining a follow strategy between the drone and the pan-tilt head according to the operational mode, are further configured, individually or collectively, to:

19. The control device according to claim 17 or 18, wherein the first performance includes stability of the pan/tilt head for photographing, and the second performance includes safety of the drone.

20. The control device of claim 19, wherein the operation mode comprises one of a shooting mode, an obstacle avoidance mode, a return mode, and an automatic landing mode;

21. The control apparatus according to claim 20, wherein the first photographing mode includes at least one of a delay photographing mode, a one-touch short-film mode, a focus following mode, and a panorama photographing mode; wherein:

22. The control device of claim 21, wherein the delayed photography mode comprises at least one of a free-delay photography mode, a directional-delay photography mode, a surround-delay photography mode, and a track-delay photography mode.

23. The control device of claim 16, wherein the one or more processors, individually or collectively, are further configured to, prior to obtaining the operational mode of the drone:

the one or more processors, when obtaining the operational mode of the drone, are further configured, individually or collectively, to:

24. The control device of claim 23, wherein the control device comprises a first control device provided to the drone.

25. The control device of claim 24, further comprising a second control device remote from the drone, the first control device in communicative connection with the second control device.

26. The control device of claim 25, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated by a user operating the second control device.

27. The control device of claim 16, wherein the drone system further comprises a first control device provided to the drone, the one or more processors, when controlling the drone and the pan and tilt head according to the follow-up strategy, being further configured, individually or collectively, to:

28. The control device of claim 24 or 27, wherein the first control device is a navigation module of the drone.

29. The control apparatus of claim 16, wherein the one or more processors, after determining a follow strategy between the drone and the pan-tilt head according to the operating mode, are further configured, individually or collectively, to:

30. The control device according to claim 16, wherein the action during the execution of the operation mode is an action automatically performed by the drone system according to a preset rule; and/or

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

an unmanned aerial vehicle;

a cradle head mounted on the unmanned aerial vehicle; and

the control device of the drone system of any one of claims 16 to 30, located at least partially on the drone and in communication with the drone and the pan and tilt head, respectively.

32. A control method of an unmanned aerial vehicle system is characterized in that the unmanned aerial vehicle system comprises an unmanned aerial vehicle, a holder carried on the unmanned aerial vehicle and a first control device, and the method comprises the following steps:

33. The method of claim 32, wherein determining, by the first control device, a follow-up strategy between the drone and the pan-tilt head according to current performance requirements of the drone system comprises:

if the current performance requirement of the unmanned aerial vehicle system indicates that the importance degree of the first performance of the unmanned aerial vehicle system is higher than the importance degree of the second performance of the unmanned aerial vehicle system, determining that the following strategy between the unmanned aerial vehicle and the holder is the first following strategy through the first control device.

34. The method of claim 32, wherein determining, by the first control device, a follow-up strategy between the drone and the pan-tilt head according to current performance requirements of the drone system comprises:

if the current performance requirement of the unmanned aerial vehicle system indicates that the importance degree of the first performance of the unmanned aerial vehicle system is lower than the importance degree of the second performance of the unmanned aerial vehicle system, determining that the following strategy between the unmanned aerial vehicle and the holder is the second following strategy through the first control device.

35. The method of claim 33 or 34, wherein the first performance comprises stability of the pan/tilt head for shooting, and the second performance comprises security of the drone.

36. The method of claim 35, wherein the current performance requirements are determined according to an operating mode of the drone.

37. The method of claim 36, wherein the operational mode comprises one of a shoot mode, an obstacle avoidance mode, a return travel mode, and an automatic landing mode;

38. The method of claim 37, wherein the first photographing mode comprises at least one of a time-lapse photographing mode, a one-touch short-film mode, a focus-following mode, and a panorama photographing mode; wherein:

39. The method of claim 38, wherein the delayed photography mode comprises at least one of a free-delay photography mode, a directional delay photography mode, a surround delay photography mode, and a track delay photography mode.

40. The method of claim 36, wherein the action during execution of the operational mode is an action performed automatically by the drone system according to a preset rule; and/or

41. The method of claim 36, wherein prior to determining, by the first control device, a follow-up strategy between the drone and the pan-tilt head, based on current performance requirements of the drone system, further comprising:

and acquiring the operation mode of the unmanned aerial vehicle through the first control device.

42. The method of claim 41, wherein prior to said obtaining the operating mode of the drone by the first control device, further comprising:

acquiring a control instruction sent by a control device of the unmanned aerial vehicle through the first control device, wherein the control device of the unmanned aerial vehicle can control the unmanned aerial vehicle and the holder, and the control instruction is used for instructing to control at least one of the unmanned aerial vehicle and the holder;

the obtaining of the operation mode of the unmanned aerial vehicle through the first control device includes:

and determining the operation mode of the unmanned aerial vehicle through the first control device according to the control instruction.

43. The method of claim 42, wherein the drone system further comprises a second control device remote from the drone, the first control device being in communicative connection with the second control device.

44. The method of claim 43, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated by a user operating the second control device.

45. The method of claim 32, wherein the first control device is a navigation module of the drone.

46. The method of claim 32, wherein said controlling said drone and said pan-tilt head according to said follow-up strategy comprises:

47. The method of claim 32, wherein, after determining, by the first control device, a follow-up strategy between the drone and the pan-tilt head according to current performance requirements of the drone system, further comprising:

48. The utility model provides a controlling means of unmanned aerial vehicle system, its characterized in that, unmanned aerial vehicle system includes unmanned aerial vehicle, carries on cloud platform and a controlling means on the unmanned aerial vehicle, the device includes:

storage means for storing program instructions; and

49. The control device of claim 48, wherein the one or more processors, when determining, by the first control device, a follow-up strategy between the drone and the pan-tilt head, individually or collectively, are further configured to:

50. The control device of claim 48, wherein the one or more processors, when determining, by the first control device, a follow-up strategy between the drone and the pan-tilt head, individually or collectively, are further configured to:

51. The control device of claim 49 or 50, wherein the first performance includes stability of the pan/tilt head for photographing, and the second performance includes safety of the drone.

52. The control apparatus of claim 51, wherein the current performance requirement is determined in accordance with an operating mode of the drone.

53. The control device of claim 52, wherein the operation mode comprises one of a shooting mode, an obstacle avoidance mode, a return mode, and an automatic landing mode;

54. The control apparatus of claim 53, wherein the first photographing mode includes at least one of a delay photographing mode, a one-touch short-film mode, a focus following mode, and a panorama photographing mode; wherein:

55. The control device of claim 54, wherein the delay shooting mode comprises at least one of a free-delay shooting mode, a directional delay shooting mode, a surround-delay shooting mode, and a track delay shooting mode.

56. The control device of claim 52, wherein the action during the execution of the operation mode is an action automatically performed by the unmanned aerial vehicle system according to a preset rule; and/or

57. The control apparatus of claim 52, wherein the one or more processors, individually or collectively, are further configured to, prior to determining, by the first control apparatus, a follow-up strategy between the drone and the pan-tilt head, in accordance with current performance requirements of the drone system:

58. The control device of claim 57, wherein the one or more processors, individually or collectively, are further configured to, prior to obtaining the operational mode of the drone by the first control device:

the one or more processors, when obtaining the operational mode of the drone through the first control device, are further configured, individually or collectively, to:

59. The control device of claim 58, wherein the drone system further includes a second control device remote from the drone, the first control device being in communicative connection with the second control device.

60. The control device of claim 59, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated by a user operating the second control device.

61. The control device of claim 48, wherein the first control device is a navigation module of the drone.

62. The control device of claim 48, wherein the one or more processors, when controlling the drone and the pan and tilt head according to the follow-up strategy, are further configured, individually or collectively, to:

63. The control device of claim 48, wherein the one or more processors, after determining, by the first control device, a follow-up policy between the drone and the pan-tilt head, individually or collectively, are further configured to:

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

an unmanned aerial vehicle;

a cradle head mounted on the unmanned aerial vehicle; and

the control device of the drone system of any one of claims 48 to 63, being in communication with the drone and the pan and tilt head, respectively, the control device of the drone system including a first control device onboard the drone.