WO2017181930A1 - 一种飞行方向显示方法、装置及其无人机 - Google Patents

一种飞行方向显示方法、装置及其无人机 Download PDF

Info

Publication number
WO2017181930A1
WO2017181930A1 PCT/CN2017/080835 CN2017080835W WO2017181930A1 WO 2017181930 A1 WO2017181930 A1 WO 2017181930A1 CN 2017080835 W CN2017080835 W CN 2017080835W WO 2017181930 A1 WO2017181930 A1 WO 2017181930A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight direction
aircraft
direction indication
camera
camera system
Prior art date
Application number
PCT/CN2017/080835
Other languages
English (en)
French (fr)
Inventor
施瓦茨巴赫马克
王健
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Priority to EP17785414.8A priority Critical patent/EP3432105A4/en
Publication of WO2017181930A1 publication Critical patent/WO2017181930A1/zh
Priority to US16/158,899 priority patent/US11117662B2/en

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G01C23/005—Flight directors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a flight direction display method and device, and a drone thereof.
  • the camera system of the camera system can be rotated at multiple angles, for example, 360. Rotate to achieve shooting at various angles.
  • the drone can rotate the camera mounted on the pan/tilt through the pan/tilt to achieve different angles of shooting.
  • the inventors have found that the prior art has the following problems: the head direction of the existing aircraft is usually controlled by a remote controller, and the direction of the camera device is controlled by the pan/tilt, in a professional aerial photography process, The head of the aircraft is operated by one person (such as a flying hand), and the head of the aircraft is controlled by another person (photographer).
  • the head direction is inconsistent with the lens orientation of the camera, it is difficult for the two to communicate effectively to let the photographer Capture what you want to shoot.
  • the object of the present invention is to provide a flight direction control method and device, and a drone thereof, which solve the problem in the prior art that the direction of the head of the drone is inconsistent with the lens orientation of the camera device, and the camera cannot be photographed.
  • the technical problem of shooting content is to provide a flight direction control method and device, and a drone thereof, which solve the problem in the prior art that the direction of the head of the drone is inconsistent with the lens orientation of the camera device, and the camera cannot be photographed.
  • the embodiment of the present invention provides the following technical solutions:
  • an embodiment of the present invention provides a flight direction display method, which is applied to an aircraft in which a camera system is installed, and includes:
  • the flight direction indication of the aircraft is displayed in a shooting preview screen.
  • the acquiring the flight direction indication of the aircraft sent by the camera system includes:
  • the remote control system of the aircraft receives the flight direction indication of the drone transmitted by the camera system.
  • the flight direction indication is determined by the camera system according to a relative angle between the camera device and the aircraft, and specifically includes:
  • the camera system acquires a rotation angle of the camera device relative to the direction of the aircraft nose in real time
  • the camera system determines a flight direction indication based on a rotation angle of the camera device with respect to an aircraft nose direction.
  • the method further includes:
  • the camera system transmits the live image containing the flight direction indication.
  • displaying the flight direction indication of the aircraft in the shooting preview screen specifically:
  • a flight direction indication of the aircraft is superimposed and displayed on an image captured by the camera system in real time.
  • the method further includes:
  • the flight direction of the aircraft is controlled in accordance with the flight direction indication.
  • an embodiment of the present invention further provides a flight direction display device, which is applied to an aircraft in which a camera system is installed, and includes:
  • An acquiring unit configured to acquire an aircraft flight direction indication sent by the camera system, where the flight direction indication is determined by the camera system according to a relative angle between the camera device and the aircraft,
  • a display unit configured to display a flight direction indication of the aircraft in a shooting preview screen.
  • the obtaining unit is specifically configured to:
  • the flight direction indication is determined by the camera system according to a rotation angle of the camera device relative to an aircraft nose direction.
  • the flight direction indication is superimposed with an image captured by the camera in real time to generate a real-time image with a flight direction indication
  • the acquiring unit is specifically configured to acquire a real-time image including a flight direction indication.
  • the display unit is specifically configured to:
  • a flight direction indication of the aircraft is superimposed and displayed on an image captured by the camera system in real time.
  • the device further includes:
  • a control unit configured to control a flight direction of the aircraft according to the flight direction indication.
  • an embodiment of the present invention further provides a drone, including:
  • pan/tilt head wherein the pan/tilt head is mounted with an image capturing device, and the pan/tilt head is configured to determine a flight direction indication of the drone according to a relative angle between the camera device and the unmanned aircraft body, and send the drone flight direction indication ,
  • a remote control system configured to acquire the flight direction indication sent by the pan/tilt, and display a flight direction indication of the aircraft in a shooting preview screen.
  • the cloud platform is specifically configured to:
  • the remote control system is specifically configured to:
  • a flight direction indication of the aircraft is superimposed and displayed on an image captured by the camera system in real time.
  • an embodiment of the present invention further provides an aircraft, including:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being The at least one processor executes to enable the at least one processor to perform any of the above described flight direction display methods.
  • an embodiment of the present invention further provides a non-transitory computer readable storage medium storing computer executable instructions, when the computer executable instructions are executed by a processor, The processor is caused to perform any of the above-described flight direction display methods.
  • an embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when When the program instructions are executed by the processor, the processor is caused to execute any of the above-described flight direction display methods.
  • the aircraft flight direction indication sent by the camera system is obtained, the flight direction indication is determined by the camera system according to a relative angle between the camera device and the aircraft, and the aircraft is controlled according to the flight direction indication.
  • the flight direction is such that the flying direction of the aircraft body coincides with the rotating direction of the camera during the imaging process, so that the content that the camera device wants to capture can be captured, thereby improving the user experience.
  • FIG. 1 is a schematic flow chart of a flight direction display method according to Embodiment 1 of the present invention.
  • FIGS. 2a, 2b, and 2c are schematic diagrams of flight direction indications displayed on the remote control lever, the remote control display, and the display of the camera system;
  • FIG. 3 is a schematic diagram of a flight direction display device according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic diagram of a drone according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic diagram showing the hardware structure of an aircraft according to Embodiment 5 of the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • FIG. 1 is a schematic flowchart diagram of a flight direction display method according to Embodiment 1 of the present invention. As shown in FIG. 1, the method of the embodiment of the present invention includes the following steps:
  • the aircraft flight direction indication is determined by the camera system according to the relative angle between the camera device and the aircraft, and the camera system determines the flight direction indication to be transmitted to the remote control system of the aircraft.
  • the flight direction of the aircraft Mainly refers to the flight direction of the aircraft fuselage, this flight direction depends on the direction of the nose of the aircraft, the relative angle between the camera and the aircraft, mainly refers to the direction of rotation of the camera relative to the direction of the aircraft nose during the imaging process The relative angle.
  • the aircraft may be a drone, and the camera system of the aircraft is an unmanned aerial platform mounted with a camera device, and the remote control system is a remote controller controlled by a user, wherein between the pan/tilt and the remote controller Transfer information wirelessly, such as remote commands or taking images.
  • the camera device on the pan/tilt will rotate the corresponding angle according to the control of the pan-tilt in order to capture the content of different angles, and at this time, the body of the drone is controlled by the remote controller.
  • Controlling the flight there may be a flight direction of the drone body that does not match the rotation angle of the camera device, and thus the camera device cannot capture the content that is desired to be captured. Therefore, in order to realize the desired shooting content of the camera device, it is necessary to The gimbal gives the nose direction indication of the drone and sends it to the remote control.
  • the head of the drone can obtain the rotation angle of the camera device relative to the head of the drone in real time during the shooting process.
  • the current drone is on a horizontal plane, and the head direction is positive.
  • the imaging device rotates the image counterclockwise by 30 degrees with respect to the head of the drone in order to capture an image having an angle of 30 degrees counterclockwise with respect to the front direction.
  • the remote control system of the aircraft receives the flight direction indication of the drone transmitted by the camera system.
  • the camera system acquires a rotation angle of the camera device relative to the direction of the nose of the aircraft in real time, and the camera system determines the flight direction indication according to the rotation angle of the camera device with respect to the direction of the aircraft nose, and the flight direction indication of the drone It can be displayed in real time on the remote control's shooting preview screen.
  • the operator of the camera can clearly command the operator of the drone to maintain the current flight direction to continue the flight, or to adjust the flight direction and increase the shooting. Flexibility.
  • the flight direction indication of the drone may be superimposed with the image captured by the camera in real time to generate a real-time image with a flight direction indication, and then A live image of the flight direction indication is sent to the remote control.
  • the flight direction indication may be indicated by a directional arrow with a different color, or a rotation angle, etc., and in order to facilitate the controller of the remote controller to intuitively understand the flight direction indication, the display on the remote controller may be adopted. Displaying, can also be correspondingly indicated by the joystick of the remote control, as shown in Figures 2a, 2b and 2c, respectively, for the remote control lever, the remote control display, and the flight direction indication displayed by the camera system display, wherein Figures 2b and 2c are real-time images taken by a camera with a flight direction indication.
  • the flight direction indication of the drone and the image captured by the camera in real time are respectively received.
  • the flight direction indication of the aircraft is displayed in the shooting preview screen, which specifically includes:
  • a flight direction indication of the aircraft is superimposed and displayed on an image captured by the camera system in real time.
  • the method may further include: S13, controlling a flight direction of the aircraft according to the flight direction indication.
  • the remote control system of the aircraft may prompt the remote control system controller in an image manner, for example, when the aircraft is a drone, when the remote controller receives the transmission sent by the gimbal
  • the real-time image of the flight direction may be presented to the remote controller by the display screen, and the remote controller may control the flight direction of the aircraft according to the real-time image with the flight direction indication.
  • the flight direction indication in addition to prompting the flight direction indication in an image manner, it may also be The text mode, the sound mode or the video mode prompts the flight direction indication. If the flight direction indication needs to be prompted by text mode, sound mode or video mode, the camera system can generate a corresponding flight direction indication when generating the flight direction indication, for example, The flight direction indication in the form of a text may be output in a text manner according to a flight direction indication determined by a relative angle between the camera device and the aircraft, for example, the flight direction indication is 30 degrees counterclockwise rotation in the horizontal direction.
  • the controller of the camera system can perform sound or video recording to generate a corresponding flight direction indication, and send it to the remote controller, and the remote controller prompts the flight direction through the sound or video output device. Instructions.
  • the method provided by the embodiment of the present invention can obtain an aircraft flight direction indication sent by the camera system, where the flight direction indication is determined by the camera system according to a relative angle between the camera device and the aircraft, and the aircraft is displayed in a shooting preview screen. Flight direction indication.
  • the flight direction of the aircraft can be controlled according to the flight direction indication, so that the flight direction of the aircraft fuselage is consistent with the rotation direction of the camera device during the imaging process, so that the content that the camera device wants to capture can be captured. Improved user experience.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • FIG. 3 is a schematic diagram of a flight direction display device according to Embodiment 2 of the present invention.
  • the apparatus 300 includes:
  • An acquiring unit 31 configured to acquire an aircraft flight direction indication sent by the camera system, where the flight direction indication is determined by the camera system according to a relative angle between the camera device and the aircraft,
  • the display unit 32 is configured to display a flight direction indication of the aircraft in a shooting preview screen.
  • the apparatus 300 further includes
  • the control unit 33 is configured to control a flight direction of the aircraft according to the flight direction indication.
  • the aircraft may be an unmanned aerial vehicle
  • the camera system is an unmanned aerial vehicle head mounted with an imaging device
  • the acquiring unit 31 is specifically configured to: receive the flight direction indication of the drone sent by the cloud platform, The flight direction indication is presented in an image manner.
  • the flight direction indication may be determined by the camera system based on the angle of rotation of the camera device relative to the drone.
  • the current UAV head direction is horizontal
  • the camera device rotates 30 degrees counterclockwise with respect to the UAV head angle in order to capture an image with an angle of 30 degrees counterclockwise in the horizontal direction.
  • the pan/tilt will determine the flight direction indication according to the rotation angle of the camera device relative to the drone, for example, indicating that the flight direction of the drone is consistent with the rotation direction of the camera device, that is, indicating the flight direction of the drone Fly counterclockwise.
  • the flight direction indication may also be superimposed with the image captured by the camera in real time to generate a real-time image with a flight direction indication
  • the acquiring unit 31 is specifically configured to acquire a real-time image with a flight direction indication
  • the control unit 33 is specifically configured to: control a flight direction of the aircraft according to the real-time image with the flight direction indication.
  • the indication of the flight direction and the image captured by the camera are respectively sent to the remote control system.
  • the display unit 32 is specifically configured to:
  • a flight direction indication of the aircraft is superimposed and displayed on an image captured by the camera system in real time.
  • the device embodiments and the method embodiments of the present invention are based on the same inventive concept, and the technical solutions in the method embodiments are also applicable to the device embodiments. Therefore, the same technical means in the device embodiment as in the method implementation, I will not repeat them here.
  • the device provided by the embodiment of the present invention is capable of acquiring an aircraft flight direction indication sent by the camera system by using an acquisition unit, where the flight direction indication is determined by the camera system according to a relative angle between the camera device and the aircraft, and is displayed in the preview screen by the display unit. A flight direction indication of the aircraft is displayed.
  • the control unit controls the flight direction of the aircraft according to the flight direction indication, so that the flight direction of the aircraft fuselage is consistent with the rotation direction of the camera device during the imaging process, so that the content that the camera device wants to capture can be captured. , improved user experience.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • FIG. 4 is a schematic diagram of a drone according to Embodiment 4 of the present invention. As shown in FIG. 4, the drone 400 includes:
  • pan/tilt 41 wherein the pan/tilt head is equipped with an image capturing device, and the pan/tilt head is configured to determine a flight direction indication of the drone according to a relative angle between the camera device and the unmanned aircraft body, and transmit the flight direction of the drone Instructions,
  • the remote control system 42 is configured to acquire the flight direction indication sent by the pan/tilt, and display a flight direction indication of the aircraft in a shooting preview screen.
  • the cloud platform 41 can be specifically used to:
  • the remote control system 42 can be specifically used to:
  • a flight direction indication of the aircraft is superimposed and displayed on an image captured by the camera system in real time.
  • the remote control system 42 can also be used for controlling the remote control system 42.
  • the flight direction of the aircraft is controlled based on the real-time image including the flight direction indication.
  • the flight direction indication sent by the camera system is obtained, the flight direction indication is determined by the camera system according to the relative angle between the camera device and the aircraft, and the flight of the aircraft is displayed in the shooting preview screen.
  • Directional indication at the same time, the flight direction of the aircraft may be controlled according to the flight direction indication, so that the flight direction of the aircraft fuselage is consistent with the rotation direction of the camera device during the imaging process, so that the camera device can be photographed
  • the content captured improves the user experience.
  • FIG. 5 is a schematic structural diagram of an aircraft hardware according to an embodiment of the present invention. As shown in FIG. 5, the aircraft 500 includes:
  • One or more processors 51 and a memory 52 are exemplified by a processor 51 in FIG.
  • the processor 51 and the memory 52 can be connected by a bus or the like, as exemplified by a bus connection in FIG.
  • the memory 52 is a non-volatile computer readable storage medium, and is usable for storing a non-volatile software program, a non-volatile computer-executable program, and a module, such as a program corresponding to the flight direction display method in the embodiment of the present invention.
  • An instruction/unit for example, the acquisition unit 31, the display unit 32, and the control unit 33 shown in FIG. 3.
  • the processor 51 executes various functional applications of the aircraft and data processing by running non-volatile software programs, instructions, and units stored in the memory 52, i.e., implementing the method of flight direction display method of the method embodiment.
  • the memory 52 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to a flight direction display, and the like.
  • memory 52 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 52 may optionally include memory remotely located relative to processor 51, which may be connected to the aircraft via a network.
  • Embodiments of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more units are stored in the memory 52, and when executed by the one or more processors 51, perform a flight direction display method in any of the method embodiments, for example, performing the above described map
  • the method steps S11 to S13 in Fig. 1 implement the functions of the units 31-33 in Fig. 3.
  • the aircraft can perform the flight direction display method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
  • the aircraft can perform the flight direction display method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
  • the flight direction display method provided by embodiments of the present invention.
  • Embodiments of the present invention provide a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, to perform the above
  • the described method steps S11 to S13 in Fig. 1 implement the functions of the units 31-33 in Fig. 3.
  • UAV This type of drone includes a camera system and a remote control system.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware.
  • One of ordinary skill in the art can understand that all or part of the process of implementing the embodiment method can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium, the program When executed, the flow of an embodiment of the methods as described may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种飞行器的飞行方向显示方法、装置（300）及其无人机（400）。方法包括以下步骤：获取摄像系统发送的飞行器飞行方向指示，飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定(S11)，在拍摄预览画面中显示飞行器的飞行方向指示(S12)，根据飞行方向指示控制飞行器的飞行方向(S13)。通过获取摄像系统发送的飞行器飞行方向指示，飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，并在拍摄预览画面中显示飞行器的飞行方向指示，使得在摄像过程中，飞行器机身的飞行方向与摄像装置的旋转方向一致，从而，可以拍摄到摄像装置想要拍摄的内容，提升了用户体验。

Description

一种飞行方向显示方法、装置及其无人机 技术领域
本发明涉及飞行器技术领域，尤其涉及一种飞行方向显示方法、装置及其无人机。
背景技术
随着小型飞行器的日益普及，通过飞行器进行影像拍摄越来越普遍，为了实现多角度拍摄影像，通常需要在飞行器上安装摄像系统，而且，该摄像系统的摄像装置可以多角度旋转，比如，360度旋转以实现各个角度上的拍摄。现有技术中，无人机可以通过云台对安装在云台上的摄像头进行旋转控制以实现不同角度的拍摄。
在实现本发明过程中，发明人发现现有技术存在以下问题：现有的飞行器的机头方向通常由遥控器进行控制，而摄像装置的方向由云台进行控制，在专业的航拍过程中，飞行器的机头方向由一人(如飞手)操作，云台则由另一人(摄影师)控制，当机头方向与摄像装置的镜头朝向不一致时，两人很难有效沟通，以让摄影师拍摄到想要拍摄的内容。
发明内容
本发明目的旨在提供一种飞行方向控制方法、装置及其无人机，其解决了现有技术中由于无人机机头方向与摄像装置的镜头朝向不一致时，而导致无法拍摄到想要拍摄内容的技术问题。
为解决上述技术问题，本发明实施例提供以下技术方案：
在第一方面，本发明实施例提供一种飞行方向显示方法，应用于安装摄像系统的飞行器，包括：
获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，
在拍摄预览画面中显示所述飞行器的飞行方向指示。
可选地，所述获取摄像系统发送的飞行器飞行方向指示，具体包括：
飞行器的遥控系统接收由摄像系统发送的无人机飞行方向指示。
可选地，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，具体包括：
所述摄像系统实时获取摄像装置相对于飞行器机头方向的旋转角度，
所述摄像系统根据所述摄像装置相对于飞行器机头方向的旋转角度确定飞行方向指示。
可选地，所述方法还包括：
将所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，
所述摄像系统发送所述含飞行方向指示的实时图像。
可选地，在拍摄预览画面中显示所述飞行器的飞行方向指示，具体包括：
在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
可选地，所述方法还包括：
根据所述飞行方向指示控制所述飞行器的飞行方向。
在第二方面，本发明实施例还提供一种飞行方向显示装置，应用于安装摄像系统的飞行器，包括：
获取单元，用于获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，
显示单元，用于在拍摄预览画面中显示所述飞行器的飞行方向指示。可选地，所述获取单元具体用于：
接收由摄像系统发送的飞行器飞行方向指示。
可选地，所述飞行方向指示由摄像系统根据所述摄像装置相对于飞行器机头方向的旋转角度确定。
可选地，所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，所述获取单元具体用于获取含飞行方向指示的实时图像。
可选地，所述显示单元具体用于：
在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
可选地，所述装置还包括：
控制单元，用于根据所述飞行方向指示控制飞行器的飞行方向。
在第三方面，本发明实施例还提供一种无人机，包括：
云台，所述云台安装有摄像装置，所述云台用于根据摄像装置与无人机机身之间的相对角度确定无人机飞行方向指示，并发送所述无人机飞行方向指示，
遥控系统，所述遥控系统用于获取所述云台发送的所述飞行方向指示，并在拍摄预览画面中显示所述飞行器的飞行方向指示。
可选地，所述云台具体用于：
实时获取摄像装置相对于无人机机头方向的旋转角度，
根据所述摄像装置相对于无人机机头方向的旋转角度确定飞行方向指示，
将所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，
发送所述含飞行方向指示的实时图像。
可选地，所述遥控系统具体用于：
接收由云台发送的含飞行方向指示的实时图像，
在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
在第四方面，本发明实施例还提供一种飞行器，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被 所述至少一个处理器执行，以使所述至少一个处理器能够执行上述任一项飞行方向显示方法。
在第五方面，本发明实施例还提供一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被处理器执行时，使所述处理器执行上述任一项飞行方向显示方法。
在第六方面，本发明实施例还提供一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被处理器执行时，使所述处理器执行上述任一项飞行方向显示方法。
在本发明实施例中，通过获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，并根据所述飞行方向指示控制所述飞行器的飞行方向，使得在摄像过程中，飞行器机身的飞行方向与摄像装置的旋转方向一致，从而，可以拍摄到摄像装置想要拍摄的内容，提升了用户体验。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例一提供一种飞行方向显示方法的流程示意图；
图2a、2b及2c分别为遥控器操控杆、遥控器显示屏以及摄像系统显示屏显示的飞行方向指示示意图；
图3是本发明实施例三提供一种飞行方向显示装置的示意图；
图4是本发明实施例四提供一种无人机的示意图；
图5是本发明实施例五提供一种飞行器的硬件结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
实施例一：
请参考图1，图1是本发明实施例一提供一种飞行方向显示方法的流程示意图。如图1所示，本发明实施例的方法，包括以下步骤：
S11、获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定；
在步骤S11中，飞行器飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，摄像系统确定飞行方向指示后将发送至飞行器的遥控系统，在本发明实施例中，飞行器的飞行方向主要是指飞行器机身的飞行方向，这个飞行方向取决于飞行器的机头方向，摄像装置与飞行器之间的相对角度，主要是指在摄像过程中，摄像装置的旋转方向相对于飞行器机头方向的相对角度。
在本发明实施例中，飞行器可以为无人机，则该飞行器的摄像系统为安装有摄像装置的无人机云台，遥控系统为用户操控的遥控器，其中，云台与遥控器之间通过无线方式传输信息，比如，遥控指令或拍摄图像。
在本发明实施例中，在拍摄过程中，云台上的摄像装置为了拍摄不同角度的内容，将根据云台的控制旋转相应的角度，而此时，无人机机身由于受遥控器的控制进行飞行，可能存在无人机机身的飞行方向与摄像装置的旋转角度不一致，从而，摄像装置无法拍摄到想要拍摄的内容，因此，为了实现摄像装置拍摄想要的拍摄内容，需要由云台给出无人机的机头方向指示，并发送给遥控器。
在本发明实施例中，无人机的云台可以在拍摄过程中实时获取摄像装置相对于无人机机头方向的旋转角度，比如，当前无人机在一个水平面上，机头方向为正前方方向，而摄像装置为了拍摄与正前方方向逆时针夹角为30度的图像，摄像装置将相对于无人机机头方向逆时针旋转30度。
S12、在拍摄预览画面中显示所述飞行器的飞行方向指示。
在本发明实施例中，飞行器的遥控系统接收由摄像系统发送的无人机飞行方向指示。其中，所述摄像系统实时获取摄像装置相对于飞行器机头方向的旋转角度，所述摄像系统根据所述摄像装置相对于飞行器机头方向的旋转角度确定飞行方向指示，无人机的飞行方向指示可以实时显示在遥控器的拍摄预览画面中，此时摄像装置的操作者可以非常清楚地向无人机的操作者发出指令，是维持当前的飞行方向继续飞行，还是调整飞行方向，增加了拍摄的灵活性。
在本发明实施例中，为了更形象地指示无人机的飞行方向，可以将无人机飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，然后将含飞行方向指示的实时图像发送到遥控器。
在本发明实施例中，飞行方向指示可以由带不同颜色的方向箭头、或者旋转角度等进行指示，而且，为了方便遥控器的操控者直观地理解飞行方向指示，可以通过遥控器上的显示屏进行显示，也可以在通过遥控器的操控杆进行相应的指示，如图2a、2b及2c所示分别为遥控器操控杆、遥控器显示屏以及摄像系统显示屏显示的飞行方向指示，其中，图2b及2c为含飞行方向指示的拍摄装置拍摄的实时图像。
在本发明实施例中，也可以分别接收无人机的飞行方向指示及摄像装置实时拍摄的图像，此时，在拍摄预览画面中显示所述飞行器的飞行方向指示，具体包括：
在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
在本发明另一个实施例中，所述方法还可以包括:S13、根据所述飞行方向指示控制所述飞行器的飞行方向。
在本发明实施例中，飞行器的遥控系统获取所述飞行方向指示后，可以以图像方式提示遥控系统操控者，比如，当飞行器为无人机时，当遥控器接收到由云台发送的含飞行方向指示的实时图像时，可以通过显示屏将所述实时图像呈现给遥控器操控者，遥控器操控者可以根据所述含飞行方向指示的实时图像控制飞行器的飞行方向。
在本发明实施例中，除了以图像方式提示飞行方向指示外，还可以是 文字方式、声音方式或视频方式提示飞行方向指示，如果需要以文字方式、声音方式或视频方式提示飞行方向指示，则摄像系统可以在生成飞行方向指示时，生成相应形式的飞行方向指示，比如，文字形式的飞行方向指示可以根据摄像装置与飞行器之间的相对角度确定的飞行方向指示以文字方式输出，比如，飞行方向指示为水平方向逆时针旋转30度。如果是声音或视频形式的飞行方向指示时，可以由摄像系统的操控者进行声音或视频录制生成相应的飞行方向指示，并发送给遥控器，遥控器通过声音或视频输出设备提示所述飞行方向指示。
本发明实施例提供的方法能够通过获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，并在拍摄预览画面中显示所述飞行器的飞行方向指示。同时，可以根据所述飞行方向指示控制所述飞行器的飞行方向，使得在摄像过程中，飞行器机身的飞行方向与摄像装置的旋转方向一致，从而，可以拍摄到摄像装置想要拍摄的内容，提升了用户体验。
实施例二：
作为本发明又一方面，本发明实施例二提供了一种飞行方向显示装置。请参考图3，图3是本发明实施例二提供的一种飞行方向显示装置的示意图。如图3所示，所述装置300包括：
获取单元31，用于获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，
显示单元32,用于在拍摄预览画面中显示所述飞行器的飞行方向指示。
在本发明实施例中，所述装置300还包括
控制单元33，用于根据所述飞行方向指示控制所述飞行器的飞行方向。
在本发明实施例中，飞行器可以为无人机，摄像系统为安装有摄像装置的无人机云台，则获取单元31具体用于：接收由云台发送的无人机飞行方向指示，将所述飞行方向指示以图像方式提示。
在本发明实施例中，飞行方向指示可以由摄像系统根据所述摄像装置相对于无人机的旋转角度确定。比如，当前无人机机头方向为水平方向，而摄像装置为了拍摄与水平方向逆时针夹角为30度的图像，则摄像装置将相对于无人机机头方向逆时针旋转30度，为了更好地拍摄到想要拍摄的内 容，此时，云台将根据所述摄像装置相对于无人机的旋转角度确定飞行方向指示，比如，指示无人机的飞行方向与摄像装置的旋转方向一致，即指示无人机飞行方向向逆时针方向飞行。
在本发明实施例中，飞行方向指示还可以与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，则所述获取单元31具体用于获取含飞行方向指示的实时图像，控制单元33具体用于：根据所述含飞行方向指示的实时图像控制飞行器的飞行方向。
在本发明实施例中，所述飞行方向的指示与摄像装置拍摄的图像分别发送给遥控系统，此时，显示单元32具体用于：
在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。需要说明的是，本发明装置实施例与方法实施例基于相同的发明构思，方法实施例中的技术方案同样适用于装置实施例，因此，对于装置实施例中与方法实施中相同的技术手段，此处不再赘述。
本发明实施例提供的装置能够通过获取单元获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，并通过显示单元在拍摄预览画面中显示所述飞行器的飞行方向指示。同时，控制单元根据所述飞行方向指示控制所述飞行器的飞行方向，使得在摄像过程中，飞行器机身的飞行方向与摄像装置的旋转方向一致，从而，可以拍摄到摄像装置想要拍摄的内容，提升了用户体验。
实施例三：
作为本发明又一方面，本发明实施例三提供了一种无人机。请参考图4，图4是本发明实施例四提供一种无人机的示意图。如图4所示，该无人机400包括：
云台41，所述云台安装有摄像装置，所述云台用于根据摄像装置与无人机机身之间的相对角度确定无人机飞行方向指示，并发送所述无人机飞行方向指示，
遥控系统42，所述遥控系统用于获取所述云台发送的所述飞行方向指示，并在拍摄预览画面中显示所述飞行器的飞行方向指示。在本发明实施例中，所述云台41具体可以用于：
实时获取摄像装置相对于无人机机头方向的旋转角度，
根据所述摄像装置相对于无人机机头方向的旋转角度确定飞行方向指示，
将所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，
发送所述含飞行方向指示的实时图像。
所述遥控系统42具体可以用于：
接收由云台发送的含飞行方向指示的实时图像，
在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
在本发明实施例中，所述遥控系统42还可以用于
根据所述含飞行方向指示的实时图像控制飞行器的飞行方向。
在本发明实施例中，通过获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，并在拍摄预览画面中显示所述飞行器的飞行方向指示，同时，还可以根据所述飞行方向指示控制所述飞行器的飞行方向，使得在摄像过程中，飞行器机身的飞行方向与摄像装置的旋转方向一致，从而，可以拍摄到摄像装置想要拍摄的内容，提升了用户体验。
图5是本发明实施例提供的一种飞行器硬件结构示意图，如图5所示，该飞行器500包括：
一个或多个处理器51以及存储器52，图5中以一个处理器51为例。
处理器51和存储器52可以通过总线或者其他方式连接，图51中以通过总线连接为例。
存储器52作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的飞行方向显示方法对应的程序指令/单元(例如，附图3所示的获取单元31、显示单元32和控制单元33)。处理器51通过运行存储在存储器52中的非易失性软件程序、指令以及单元，从而执行飞行器的各种功能应用以及数据处理，即实现所述方法实施例飞行方向显示方法。
存储器52可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据飞行方向显示所创建的数据等。此外，存储器52可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器52可选包括相对于处理器51远程设置的存储器，这些远程存储器可以通过网络连接至飞行器。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个单元存储在所述存储器52中，当被所述一个或者多个处理器51执行时，执行所述任意方法实施例中的飞行方向显示方法，例如，执行以上描述的图1中的方法步骤S11至步骤S13，实现图3中的单元31-33的功能。
所述飞行器可执行本发明实施例所提供的飞行方向显示方法，具备执行方法相应的功能模块和有益效果。未在飞行器实施例中详尽描述的技术细节，可参见本发明实施例所提供的飞行方向显示方法。
本发明实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如，执行以上描述的图1中的方法步骤S11至步骤S13，实现图3中的单元31-33的功能。
本申请实施例的飞行器以多种形式存在，包括但不限于:
(1)无人机:这类无人机包含摄像系统及遥控系统。
(2)遥控飞行器：这类飞行器可以分别由摄像装置进行图像拍摄，并由遥控器显示飞行方向。
(3)其他具备遥控及摄像功能的飞行器。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如所述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (17)

  1. 一种飞行方向显示方法，应用于安装摄像系统的飞行器，其特征在于，包括：
    获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，
    在拍摄预览画面中显示所述飞行器的飞行方向指示。
  2. 根据权利要求1所述的方法，其特征在于，所述获取摄像系统发送的飞行器飞行方向指示，具体包括：
    飞行器的遥控系统接收由摄像系统发送的无人机飞行方向指示。
  3. 根据权利要求2所述的方法，其特征在于，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，具体包括：
    所述摄像系统实时获取摄像装置相对于飞行器机头方向的旋转角度，
    所述摄像系统根据所述摄像装置相对于飞行器机头方向的旋转角度确定飞行方向指示。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：
    将所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，
    所述摄像系统发送所述含飞行方向指示的实时图像。
  5. 根据权利2-3任一项所述的方法，其特征在于，在拍摄预览画面中显示所述飞行器的飞行方向指示，具体包括：
    在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
    在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    根据所述飞行方向指示控制所述飞行器的飞行方向。
  7. 一种飞行方向显示装置，应用于安装摄像系统的飞行器，其特征在 于，包括：
    获取单元，用于获取摄像系统发送的飞行器飞行方向指示，所述飞行方向指示由摄像系统根据摄像装置与飞行器之间的相对角度确定，
    显示单元，用于在拍摄预览画面中显示所述飞行器的飞行方向指示。
  8. 根据权利要求7所述的装置，其特征在于，所述获取单元具体用于：
    接收由摄像系统发送的飞行器飞行方向指示。
  9. 根据权利要求8所述的装置，其特征在于，所述飞行方向指示由摄像系统根据所述摄像装置相对于飞行器机头方向的旋转角度确定。
  10. 根据权利要求7-9任一项所述的装置，其特征在于，所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞行方向指示的实时图像，所述获取单元具体用于获取含飞行方向指示的实时图像。
  11. 根据权利要求8-9任一项所述的装置，其特征在于，所述显示单元用于：
    在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
    在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
  12. 根据权利7-11任一项所述的装置，其特征在于，所述装置还包括：
    控制单元，用于根据所述飞行方向指示控制飞行器的飞行方向。
  13. 一种无人机，其特征在于，包括：
    云台，所述云台安装有摄像装置，所述云台用于根据摄像装置与无人机机身之间的相对角度确定无人机飞行方向指示，并发送所述无人机飞行方向指示，
    遥控系统，所述遥控系统用于获取所述云台发送的所述飞行方向指示，并在拍摄预览画面中显示所述飞行器的飞行方向指示。
  14. 根据权利要求13所述的无人机，其特征在于，所述云台具体用于：
    实时获取摄像装置相对于无人机机头方向的旋转角度，
    根据所述摄像装置相对于无人机机头方向的旋转角度确定飞行方向指示，
    将所述飞行方向指示与所述摄像装置实时拍摄的图像叠加，生成含飞 行方向指示的实时图像，
    发送所述含飞行方向指示的实时图像。
  15. 根据权利要求13所述的无人机，其特征在于，所述遥控系统具体用于：
    接收由云台发送的含飞行方向指示的实时图像，
    在所述遥控系统的屏幕显示飞行器的摄像系统实时拍摄的图像；
    在所述摄像系统实时拍摄的图像上叠加所述飞行器的飞行方向指示并显示。
  16. 一种飞行器，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-6任一项所述的方法。
  17. 一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被处理器执行时，使所述处理器执行如权利要求1-6任一项所述的方法。
PCT/CN2017/080835 2016-04-18 2017-04-18 一种飞行方向显示方法、装置及其无人机 WO2017181930A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17785414.8A EP3432105A4 (en) 2016-04-18 2017-04-18 METHOD AND DEVICE FOR DISPLAYING FLIGHT DIRECTION AND AERIAL VEHICLE WITHOUT PILOT
US16/158,899 US11117662B2 (en) 2016-04-18 2018-10-12 Flight direction display method and apparatus, and unmanned aerial vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610243427.3A CN105867361A (zh) 2016-04-18 2016-04-18 一种飞行方向控制方法、装置及其无人机
CN201610243427.3 2016-04-18

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/158,899 Continuation US11117662B2 (en) 2016-04-18 2018-10-12 Flight direction display method and apparatus, and unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
WO2017181930A1 true WO2017181930A1 (zh) 2017-10-26

Family

ID=56633042

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/080835 WO2017181930A1 (zh) 2016-04-18 2017-04-18 一种飞行方向显示方法、装置及其无人机

Country Status (4)

Country Link
US (1) US11117662B2 (zh)
EP (1) EP3432105A4 (zh)
CN (1) CN105867361A (zh)
WO (1) WO2017181930A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105867361A (zh) 2016-04-18 2016-08-17 深圳市道通智能航空技术有限公司 一种飞行方向控制方法、装置及其无人机
US10685229B2 (en) * 2017-12-21 2020-06-16 Wing Aviation Llc Image based localization for unmanned aerial vehicles, and associated systems and methods
CN111665827A (zh) * 2019-03-07 2020-09-15 北京奇虎科技有限公司 一种信息处理方法、控制设备和被控设备
CN116301060B (zh) * 2023-05-24 2023-08-18 武汉天眼智达科技有限公司 无人机控制方法、装置、计算机设备和存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102785780A (zh) * 2011-05-19 2012-11-21 鸿富锦精密工业（深圳）有限公司 无人飞行载具控制系统及方法
US20120307042A1 (en) * 2011-06-02 2012-12-06 Hon Hai Precision Industry Co., Ltd. System and method for controlling unmanned aerial vehicle
CN202758245U (zh) * 2012-06-29 2013-02-27 深圳一电科技有限公司 云台摄像机控制装置及云台摄像系统
CN105068554A (zh) * 2015-09-16 2015-11-18 唐山天乐智能科技有限公司 智能跟随拍摄飞行设备
CN204916207U (zh) * 2015-06-29 2015-12-30 优利科技有限公司 飞行器及其避障系统
CN105391988A (zh) * 2015-12-11 2016-03-09 谭圆圆 多视角的无人飞行器及其多视角显示方法
CN105867361A (zh) * 2016-04-18 2016-08-17 深圳市道通智能航空技术有限公司 一种飞行方向控制方法、装置及其无人机

Family Cites Families (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001309233A (ja) * 2000-04-19 2001-11-02 Japan Aviation Electronics Industry Ltd 撮影装置の遠隔操作システム
US6845297B2 (en) * 2000-05-01 2005-01-18 Irobot Corporation Method and system for remote control of mobile robot
US7343232B2 (en) * 2003-06-20 2008-03-11 Geneva Aerospace Vehicle control system including related methods and components
US7834779B2 (en) * 2005-06-29 2010-11-16 Honeywell International Inc. System and method for increasing visibility of critical flight information on aircraft displays
US20100250022A1 (en) * 2006-12-29 2010-09-30 Air Recon, Inc. Useful unmanned aerial vehicle
US10477619B2 (en) * 2010-01-15 2019-11-12 Colt Canada Ip Holding Partnership Networked battle system or firearm
US8676406B2 (en) * 2011-05-03 2014-03-18 Raytheon Company Unmanned aerial vehicle control using a gamepad
CN102809969A (zh) * 2011-06-03 2012-12-05 鸿富锦精密工业（深圳）有限公司 无人飞行载具控制系统及方法
JP6026088B2 (ja) * 2011-08-09 2016-11-16 株式会社トプコン 遠隔操作システム
NO334183B1 (no) * 2012-03-22 2014-01-13 Prox Dynamics As Metode og anordning for å kontrollere og overvåke det omliggende område til et ubemannet luftfartøy
US9380275B2 (en) * 2013-01-30 2016-06-28 Insitu, Inc. Augmented video system providing enhanced situational awareness
US9070289B2 (en) * 2013-05-10 2015-06-30 Palo Alto Research Incorporated System and method for detecting, tracking and estimating the speed of vehicles from a mobile platform
US20140379178A1 (en) * 2013-06-24 2014-12-25 Honeywell International Inc. System and method for fine positioning of vtol stare point
JP6273803B2 (ja) * 2013-11-29 2018-02-07 キヤノンマーケティングジャパン株式会社 撮像システム、撮像システムの撮像方法、およびプログラム
JP6124384B2 (ja) * 2014-05-30 2017-05-10 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人機の進行方向の作成方法、システム、及びプログラム
US9817396B1 (en) * 2014-06-09 2017-11-14 X Development Llc Supervisory control of an unmanned aerial vehicle
US10203692B2 (en) * 2014-07-21 2019-02-12 King Abdullah University Of Science And Technology Structure from motion (SfM) processing for unmanned aerial vehicle (UAV)
CN106716272B (zh) * 2014-09-30 2021-03-09 深圳市大疆创新科技有限公司 用于飞行模拟的系统和方法
JP6179000B2 (ja) * 2014-10-27 2017-08-16 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 飛行情報を提供する方法、プログラム及び端末
JP6671375B2 (ja) * 2014-12-25 2020-03-25 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人機の飛行補助方法
CN204452931U (zh) * 2015-02-14 2015-07-08 广东澄星航模科技股份有限公司 一种跟随四轴飞行器
CN110027709B (zh) * 2015-03-12 2022-10-04 奈庭吉尔智慧系统公司 自动化无人机系统
WO2017003538A2 (en) * 2015-04-14 2017-01-05 Tobin Fisher System for authoring, executing, and distributing unmanned aerial vehicle flight-behavior profiles
US10696414B2 (en) * 2015-04-21 2020-06-30 Gopro, Inc. Aerial capture platform
FR3035523B1 (fr) * 2015-04-23 2017-04-21 Parrot Systeme de pilotage de drone en immersion
JP6228679B2 (ja) * 2015-07-10 2017-11-08 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ ジンバル及びジンバルシミュレーションシステム
CN204887261U (zh) * 2015-08-18 2015-12-16 零度智控（北京）智能科技有限公司 一种无人机视频跟踪系统
CN105068544B (zh) 2015-08-28 2018-11-20 上海菲猫机器人技术有限公司 一种基于安卓手机和外部传感器的无人机飞行控制系统
US10147000B2 (en) * 2015-09-15 2018-12-04 Sikorsky Aircraft Corporation Manned unmanned teaming (MUM-T) system to transform image data based on geographic orientation
EP3353706A4 (en) * 2015-09-15 2019-05-08 SZ DJI Technology Co., Ltd. SYSTEM AND METHOD FOR MONITORING UNIFORM TARGET TRACKING
WO2017071143A1 (en) * 2015-10-30 2017-05-04 SZ DJI Technology Co., Ltd. Systems and methods for uav path planning and control
EP4342792A3 (en) * 2015-12-09 2024-04-17 SZ DJI Technology Co., Ltd. Systems and methods for uav flight control
US9740200B2 (en) * 2015-12-30 2017-08-22 Unmanned Innovation, Inc. Unmanned aerial vehicle inspection system
US20200183380A1 (en) * 2016-06-10 2020-06-11 Gopro, Inc. Systems and methods for communicating with an unmanned aerial vehicle
KR20180010884A (ko) * 2016-07-22 2018-01-31 삼성전자주식회사 무인 이동체를 제어하는 전자 장치, 그 제어 방법 및 저장 매체
KR20180017674A (ko) * 2016-08-10 2018-02-21 엘지전자 주식회사 이동 단말기 및 그 제어 방법
WO2018032457A1 (en) * 2016-08-18 2018-02-22 SZ DJI Technology Co., Ltd. Systems and methods for augmented stereoscopic display
WO2018045577A1 (zh) * 2016-09-09 2018-03-15 深圳市大疆创新科技有限公司 显示无人飞行器的障碍检测的方法和系统
FR3058238B1 (fr) * 2016-10-28 2019-01-25 Parrot Drones Systeme autonome de prise de vues animees par un drone avec poursuite de cible et maintien de l'angle de prise de vue de la cible.
KR20180056068A (ko) * 2016-11-18 2018-05-28 삼성전자주식회사 무인 비행체를 제어하기 위한 전자 장치 및 방법
KR102706191B1 (ko) * 2016-11-30 2024-09-13 삼성전자주식회사 무인 비행 장치 및 무인 비행 장치의 비행 제어방법
CN107000839B (zh) * 2016-12-01 2019-05-03 深圳市大疆创新科技有限公司 无人机的控制方法、装置、设备和无人机的控制系统
KR102619061B1 (ko) * 2016-12-27 2023-12-29 삼성전자주식회사 무인 비행 장치의 제어 방법 및 무인 비행 장치를 제어하는 전자 장치
KR102681582B1 (ko) * 2017-01-05 2024-07-05 삼성전자주식회사 전자 장치 및 그 제어 방법
EP3349086A1 (en) * 2017-01-17 2018-07-18 Thomson Licensing Method and device for determining a trajectory within a 3d scene for a camera
JP6788094B2 (ja) * 2017-02-15 2020-11-18 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 画像表示方法、画像表示システム、飛行体、プログラム、及び記録媒体
CN113163119A (zh) * 2017-05-24 2021-07-23 深圳市大疆创新科技有限公司 拍摄控制方法及装置
CN108521787B (zh) * 2017-05-24 2022-01-28 深圳市大疆创新科技有限公司 一种导航处理方法、装置及控制设备
US9984455B1 (en) * 2017-06-05 2018-05-29 Hana Resources, Inc. Organism growth prediction system using drone-captured images
JP6962720B2 (ja) * 2017-06-21 2021-11-05 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co., Ltd 飛行制御方法、情報処理装置、プログラム及び記録媒体
KR20190009103A (ko) * 2017-07-18 2019-01-28 삼성전자주식회사 외부 객체와의 거리에 기반하여 이동 되는 전자 장치 및 그 제어 방법
US20190383608A1 (en) * 2018-01-11 2019-12-19 Dien Mark Nguyen Method of displaying compass headings
US20190236732A1 (en) * 2018-01-31 2019-08-01 ImageKeeper LLC Autonomous property analysis system
US10741086B2 (en) * 2018-03-26 2020-08-11 D2, Llc Method and system for generating aerial imaging flight path
KR101959366B1 (ko) * 2018-04-10 2019-03-21 주식회사 아르고스다인 무인기와 무선단말기 간의 상호 인식 방법
DE102018123411A1 (de) * 2018-09-24 2020-03-26 Autel Robotics Europe Gmbh Zielbeobachtungsverfahren, zugehörige Vorrichtung und System
JP7305263B2 (ja) * 2019-05-16 2023-07-10 アルパイン株式会社 無人航空機、点検方法および点検プログラム
US11586228B2 (en) * 2019-10-16 2023-02-21 Ford Global Technologies, Llc Enhanced drone vehicle integration and controls

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102785780A (zh) * 2011-05-19 2012-11-21 鸿富锦精密工业（深圳）有限公司 无人飞行载具控制系统及方法
US20120307042A1 (en) * 2011-06-02 2012-12-06 Hon Hai Precision Industry Co., Ltd. System and method for controlling unmanned aerial vehicle
CN202758245U (zh) * 2012-06-29 2013-02-27 深圳一电科技有限公司 云台摄像机控制装置及云台摄像系统
CN204916207U (zh) * 2015-06-29 2015-12-30 优利科技有限公司 飞行器及其避障系统
CN105068554A (zh) * 2015-09-16 2015-11-18 唐山天乐智能科技有限公司 智能跟随拍摄飞行设备
CN105391988A (zh) * 2015-12-11 2016-03-09 谭圆圆 多视角的无人飞行器及其多视角显示方法
CN105867361A (zh) * 2016-04-18 2016-08-17 深圳市道通智能航空技术有限公司 一种飞行方向控制方法、装置及其无人机

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3432105A4 *

Also Published As

Publication number Publication date
US11117662B2 (en) 2021-09-14
US20190047706A1 (en) 2019-02-14
CN105867361A (zh) 2016-08-17
EP3432105A4 (en) 2019-04-03
EP3432105A1 (en) 2019-01-23

Similar Documents

Publication Publication Date Title
WO2018072717A1 (zh) 拍摄构图的方法及其装置、可移动物体及计算机可读存储介质
WO2018072657A1 (zh) 图像处理的方法、处理图像的装置、多目摄像装置以及飞行器
WO2017075964A1 (zh) 无人机拍摄控制方法、无人机拍摄方法、移动终端和无人机
WO2017181930A1 (zh) 一种飞行方向显示方法、装置及其无人机
WO2018036285A1 (zh) 基于飞行器实现自拍的方法及装置
WO2015180133A1 (zh) 无人机的航向生成方法和系统
WO2019227441A1 (zh) 可移动平台的拍摄控制方法和设备
US20240179398A1 (en) Method, control apparatus and control system for controlling an image capture of movable device
WO2019061295A1 (zh) 一种视频处理方法、设备、无人机及系统
WO2020019106A1 (zh) 云台和无人机控制方法、云台及无人机
WO2019104641A1 (zh) 无人机、其控制方法以及记录介质
WO2019230604A1 (ja) 検査システム
CN108780321B (zh) 用于设备姿态调整的方法、设备、系统和计算机可读存储介质
WO2019128275A1 (zh) 一种拍摄控制方法、装置及飞行器
WO2019227289A1 (zh) 延时拍摄控制方法和设备
WO2020014953A1 (zh) 一种图像处理方法及设备
WO2021212445A1 (zh) 拍摄方法、可移动平台、控制设备和存储介质
WO2018090807A1 (zh) 飞行拍摄控制系统和方法、智能移动通信终端、飞行器
JP7269910B2 (ja) インテリジェント撮影システムの撮影制御方法、装置、記憶媒体及びシステム
US20210325886A1 (en) Photographing method and device
JPWO2018163571A1 (ja) 情報処理装置、情報処理方法および情報処理プログラム
JP6921031B2 (ja) 制御装置及び撮影方法
CN110278717B (zh) 控制飞行器飞行的方法及设备
WO2020143575A1 (zh) 一种飞行器的拍摄方法、飞行器、终端设备及飞行系统
TW202239184A (zh) 成像裝置和系統、捕獲圖像的方法以及電腦可讀儲存媒體

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2017785414

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2017785414

Country of ref document: EP

Effective date: 20181015

NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17785414

Country of ref document: EP

Kind code of ref document: A1