WO2018053845A1

WO2018053845A1 - Method and system for controlling unmanned aerial vehicle, and user terminal

Info

Publication number: WO2018053845A1
Application number: PCT/CN2016/100128
Authority: WO
Inventors: 缪宝杰; 杨秉臻
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-09-26
Filing date: 2016-09-26
Publication date: 2018-03-29
Also published as: CN106662881A

Abstract

A method and system for controlling an unmanned aerial vehicle (200) comprises: displaying a virtual stick (301, 302) on a display screen (110); sensing a toggle operation performed on the virtual stick (301, 302) by a user; and controlling an unmanned aerial vehicle (200) according to the toggle operation. The present invention also comprises a system for controlling an unmanned aerial vehicle (200), and a user terminal (100).

Description

Unmanned aerial vehicle control method, system and user terminal

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or patent disclosure contained in the official records and files of the Patent and Trademark Office.

Technical field

The invention belongs to the technical field of remote control, and particularly relates to a control method and system for an unmanned aerial vehicle, and a user terminal.

Background technique

With the increasing popularity of unmanned aerial vehicles, the fields and environments in which unmanned aerial vehicles are applied have become more diverse, and it is hoped that the UAVs will be controlled in a more diverse manner. However, at present, a dedicated remote controller is generally used to control the unmanned aerial vehicle. If the user does not carry the remote controller with him, the control of the unmanned aerial vehicle cannot be realized. Moreover, different types of UAVs need to be equipped with different remote controls. The function inside the remote control is solidified and cannot be updated with the upgrade of the UAV. This has caused great inconvenience to users and hindered the further popularization of unmanned aerial vehicles.

Summary of the invention

An aspect of the present invention provides a control method for an unmanned aerial vehicle, comprising: displaying a virtual joystick on a display screen; sensing a user's toggle operation on the virtual joystick; and operating the unmanned aerial vehicle according to the toggle operation Take control.

Another aspect of the present invention provides a control system for an unmanned aerial vehicle comprising: a processor; and a memory storing machine readable instructions; wherein the processor executes instructions to control display of the virtual joystick on the display screen, And the unmanned aerial vehicle is controlled according to the user's toggle operation on the virtual joystick.

Another aspect of the present invention provides a user terminal comprising a display screen for displaying an operation interface and a system as described above, the system for controlling content displayed in the display screen.

Another aspect of the present invention provides a control system for an unmanned aerial vehicle, comprising: a virtual joystick display module, displaying a virtual joystick on a display screen; and a virtual joystick sensing module sensing a user's dialing of the virtual joystick And a remote control module for controlling the unmanned aerial vehicle according to the dialing operation.

Another aspect of the present invention provides a computer software comprising machine readable instructions that, when executed by a processor, cause the processor to perform the method as described above.

Another aspect of the present invention provides a non-volatile storage medium comprising machine readable instructions that, when executed by a processor, cause the processor to perform the method as described above.

DRAWINGS

For a more complete understanding of the present invention and its advantages, reference will now be made to the following description

FIG. 1 schematically shows an application scenario according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the structure of a user terminal according to an embodiment of the present invention.

FIG. 3 schematically illustrates a display interface on a display screen in accordance with an embodiment of the present invention.

Figure 4 schematically illustrates another display interface on a display screen in accordance with an embodiment of the present invention.

FIG. 5 schematically illustrates another display interface on a display screen in accordance with an embodiment of the present invention.

Figure 6 schematically illustrates another display interface on a display screen in accordance with an embodiment of the present invention.

Figure 7 schematically illustrates another display interface on a display screen in accordance with an embodiment of the present invention.

Figure 8 schematically illustrates another display interface on a display screen in accordance with an embodiment of the present invention.

FIG. 9 is a block diagram showing the structure of a user terminal according to an embodiment of the present invention.

detailed description

Other aspects, advantages, and salient features of the present invention will become apparent to those skilled in the <

In the present invention, the terms "include" and "including" and their derivatives are intended to be inclusive and not limiting; the term "or" is inclusive, meaning and/or.

In the present specification, the following various embodiments for describing the principles of the present invention are merely illustrative and should not be construed as limiting the scope of the invention. The following description of the invention is intended to be understood as The following description includes a number of specific details to assist in understanding. However, these details should be considered merely exemplary. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Further, the same reference numerals are used throughout the drawings for the same or similar functions and operations.

FIG. 1 schematically shows an application scenario according to an embodiment of the present invention. As shown in FIG. 1, the user terminal 100 controls the unmanned aerial vehicle 200.

According to an embodiment of the present invention, the user terminal 100 may be a mobile terminal such as a mobile phone, a tablet computer, or the like, on which an application is run, and a virtual joystick is displayed on the display screen 110. According to an embodiment of the present invention, the display screen 110 may be a touch screen, and the user controls the unmanned aerial vehicle 200 by performing a toggle operation on the virtual joystick on the display screen 110.

FIG. 2 is a block diagram showing the structure of a user terminal 100 according to an embodiment of the present invention. As shown in FIG. 2, the user terminal 100 includes a control system 120 and a display screen 110. Control system 120 may include memory 121 and processor 122, in accordance with an embodiment of the present invention.

In accordance with an embodiment of the present invention, memory 121 stores machine readable instructions that processor 122 executes to control display of a virtual joystick on display screen 110.

FIG. 3 schematically illustrates a display interface on display screen 110 in accordance with an embodiment of the present invention. As shown in FIG. 3, the memory 121 executes instructions to control display of the first virtual rocker 301 and the second virtual joystick 302 on the display screen 110. It will be understood that although two virtual joysticks are shown in the figures, only one virtual joystick may be displayed, or more virtual joysticks may be displayed.

According to an embodiment of the present invention, the first virtual rocker 301 and the second virtual rocker 302 may be disposed on the left and right sides of the display screen, respectively, as shown in FIG. The existing special remote controllers for unmanned aerial vehicles generally adopt the form of two rockers arranged on the left and right, and the virtual joysticks are arranged in this way, which can well match the user's usage habits, and make it easier for the user to get started, without This can cause an inconsistency in switching between the dedicated remote control and the virtual joystick operation.

According to an embodiment of the present invention, the processor 122 may further execute instructions to control displaying an

identifier

303, 304, 305, 306 on each of the upper, lower, left and right sides of the first virtual joystick 301, as shown in FIG. Corresponding to controlling the unmanned aerial vehicle to ascend, descend, counterclockwise, and clockwise. Accordingly, according to an embodiment of the present invention, the processor 122 may further execute an instruction to control an up, down, left, or right toggle operation according to a user's first virtual joystick, and accordingly control the unmanned aerial vehicle. Rise, fall, counterclockwise rotation, Or rotate clockwise. According to an embodiment of the invention, the clockwise and counterclockwise directions herein may be clockwise and counterclockwise from a top view.

According to an embodiment of the present invention, the processor 122 may further execute an instruction to control displaying an

identifier

307, 308, 309, 310 on each of the upper, lower, left and right sides of the second virtual joystick 302, as shown in FIG. Corresponding to controlling the unmanned aerial vehicle to fly forward, backward, left, and right. Accordingly, according to an embodiment of the present invention, the processor 122 may further execute an instruction to control an up, down, left, or right toggle operation according to a user's second virtual joystick, and accordingly control the unmanned aerial vehicle. Fly forward, fly backwards, fly to the left, or fly to the right.

It can be understood that the positions of the first virtual rocker 301 and the second virtual rocker 302 are also interchangeable, and the identification functions on the first virtual rocker 301 and the second virtual rocker 302 can also be other configurations, such as It is configured as a Japanese hand, an American hand, and a Chinese hand commonly used in the market.

FIG. 4 schematically illustrates a display interface on display screen 110 in accordance with an embodiment of the present invention. According to an embodiment of the present invention, the processor 122 may further execute an instruction to control display of the mode icon 311 on the display screen 110, and display a virtual joystick on the display screen when the user touches the touch operation of the mode icon 311 . By setting the mode icon 311, the virtual joystick operation interface can be called up only when needed, and the other time can allow the user to use other application interfaces, which increases the application diversity of the user terminal.

According to an embodiment of the present invention, the processor 122 may also execute instructions to control display of at least one icon 311-317 on the display screen 110, as shown in FIG. When it is sensed that the user performs a toggle operation on the first and/or second virtual joysticks, the processor 122 may also execute an instruction to hide one or more of the icons 311-317. According to an embodiment of the present invention, the icons 311-317 may include, for example, a mode icon 311, an exit icon 312, an auto-return icon 313, a playback icon 314, a camera setting icon 315, a shooting icon 316, a camera/camera switching icon 317, and a pan/tilt. Direction icon 318, but is not limited to this. In accordance with an embodiment of the present invention, processor 122 may also execute instructions to control the virtual joystick mode of operation when the user touches exit icon 312. In accordance with an embodiment of the present invention, the processor 122 may also execute instructions to allow the user to change the heading axis rotation angle of the gimbal by sliding the slider on the pan/tilt direction icon 318 to control the pan/tilt direction.

According to an embodiment of the present invention, the processor 122 may further execute an instruction to hide one or more icons on a side of the first virtual rocker 301 when the user performs a toggle operation on the first virtual joystick 301. The one or more icons may include at least one of the following: a mode icon 311, an exit icon 312, or an auto-return icon 313. As shown in FIG. 5, when the user operates the first virtual joystick 301, the icon on the left side of the screen is hidden. According to an embodiment of the present invention, the processor 122 may further execute instructions to hide a specific one or more icons when the user performs a toggle operation on the first virtual joystick 301, the one or more icons may include, for example, At least one of the following: the mode icon 311, the exit icon 312, or the auto-return icon 313, but is not limited thereto.

According to an embodiment of the present invention, the processor 122 may further execute instructions to hide one or more icons on a side of the second virtual rocker 302 when the user performs a toggle operation on the second virtual joystick 302. The one or more icons may include at least one of a playback icon 314, a camera settings icon 315, a shooting icon 316, a camera/camera switching icon 317, or a gimbal direction icon 318. As shown in FIG. 6, when the user operates the second virtual joystick 302, the icon on the right side of the screen is hidden. According to an embodiment of the present invention, the processor 122 may further execute instructions to hide a specific one or more icons when the user performs a toggle operation on the second virtual joystick 302, for example, the one or more icons may include At least one of the following: a playback icon 314, a camera setting icon 315, a shooting icon 316, a camera/camera switching icon 317, or a pan/tilt direction icon 318, but is not limited thereto.

According to an embodiment of the present invention, the processor 122 may further execute an instruction to hide an icon on both sides of the screen when the user performs a toggle operation on the first virtual joystick 301 and the second virtual joystick 302 at the same time, as shown in FIG. 7 Show.

By hiding one or more icons when the user operates the virtual joystick, the operation interface can be made more compact, and the possibility of the user accidentally touching the icon on the screen is reduced.

FIG. 8 schematically illustrates a display interface on display screen 110 in accordance with an embodiment of the present invention. The processor 122 may also execute instructions to control the hover icon 319 to be displayed on the display screen 110 and to hide the first virtual joystick upon sensing a user's touch operation on the hover icon 319, in accordance with an embodiment of the present invention. 301 and a second virtual joystick 302.

It can be understood that, in this embodiment, the hovering icon 319 can be omitted, and the hiding or displaying of the first virtual rocker 301 and the second virtual rocker 302 can also be switched by clicking the “joystick” icon.

In accordance with an embodiment of the present invention, the processor 122 may also execute instructions to control the hidden virtual joystick when the current state of the aircraft is received as hovering and the user's operational input is not sensed for a preset period of time. Alternatively, in accordance with an embodiment of the present invention, processor 122 may also execute instructions to control the hidden virtual joystick when a user input of a preset action is sensed. The current state of the received aircraft is hovering, that is, receiving feedback on parameters such as the current attitude and speed of the aircraft, and determining that the current state of the aircraft is hovering.

FIG. 9 is a block diagram showing the structure of a user terminal 900 according to an embodiment of the present invention. As shown in FIG. 9, the user terminal 900 includes a control system 920 and a display screen 910.

In accordance with an embodiment of the present invention, control system 920 can include a virtual joystick display module 921 on which a virtual joystick is displayed. According to an embodiment of the invention, the first virtual joystick and/or the second virtual joystick may be displayed. As shown in FIG. 3, the first virtual rocker 301 and the second virtual rocker 302 may be displayed on the display screen 110. It will be understood that although two virtual joysticks are shown in the figures, only one virtual joystick may be displayed, or more virtual joysticks may be displayed.

According to an embodiment of the present invention, the control system 920 may further include a virtual joystick sensing module 922 that senses a user's toggle operation on the virtual joystick. Control system 920 can also include a remote control module 930 that controls the unmanned aerial vehicle in accordance with the toggle operation.

According to an embodiment of the present invention, the control system 920 may further include a first identifier display module 923, and display an identifier 303-306 on each of the upper, lower, left and right sides of the first virtual rocker 301, respectively corresponding to controlling the unmanned The aircraft ascends, descends, rotates counterclockwise, and rotates clockwise, as shown in Figure 3. The virtual rocker sensing module 922 senses the user's upward, downward, leftward, or rightward toggle operation on the first virtual rocker 301, and the remote control module 930 controls the unmanned aerial vehicle to rise accordingly according to the user's toggle operation. , down, counterclockwise, or clockwise.

According to an embodiment of the present invention, the control system 920 may further include a second identifier display module 924, and an identifier 307-310 is displayed on each of the upper, lower, left and right sides of the second virtual joystick 302, as shown in FIG. Corresponding to controlling the unmanned aerial vehicle to fly forward, backward, left, and right. The virtual rocker sensing module 922 senses the user's upward, downward, leftward, or rightward toggle operation on the second virtual rocker 302, and the remote control module 930 controls the unmanned aerial vehicle accordingly according to the user's toggle operation. Front flight, backward flight, left flight, or right flight.

According to an embodiment of the present invention, the control system 920 may further include an icon display module 925 on which a mode icon 311 is displayed, as shown in FIGS. 3 and 4. Control system 920 can also include an icon sensing module Block 926, sensing a user's touch operation on the mode icon 311. When the user's touch operation on the mode icon is sensed, the virtual joystick display module 921 displays the virtual joystick on the display screen.

According to an embodiment of the present invention, the icon display module 925 displays at least one icon 311 to 317 on the display screen as shown in FIG. The control system 920 can further include an icon hiding module 927. When the virtual joystick sensing module 922 senses that the user performs a toggle operation on the first and/or second virtual joysticks, the icon hiding module 927 can hide the icons 311-317. One or more icons in . According to an embodiment of the present invention, the icons 311-317 may include, for example, a mode icon 311, an exit icon 312, an auto-return icon 313, a playback icon 314, a camera setting icon 315, a shooting icon 316, a camera/camera switching icon 317, and a pan/tilt. Direction icon 318, but is not limited to this.

According to an embodiment of the present invention, when the virtual joystick sensing module 922 senses that the user performs a toggle operation on the first virtual rocker 301, the icon hiding module 927 hides one of the sides of the first virtual rocker 301 or A plurality of icons, the one or more icons may include at least one of the following: a mode icon 311, an exit icon 312, or an auto-return icon 313. As shown in FIG. 5, when the user operates the first virtual joystick 301, the icon on the left side of the screen can be hidden. According to an embodiment of the present invention, the icon hiding module 927 may also hide a specific one or more icons when the user performs a toggle operation on the first virtual joystick 301, and the one or more icons may include, for example, the following At least one of: a mode icon 311, an exit icon 312, or an auto-return icon 313, but is not limited thereto.

According to an embodiment of the present invention, when the virtual joystick sensing module 922 senses that the user performs a toggle operation on the second virtual joystick 302, the icon hiding module 927 hides one of the sides of the second virtual rocker 302 or A plurality of icons, the one or more icons may include at least one of: a playback icon 314, a camera settings icon 315, a shooting icon 316, a camera/camera switching icon 317, or a pan/tilt direction icon 318. As shown in FIG. 6, when the user operates the second virtual joystick 302, the icon on the right side of the screen can be hidden. According to an embodiment of the present invention, the icon hiding module 927 may also hide a specific one or more icons when the user performs a toggle operation on the second virtual joystick 302, and the one or more icons may include, for example, the following At least one: a playback icon 314, a camera setting icon 315, a shooting icon 316, a camera/camera switching icon 317, or a pan/tilt direction icon 318, but is not limited thereto.

According to an embodiment of the present invention, when the virtual joystick sensing module 922 senses that the user performs a toggle operation on the first virtual rocker 301 and the second virtual joystick 302 at the same time, the icon hiding module 927 can hide both sides of the screen. The icon is shown in Figure 7.

According to an embodiment of the present invention, the icon display module 925 can also display the hover icon 319 on the display screen as shown in FIG. The icon sensing module 926 can sense a user's touch operation on the hover icon. Control system 920 can also include a virtual joystick hiding module 928 that hides the virtual joystick when a user touch operation on the hover icon is sensed. According to an embodiment of the present invention, the virtual joystick hiding module 928 may hide the virtual joystick when receiving the current state of the aircraft as hovering and not sensing the user's operation input for a preset period of time.

According to an embodiment of the present invention, the control system 920 may further include a preset motion sensing module 929 that senses a preset action input by the user. The virtual joystick hiding module 928 can hide the virtual joystick when it senses that the user inputs a preset motion.

In accordance with an embodiment of the present invention, a computer software includes machine readable instructions that, when executed by a processor, cause the processor to perform the operations described above with respect to Figures 2-8.

In accordance with an embodiment of the present invention, a non-volatile storage medium includes machine readable instructions that, when executed by a processor, cause a processor to perform the method as described above.

The above described methods, apparatus, units and/or modules in accordance with various embodiments of the present invention may be implemented by a computing enabled electronic device executing software comprising computer instructions. The system can include storage devices to implement the various storages described above. The computing capable electronic device can include a general purpose processor, a digital signal processor, a dedicated processor, a reconfigurable processor, etc., but is not limited thereto. Executing such instructions causes the electronic device to be configured to perform the operations described above in accordance with the present invention. Each of the above devices and/or modules may be implemented in one electronic device or in different electronic devices. The software can be stored in a computer readable storage medium. The computer readable storage medium stores one or more programs (software modules), the one or more programs including instructions that, when executed by one or more processors in an electronic device, cause the electronic device to execute The method of the invention.

The software can be stored in the form of volatile memory or non-volatile storage (such as a storage device such as a ROM), whether erasable or rewritable, or stored in the form of a memory (eg, RAM, memory). The chip, device or integrated circuit) is either stored on an optically readable medium or a magnetically readable medium (eg, CD, DVD, magnetic or magnetic tape, etc.). It should be appreciated that the storage device and the storage medium are embodiments of a machine-readable storage device adapted to store one or more programs, the one or more programs including instructions, when Embodiments of the invention are implemented when the instructions are executed. The embodiment provides a program and a machine readable storage device storing such a program, the program comprising code for implementing the apparatus or method of any of the claims of the present invention. Moreover, these programs can be routed via any medium, such as a communication signal carried via a wired connection or a wireless connection, and various embodiments suitably include such programs.

Methods, apparatus, units, and/or modules in accordance with various embodiments of the present invention may also use, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), system on a chip, systems on a substrate, systems on a package, An application specific integrated circuit (ASIC) may be implemented in hardware or firmware, such as in any other reasonable manner for integrating or encapsulating the circuit, or in a suitable combination of three implementations of software, hardware, and firmware. The system can include a storage device to implement the storage described above. When implemented in these manners, the software, hardware, and/or firmware used is programmed or designed to perform the respective methods, steps, and/or functions described above in accordance with the present invention. One skilled in the art can appropriately implement one or more of these systems and modules, or some or more of them, according to actual needs, using different implementations described above. These implementations all fall within the scope of the present invention.

Although the present invention has been shown and described with respect to the specific exemplary embodiments of the present invention, those skilled in the art Various changes in form and detail are made to the invention. Therefore, the scope of the invention should not be construed as being limited by the appended claims.

Claims

A method for controlling an unmanned aerial vehicle includes:

Display a virtual joystick on the display screen;

Sensing the user's toggle operation on the virtual joystick;

The unmanned aerial vehicle is controlled according to the toggle operation.
The method of claim 1 further comprising:

Display a mode icon on the display screen;

Sensing the user's touch operation on the mode icon,

among them:

Displaying the virtual joystick on the display screen includes displaying the virtual joystick on the display screen when the user's touch operation on the mode icon is sensed.
The method of claim 1 wherein displaying the virtual joystick on the display screen comprises displaying the first virtual joystick and/or the second virtual joystick.
The method of claim 3, wherein the first virtual joystick and the second virtual joystick are respectively disposed on left and right sides of the display screen.
The method of claim 3 further comprising:

A logo is displayed on each of the upper, lower, left and right sides of the first virtual joystick, corresponding to controlling the unmanned aerial vehicle to ascend, descend, counterclockwise, and clockwise.
The method of claim 5 wherein:

Sensing a user's toggle operation on the virtual joystick includes sensing a user's swiping up, down, left, or right to the first virtual joystick;

Controlling the unmanned aerial vehicle according to the toggle operation includes correspondingly controlling the unmanned aerial vehicle to ascend, descend, counterclockwise, or clockwise according to the user's toggle operation.
The method of claim 3 further comprising:

A logo is displayed on each of the upper, lower, left and right sides of the second virtual joystick, corresponding to controlling the unmanned aerial vehicle to fly forward, backward, left, and right.
The method of claim 7 wherein:

Sensing the user's toggle operation on the virtual joystick includes sensing the user's up, down, and Toggle left or right; and

Controlling the unmanned aerial vehicle according to the toggle operation includes correspondingly controlling the unmanned aerial vehicle to fly forward, backward, left, or right according to the user's toggle operation.
The method of claim 4 further comprising:

Display at least one icon on the display screen;

When the user is sensed to perform a toggle operation on the first virtual joystick, one or more icons in the display screen are hidden.
The method of claim 9, wherein hiding one or more icons in the display screen comprises hiding one or more icons in a display screen that are adjacent to a side of the first virtual joystick.
The method of claim 9 or 10, wherein the one or more icons comprise at least one of: a mode icon, an exit icon, or an auto-return icon.
The method of claim 4 further comprising:

Display at least one icon on the display screen;

When the user is sensed to perform a toggle operation on the second virtual joystick, one or more icons in the display screen are hidden.
The method of claim 12, wherein hiding one or more icons in the display screen comprises hiding one or more icons in a display screen that are adjacent to a side of the second virtual joystick.
The method of claim 12 or 13, wherein the one or more icons comprise at least one of: a playback icon, a camera settings icon, a shooting icon, a camera/camera switching icon, or a gimbal direction icon.
The method of claim 1 further comprising:

Display a hover icon on the display screen;

Sensing the user's touch operation on the hover icon;

The virtual joystick is hidden when a user's touch operation on the hover icon is sensed.
The method of claim 1 further comprising:

The virtual joystick is hidden when the current state of the aircraft is received as hovering and the user's operation input is not sensed within a preset period of time.
The method of claim 1 further comprising:

Sensing a preset action entered by the user;

The virtual joystick is hidden when it is sensed that the user inputs a preset action.
A control system for an unmanned aerial vehicle includes:

Processor;

a memory that stores machine readable instructions;

Wherein, the processor executes instructions to control display of the virtual joystick on the display screen, and controls the unmanned aerial vehicle according to the user's toggle operation on the virtual joystick.
The system of claim 18 wherein the processor further executes instructions to control:

Display a mode icon on the display screen;

The virtual joystick is displayed on the display screen when the user's touch operation on the mode icon is sensed.
The system of claim 18 wherein displaying the virtual joystick on the display screen comprises displaying the first virtual joystick and/or the second virtual joystick.
The system of claim 20, wherein the first virtual joystick and the second virtual joystick are respectively disposed on left and right sides of the display screen.
The system of claim 20 wherein:

The processor also executes instructions to control displaying an indicator on each of the top, bottom, left, and right sides of the first virtual joystick, respectively corresponding to controlling the unmanned aerial vehicle to ascend, descend, counterclockwise, and clockwise.
The system of claim 22, wherein controlling the unmanned aerial vehicle according to a user's toggle operation on the virtual joystick comprises:

According to the user's upward, downward, leftward, or rightward toggle operation on the first virtual joystick, the UAV is controlled to rise, fall, counterclockwise, or clockwise.
The system of claim 20 wherein:

The processor also executes instructions to control displaying an identifier on each of the upper, lower, left, and right sides of the second virtual joystick, respectively corresponding to controlling the unmanned aircraft to fly forward, backward, to the left, and to the right. flight.
The system of claim 24 wherein controlling the unmanned aerial vehicle based on a user's toggle operation on the virtual joystick comprises:

According to the user's upward, downward, leftward, or rightward toggle operation on the second virtual joystick, the unmanned aerial vehicle is controlled to fly forward, backward, left, or right.
The system of claim 21 wherein the processor further executes instructions to control:

Display at least one icon on the display screen;

When the user is sensed to perform a toggle operation on the first virtual joystick, one or more icons in the display screen are hidden.
The system of claim 26, wherein hiding one or more icons in the display screen comprises hiding one or more icons in a display screen that are adjacent to a side of the first virtual joystick.
The system of claim 26 or 27, wherein the one or more icons comprise at least one of: a mode icon, an exit icon, or an auto-return icon.
The system of claim 17 wherein the processor further executes instructions to control:

Display at least one icon on the display screen;

When the user is sensed to perform a toggle operation on the second virtual joystick, one or more icons in the display screen are hidden.
The system of claim 29, wherein hiding one or more icons in the display screen comprises hiding one or more icons in a display screen that are adjacent to a side of the second virtual joystick.
The system of claim 29 or 30, wherein the one or more control icons comprise at least one of: a playback icon, a camera settings icon, a shooting icon, a camera/camera switching icon, or a gimbal direction icon.
The system of claim 18 wherein the processor further executes instructions to control:

Display a hover icon on the screen;

The virtual joystick is hidden when a user's touch operation on the hover icon is sensed.
The system of claim 18 wherein the processor further executes instructions to control:

The virtual joystick is hidden when the current state of the aircraft is received as hovering and the user's operation input is not sensed within a preset period of time.
The system of claim 18 wherein the processor further executes instructions to control:

The virtual joystick is hidden when it is sensed that the user inputs a preset action.
A control system for an unmanned aerial vehicle includes:

a virtual joystick display module that displays a virtual joystick on the display screen;

a virtual joystick sensing module that senses a user's toggle operation on the virtual joystick;

The remote control module controls the unmanned aerial vehicle according to the toggle operation.
The system of claim 35, further comprising:

An icon display module that displays a mode icon on the display screen;

An icon sensing module that senses a user's touch operation on the mode icon;

Wherein displaying the virtual joystick on the display screen includes displaying the virtual joystick on the display screen when the touch operation of the mode icon by the user is sensed.
The system of claim 35 wherein displaying the virtual joystick on the display screen comprises displaying the first virtual joystick and/or the second virtual joystick.
The system of claim 37, wherein the first virtual joystick and the second virtual joystick are respectively disposed on left and right sides of the display screen.
The system of claim 37, further comprising:

The first indicator display module displays an identifier on each of the upper, lower, left and right sides of the first virtual joystick, respectively corresponding to controlling the unmanned aerial vehicle to ascend, descend, rotate counterclockwise, and rotate clockwise.
The system of claim 39 wherein:

Sensing a user's toggle operation on the virtual joystick includes sensing a user's swiping up, down, left, or right to the first virtual joystick;

Controlling the unmanned aerial vehicle according to the toggle operation includes correspondingly controlling the unmanned aerial vehicle to ascend, descend, counterclockwise, or clockwise according to the user's toggle operation.
The system of claim 37, further comprising:

The second indicator display module displays an identifier on each of the upper, lower, left and right sides of the second virtual joystick, corresponding to controlling the unmanned aerial vehicle to fly forward, backward, left, and right.
The system of claim 41 wherein:

Sensing the user's toggle operation on the virtual joystick includes sensing a user's up, down, left, or right toggle operation on the second virtual joystick;

Controlling the unmanned aerial vehicle according to the toggle operation includes correspondingly controlling the unmanned aerial vehicle to fly forward, backward, left, or right according to the user's toggle operation.
The system of claim 38, further comprising:

An icon display module that displays at least one icon on the display screen;

The icon hiding module hides one or more icons in the display screen when the user is sensed to perform a toggle operation on the first virtual joystick.
The system of claim 43 wherein hiding one or more icons in the display screen comprises hiding one or more icons in a display screen that are adjacent to a side of the first virtual joystick.
A system according to claim 43 or 44, wherein the one or more icons comprise at least one of: a mode icon, an exit icon, or an auto-return icon.
The system of claim 38, further comprising:

An icon display module that displays at least one icon on the display screen;

The icon hiding module hides one or more icons in the display screen when the user is sensed to perform a toggle operation on the second virtual joystick.
The system of claim 46, wherein hiding one or more icons in the display screen comprises hiding one or more icons in a display screen that are adjacent to a side of the second virtual joystick.
The system of claim 46 or 47, wherein the one or more icons comprise at least one of: a playback icon, a camera settings icon, a shooting icon, a camera/camera switching icon, or a gimbal direction icon.
The system of claim 35, further comprising:

The icon display module displays a hover icon on the display screen;

An icon sensing module that senses a user's touch operation on the hover icon;

The virtual joystick hiding module hides the virtual joystick when sensing the user's touch operation on the hovering icon.
The system of claim 35, further comprising:

The virtual joystick hiding module hides the virtual joystick when receiving the current state of the aircraft as hovering and not sensing the user's operation input within a preset time period.
The system of claim 35, further comprising:

Presetting a motion sensing module to sense a preset action input by the user;

The virtual joystick hiding module hides the virtual joystick when it senses that the user inputs a preset motion.
A user terminal comprising a display screen for displaying an operation interface, and a system for controlling content displayed in the display screen, and a system according to any one of claims 18-34.