WO2018090807A1

WO2018090807A1 - Flight photographing control system and method, intelligent mobile communication terminal, aircraft

Info

Publication number: WO2018090807A1
Application number: PCT/CN2017/107804
Authority: WO
Inventors: 胡华智; 柯严; 宋晨晖; 陈皓东
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2016-11-17
Filing date: 2017-10-26
Publication date: 2018-05-24
Also published as: CN107450573A; CN107450573B

Abstract

A flight photographing control method and system, an intelligent mobile communication terminal (2) and an aircraft (1). The flight photographing control system comprises: an aircraft (1) and an intelligent mobile communication terminal (2); after the aircraft (1) takes off, the intelligent mobile communication terminal (2) outputs a preset flight mode by means of a flight control interface, each flight mode is configured to have preset flight control parameters; after receiving a flight mode selection command inputted by a user using the flight control interface (22), the intelligent mobile communication terminal (2) sends a corresponding flight mode activation command to the aircraft (1) (S120); after receiving the flight mode activation command, the aircraft (1) executes flight actions according to the preset flight control parameters as configured in the flight mode (S130). A user may experience aerial photography with enhanced convenience and speed, achieving high level aerial photography work by using simpler operations.

Description

Title of Invention: Flight Shooting Control System and Method, Intelligent Mobile Communication Terminal, Aircraft Technical Field

[0001] The present application relates to aerial photography technology, and more particularly to a flight shooting control system and method, an intelligent mobile communication terminal, and an aircraft.

Background technique

[0002] Aerial photography, also known as aerial photography or aerial photography, refers to photographing the earth's landscape from the air and obtaining a top view image/video. Due to the wide space and unique perspective of aerial photography, high-frequency applications have been applied in military, civilian and commercial scenarios. Especially in recent years, with the rapid development of small aerial aerial vehicle (UAV) technology, more and more ordinary people have obtained a good aerial photography experience with the help of drones, and participated in the sharing of aerial photography experience on social networks. propagation.

[0003] The prior art UAV mostly uses a remote controller as an operation terminal, and such an operation terminal has high requirements on the user's operation skill and experience, and it is difficult to obtain a good aerial photography work. This affects the user's aerial photography experience to a certain extent.

technical problem

Problem solution

Technical solution

[0004] Based on this, it is necessary to provide a more convenient and convenient flight shooting control method, so that the user can obtain a more convenient and quick aerial photography experience, and complete a high-level aerial photography work through a simpler operation.

[0005] According to an aspect of the present application, the present application provides a flight shooting control method, including:

[0006] After the aircraft takes off, the intelligent mobile communication terminal outputs a preset flight mode through the flight control interface, and each flight mode is configured with preset flight control parameters;

[0007] After receiving the flight mode selection instruction input by the user, the smart mobile communication terminal sends a corresponding flight mode start command to the aircraft;

[0008] After receiving the flight mode activation command, the aircraft performs a flight action according to preset flight control parameters configured by the flight mode.

According to a second aspect of the present application, the present application provides a flight shooting control system, including: [0010] an aircraft;

[0011] an intelligent mobile communication terminal;

[0012] after the aircraft takes off, the intelligent mobile communication terminal outputs a preset flight mode through the flight control interface.

, each flight mode is configured with preset flight control parameters;

[0013] after receiving the flight mode selection instruction input by the user, the smart mobile communication terminal sends a corresponding flight mode start command to the aircraft;

[0014] After receiving the flight mode activation command, the aircraft performs a flight action according to the preset flight control parameters configured by the flight mode.

[0015] According to the third aspect of the present application, the present application provides an intelligent mobile communication terminal for performing flight shooting control on an aircraft, including:

[0016] a first storage unit, configured to store a preset flight mode, where each flight mode is configured with preset flight control parameters;

[0017] a flight control interface;

[0018] a first control unit, configured to send a takeoff command to the aircraft, and after the aircraft takes off, output the preset flight mode through a flight control interface, and receive an airplane mode selection instruction input by the user through the flight control interface After that, the corresponding flight mode start command is sent to the aircraft.

[0019] According to a fourth aspect of the present application, the present application provides an aircraft for performing flight shooting under the control of an intelligent mobile communication terminal, including:

[0020] a flight portion for carrying a photographing device;

[0021] a second storage unit, configured to store a preset flight mode, where each flight mode is configured with preset flight control parameters;

[0022] The control unit is configured to control the photographing device and the flight unit to execute a corresponding flight mode after receiving the flight mode start command from the smart mobile communication terminal.

Advantageous effects of the invention

Brief description of the drawing

DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are only some of the embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

1 is a schematic block diagram of one embodiment of a flight photographing control system of the present application.

2 is a flow chart of one embodiment of a flight shooting control method of the present application.

3 is a flow chart of another embodiment of the flight shooting control method of the present application.

4 is a flow chart of another embodiment of the flight shooting control method of the present application.

5a and 5b are schematic illustrations of flight control interfaces corresponding to an aircraft take-off state in one embodiment of the present application.

6a and 6b are schematic diagrams of a flight control interface in an intelligent following mode in an embodiment of the present application. [0030] FIGS. 7a and 7b are flight control interfaces in a remote flight mode in an embodiment of the present application. Schematic

8a and 8b are schematic diagrams of flight control interfaces in a point of interest surround mode in one embodiment of the present application.

9a, 9b, and 9c are schematic diagrams of flight control interfaces of a horizontal side pull, a rotary pull up, and a panoramic loop shot mode, respectively, in one embodiment of the present application.

10a, 10b, and 10c are schematic diagrams of flight control interfaces in a point of interest surround mode in an embodiment of the present application.

11a and FIG. 1 ib are schematic diagrams of flight control interfaces in an abnormal state in an embodiment of the present application.

Embodiments of the invention

[0035] The present application will be described in detail below with reference to the accompanying drawings.

1 is a block diagram showing the structure of an embodiment of a flight photographing control system. As shown in FIG. 1, the flight shooting control system mainly includes: an aircraft 1 and an intelligent mobile communication terminal 2. The aircraft 1 mainly includes a flight portion 12 for carrying a photographing device 11, and the intelligent mobile communication terminal 2 mainly includes a first storage unit 11 for storing a preset flight mode and a preset flight control parameter thereof, and for realizing Human-machine interaction flight control interface 12.

[0037] In the flight shooting control process, after the aircraft 1 takes off, the intelligent mobile communication terminal 2 passes the flight control boundary The surface 12 outputs a preset flight mode, and each flight mode is configured with preset flight control parameters;

[0038] After receiving the flight mode selection command input by the user through the flight control interface 12, the smart mobile communication terminal 2 transmits a corresponding flight mode start command to the aircraft 1;

[0039] After receiving the flight mode activation command, the aircraft 1 performs a flight action according to the preset flight control parameters configured by the flight mode.

[0040] Optionally, the intelligent mobile communication terminal 2 may further include a first attitude sensor 13 for sensing the gesture action of the user.

[0041] Before the smart mobile communication terminal 2 outputs the preset flight mode through the flight control interface 12, the smart mobile communication terminal 2 senses the user's gesture action through the first attitude sensor 13, and then goes to the aircraft.

1 transmitting a corresponding first gesture action instruction;

[0042] After receiving the first attitude motion command, the aircraft 1 drives the flight unit 12 to perform a corresponding flight motion according to the first gesture motion command.

[0043] Optionally, the smart mobile communication terminal 2 may further include a connection state monitoring unit (not shown) for detecting the smart mobile communication terminal 2 and/or the smart wearable display terminal 3 and the aircraft 1 according to actual needs. In the wireless connection state, if it is detected that there is no connection between the mobile communication terminal 2 and/or the smart wearable display terminal 3 and the aircraft 1, a disconnection warning is transmitted through the flight control interface 12.

In addition, the system may further include a smart wearable display terminal 3, and the smart wearable display terminal 3 includes a display interface 31 and a second attitude sensor 32, and the aircraft 1 may further include a pan/tilt head 13 according to actual needs.

[0045] the aircraft 1 transmits the captured image to the smart wearable display terminal 3 output;

[0046] Before the smart mobile communication terminal 2 outputs the preset flight mode through the flight control interface 12, the smart wearable display terminal 3 transmits the corresponding gesture to the aircraft 1 after sensing the posture action of the user through the second attitude sensor 32. Two gesture action instructions;

[0047] After receiving the second attitude motion command, the aircraft 1 drives the pan/tilt 13 to perform a corresponding position adjustment operation according to the second gesture motion command, so that the object to be photographed is located in the middle of the screen.

[0048] It will be understood by those skilled in the art that the operations performed by the aircraft 1 described above are all implemented by the control unit 10; the operations performed by the intelligent mobile communication terminal 2 are all implemented by the first control unit 20 thereof. The operation performed by the smart wearable display terminal 3 is implemented by its second control unit 30.

[0049] The smart mobile communication terminal 2 can usually be implemented by a smart phone or by having corresponding Wireless connectivity is achieved with devices such as smart tablets, laptops or desktop computers.

[0050] As an embodiment of the present application, the smart wearable display terminal 2 can be implemented by a head-mounted smart display device, such as VR glasses, a VR helmet, or the like.

[0051] Based on one or several modified embodiments of the foregoing embodiments, the preset flight mode may also be stored on other entities according to actual needs, for example, a second storage unit may be disposed in the aircraft 1 (in the figure) Not shown), storing the preset flight mode in the second storage unit.

[0052] The smart mobile communication terminal in one embodiment of the present application is described in detail below. The main function of the intelligent mobile communication terminal 2 is to perform flight shooting control on the aircraft. Referring to FIG. 1, the intelligent mobile communication terminal 2 mainly includes:

[0053] a first storage unit 21, configured to store a preset flight mode, where each flight mode is configured with preset flight control parameters;

[0054] a flight control interface 22, configured to implement a human-computer interaction function;

[0055] The first control unit 20 is configured to send a takeoff command to the aircraft, and after the aircraft takes off, output the preset flight mode through the flight control interface, and select a flight mode selected by the user through the flight control interface. After the command, the corresponding flight mode start command is sent to the aircraft.

[0056] In a specific embodiment, the intelligent mobile communication terminal 2 may further include:

[0057] a first attitude sensor 23, configured to sense a gesture of the user;

[0058] The first control unit 20 may further include:

[0059] The first attitude command sending unit (not shown) is configured to send a corresponding first gesture motion instruction to the aircraft according to the sensed gesture motion.

[0060] Further, the first control unit may further include:

[0061] a connection state monitoring unit (not shown) for detecting a wireless connection state of the smart mobile communication terminal and/or the smart wearable display terminal and the aircraft, if the smart mobile communication terminal and/or the smart wearable display terminal are detected If there is no connection with the aircraft, the disconnection warning message is output through the flight control interface.

[0062] It can be understood that, in a specific implementation, the first control unit 20 can control the aircraft to perform various actions, such as hovering, returning, according to a user's instruction, in addition to the above functions. Landing, etc.; and abnormal situation prompts and processing, etc., will not be repeated.

[0063] An aircraft provided by one embodiment of the present application is described in detail below. The main function of the aircraft 1 is in wisdom. The flight shooting can be carried out under the control of the mobile communication terminal, mainly including:

[0064] a flight portion 12 for mounting the imaging device 11;

[0065] a second storage unit (not shown) for storing a preset flight mode, each flight mode being configured with preset flight control parameters;

[0066] The control unit 10 is configured to control the photographing device and the flight unit to execute a corresponding flight mode after receiving the flight mode start command from the smart mobile communication terminal.

[0067] Specifically, the control unit 10 may specifically include:

[0068] a flight mode control unit (not shown) for controlling the camera device 11 and the flight department to execute a corresponding flight mode after receiving the flight mode activation command from the smart mobile communication terminal;

a first attitude action control unit (not shown) for driving the flight unit 12 to perform corresponding according to the first gesture motion instruction after receiving the first gesture motion instruction from the smart mobile communication terminal Flight action.

[0070] As a preferred embodiment, the aircraft 1 may further include:

[0071] Yuntai 13;

[0072] The control unit 10 may further include:

[0073] a display output control unit (not shown) for transmitting the captured image to the smart wearable display terminal output;

[0074] a second posture motion control unit (not shown) is configured to, after receiving the second gesture motion command from the smart wearable display terminal, drive the pan/tilt head 13 to execute the corresponding position according to the second gesture motion command. Adjust the action.

[0075] It can be understood that, in a specific implementation, in addition to the above functions, the control unit 10 can perform various actions according to the user's instructions, such as hovering, returning, landing, etc., according to specific needs; Abnormal situation prompts and processing, etc., will not be repeated.

2 is a flow chart showing an embodiment of a flight shooting control method. Referring to FIG. 2, in the present embodiment, the smart mobile communication terminal 2 includes a first storage unit 21 for storing a preset flight mode and a flight control interface 22 for realizing a human-computer interaction function.

[0077] In step S110, after the aircraft takes off, the intelligent mobile communication terminal outputs a preset flight mode through the flight control interface, and each flight mode is configured with preset flight control parameters. [0078] Specifically, the flight mode includes at least one of a remote flight mode, a smart following mode, a point of interest surround mode, a surround flight mode, a panoramic ring mode, a horizontal side pull mode, and a vertical pull mode wait. Kind or multiple combinations.

[0079] The preset flight control parameters for each flight mode configuration may include parameters such as flight speed, shooting angle, throttle power, and the like.

[0080] In step S120, after receiving the flight mode selection instruction input by the user, the smart mobile communication terminal sends a corresponding flight mode start command to the aircraft.

[0081] In step S130, after receiving the flight mode activation command, the aircraft performs a flight action according to the preset flight control parameter configured by the flight mode.

[0082] During the flight mode of the aircraft, the user may input flight control commands such as a hovering command, a landing command or a return flight command through a flight control interface in the form of touch or voice, and the intelligent mobile communication terminal receives the flight control. After the command, it is sent to the aircraft, and the aircraft completes the corresponding flight action according to the flight control instruction.

[0083] FIG. 3 is a flow chart of another embodiment of a flight shooting control method. In this embodiment, the mobile communication terminal 2 includes a first attitude sensor 22 in addition to a flight control interface 21 for realizing a human-computer interaction function and a storage unit 20 for storing a preset flight mode. Referring to FIG. 3, the execution of a flight shooting control process in this embodiment mainly includes the following steps:

[0084] In step S210, the intelligent mobile communication terminal outputs a preset flight mode through the flight control interface, and each flight mode is configured with preset flight control parameters.

[0085] In step S220, after receiving the flight mode selection instruction input by the user, the smart mobile communication terminal sends a corresponding flight mode start command to the aircraft.

[0086] In step S230, after receiving the flight mode activation command, the aircraft performs a flight action according to the preset flight control parameter configured by the flight mode.

[0087] In step S240, the smart mobile communication terminal sends a corresponding first gesture action instruction to the aircraft after the first gesture sensor senses the gesture action applied by the user to the smart mobile communication terminal.

[0088] In step S250, after receiving the first gesture motion command, the aircraft drives the flight unit to perform a corresponding flight motion according to the second gesture motion command. 4 is a flow chart showing another embodiment of a flight shooting control method. In the present embodiment, in addition to the aircraft 1 and the intelligent mobile communication terminal 2, a smart wearable display terminal 3 having a display interface 31 and a second attitude sensor 32 is also included. And the aircraft 1 includes a pan/tilt 13 in addition to the flight portion 12. Referring to FIG. 4, the execution of a flight shooting control process in this embodiment mainly includes the following steps:

[0090] In step S310, after the aircraft takes off, the captured image is sent to the smart wearable display terminal output.

[0091] In step S320, the smart wearable display terminal sends a corresponding second gesture action instruction to the aircraft after sensing the gesture action applied by the user to the smart wearable terminal through the second attitude sensor;

[0092] In step S330, after receiving the second attitude motion command, the aircraft drives the pan/tilt to perform a corresponding position adjustment operation according to the second gesture motion instruction, so that the shooting target is located at an intermediate position of the screen.

[0093] Specifically, the position adjustment action may be a displacement adjustment action or a pitch angle adjustment action.

[0094] In step S340, the intelligent mobile communication terminal outputs a preset flight mode through the flight control interface, and each flight mode is configured with preset flight control parameters.

[0095] In step S350, after receiving the flight mode selection instruction input by the user, the smart mobile communication terminal sends a corresponding flight mode start command to the aircraft.

[0096] In step S360, after receiving the flight mode activation command, the aircraft performs a flight action according to the preset flight control parameters configured by the flight mode.

The contents output by the flight control interface 21 after each flight mode is started and the flight actions performed by the aircraft 1 are exemplified below with reference to FIGS. It will be appreciated that the various flight modes and their configured flight control parameters described below are applicable to the various embodiments of the present application and will not be described again.

[0098] Pull away flight mode

[0099] The remote mode is: calculating a linear trajectory according to the current angle of the gimbal, so that the aircraft flies according to a linear trajectory; after the remote flight mode is started, according to the user's needs, the self-timer mode can be switched.

[0100] The point of interest surround mode may include:

[0101] outputting, at the flight control interface, geographic location information identifying a current location of the aircraft and a current location of the smart wearable display terminal; [0102] after receiving the geographic location interest point information input by the user through the flight control interface, identifying the geographic location interest point in the geographic location information, and identifying the geographic location interest point and the aircraft Path information between current locations;

[0103] transmitting a surround shooting instruction to the aircraft;

[0104] After receiving the surround shooting instruction, the aircraft starts the shooting device to perform shooting, and performs a surround flight centering on the geographical interest point.

[0105] The vertical pull mode may include:

[0106] adjusting the pitch angle of the pan/tilt to be vertically downward, and starting the photographing device to start shooting;

[0107] After waiting for at least one delay, the aircraft begins to fly vertically upward;

[0108] After the aircraft reaches the preset flight distance, the vertical upward flight is stopped.

[0109] Specifically, the flight control parameters of the vertical pull mode configuration may include:

[0110] The delay time is 3 seconds, the preset flight distance is 100 meters height difference, and the throttle value can be pulled up to 1900, that is, the throttle can be pulled from 0 to 100%.

[0111] The rotation pull mode may include:

[0112] adjusting the pitch angle of the pan/tilt to be vertically downward, and starting the photographing device to start shooting;

[0113] after waiting for at least one delay, keeping the nose of the aircraft in a rotating state, and starting to spiral upward;

[0114] After the aircraft reaches the preset flying height, the spiral upward flight is stopped.

[0115] Specifically, the flight parameters of the rotation pull mode configuration may include:

[0116] The counter-twist is rotated, the delay is 3 seconds, the preset flight distance is 100 meters, and the throttle is 1800.

The initial brick channel value is 1425. After adjusting the pan/tilt, the rotor channel value is 1450.

[0117] The panoramic ring shooting mode may include:

[0118] After the aircraft is hovering at the current position, the camera is activated to shoot, and the head is kept in rotation.

[0119] After receiving the exit panoramic loop mode command input by the user, the head rotation is stopped, and/or the photographing device stops shooting.

[0120] Specifically, the flight parameters of the panoramic loop mode configuration may include: the hovering position is at the current position, the head is rotated by the needle, and the yaw value is 1550.

[0121] The horizontal side pull mode may include: [0122] starting the photographing device to perform shooting, and keeping the direction of the nose of the aircraft unchanged, and flying straight in the horizontal left/right direction;

[0123] After the aircraft reaches the preset flight distance, it stops flying in a straight line in the horizontal left/right direction.

[0124] Specifically, the flight control parameters configured in the horizontal side pull mode may include:

[0125] When the flight speed is 10km/h吋, the channel value is 1100; when the flight speed is 18km/h吋, the channel value is 11 00; when the flight speed is 20km/h吋, the channel value is 1150; when the flight speed is 30km/h吋, the channel value is 1210; when the flight speed is 40km/h吋, the channel value is 1320;

[0126] The preset flight distance is 100 meters.

[0127] The technical features of the above embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of these technical features There is no contradiction and should be considered as the scope of this manual.

[0128] Those skilled in the art can understand that all or part of the process of implementing the above embodiments may be completed by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium. The program, after execution, may include the flow of an embodiment of the methods as described above. The storage medium may be a magnetic disk, an optical disk, or a read-only storage memory (Read-Only)

Memory, ROM) or Random Access Memory (RAM).

[0129] The above is a further detailed description of the present application in conjunction with the specific preferred embodiments, and it is not intended that the specific embodiments of the present application are limited to the description. It will be apparent to those skilled in the art that the present invention can be made in the form of a single deduction or substitution without departing from the scope of the present application.

Claims

Claim

A flight shooting control method, comprising:

After the aircraft takes off, the intelligent mobile communication terminal outputs a preset flight mode through the flight control interface, and each flight mode is configured with preset flight control parameters;

After receiving the flight mode selection instruction input by the user, the intelligent mobile communication terminal sends a corresponding flight mode start command to the aircraft;

After receiving the flight mode activation command, the aircraft performs a flight action according to the preset flight control parameters configured by the flight mode.

The method of claim 1 wherein before outputting the preset flight mode

, Also includes:

After the smart mobile communication terminal senses the gesture action of the user, transmitting a corresponding first gesture action instruction to the aircraft;

After receiving the first attitude motion command, the aircraft drives the flight unit to perform a corresponding flight motion according to the first gesture motion instruction.

The method of claim 1 wherein before outputting the preset flight mode

, Also includes:

The aircraft sends the captured image to the output of the smart wearable display terminal;

After the smart wearable display terminal senses the gesture of the user, the second gesture command is sent to the aircraft;

After receiving the second attitude motion command, the aircraft drives the pan/tilt to perform a corresponding position adjustment action according to the second gesture motion command.

The method of claim 1 further comprising:

The intelligent mobile communication terminal detects the wireless connection state of the smart mobile communication terminal and/or the smart wearable display terminal and the aircraft, and if it detects that there is no connection between the smart mobile communication terminal and/or the smart wearable display terminal and the aircraft, the output is output through the flight control interface. Broken wire warning message.

The method according to any one of claims 1 to 4, wherein the flight mode includes a remote flight mode, an intelligent following mode, a point of interest surround mode, and a panoramic ring mode At least one of a horizontal side pull mode and a vertical pull mode.

[Claim 6] The method of claim 5, wherein the point of interest surround mode comprises: outputting, at the flight control interface, a geographic location identifying a current location of the aircraft and a current location of the smart wearable display terminal Information

After receiving the geographic location point of interest information input by the user through the flight control interface, identifying the geographic location interest point in the geographic location information, and identifying the geographic location interest point and the current location of the aircraft Path information between;

Sending a surround shooting instruction to the aircraft;

After receiving the surround shooting instruction, the aircraft starts the shooting device to perform shooting, and performs a surround flight centering on the geographical interest point;

And/or, wherein the vertical pull-up mode comprises: adjusting a pitch angle of the pan/tilt to be vertically downward, and starting the photographing device to start shooting; waiting for at least one delay, the aircraft starts to fly vertically upward; the aircraft After reaching the preset flight distance, stop flying vertically upwards;

And / or, the rotating pull mode includes:

Adjust the pitch angle of the gimbal to be vertically downward, and start the camera to start shooting; after waiting for at least one delay, keep the nose of the aircraft in a rotating state, and start to spiral upward;

After the aircraft reaches the preset flight altitude, the spiral upward flight is stopped;

And / or, the panoramic ring mode includes:

After the aircraft is hovering at the current position, the camera is activated to shoot, and the head is kept in rotation;

After receiving the user-entered exit panoramic loop mode command, the head rotation is stopped, and/or the camera stops shooting;

And / or, the horizontal side pull mode includes:

Start the camera to shoot, and keep the direction of the nose of the aircraft unchanged, and fly straight in the horizontal left/right direction;

After the aircraft reaches the preset flight distance, it stops flying in a horizontal left/right direction. A flight shooting control system, comprising:

Aircraft

Intelligent mobile communication terminal;

After the aircraft takes off, the intelligent mobile communication terminal outputs a preset flight mode through a flight control interface, and each flight mode is configured with preset flight control parameters;

The system according to claim 7, wherein the smart mobile communication terminal transmits a corresponding first gesture motion instruction to the aircraft after sensing the gesture action of the user; the aircraft receives the first gesture motion instruction Thereafter, the flight unit is driven to perform a corresponding flight action according to the first attitude motion command.

The system of claim 7 wherein the system further comprises a smart wearable display terminal;

The aircraft sends the captured image to the smart wearable display terminal output; after the smart wearable display terminal senses the gesture of the user, the second gesture command is sent to the aircraft;

The system of claim 7, wherein the intelligent mobile communication terminal further comprises:

a connection state monitoring unit, configured to detect a wireless connection state of the smart mobile communication terminal and/or the smart wearable display terminal and the aircraft, and if it detects that there is no connection between the smart mobile communication terminal and/or the smart wearable display terminal and the aircraft, The control interface outputs a disconnection warning message.

The system according to any one of claims 7 to 10, wherein the flight mode comprises a remote flight mode, an intelligent following mode, a point of interest surround mode, and a surround flight mode. At least one of a panoramic loop mode, a horizontal side pull mode, and a vertical pull mode.

[Claim 12] The system of claim 11, wherein the point of interest surround mode comprises: outputting, at the flight control interface, a geographic location identifying a current location of the aircraft and a current location of the smart wearable display terminal Information

Sending a surround shooting instruction to the aircraft;

And / or, the vertical pull mode includes:

Adjust the pitch angle of the gimbal to be vertical downward, and start the camera to start shooting; after waiting for at least one delay, the aircraft starts to fly vertically upward; after the aircraft reaches the preset flight distance, stop the vertical upward flight;

And / or, the rotating pull mode includes:

And / or, the panoramic ring mode includes:

And / or, the horizontal side pull mode includes:

After the aircraft reaches the preset flight distance, it stops flying in a horizontal left/right direction. An intelligent mobile communication terminal for performing flight shooting control on an aircraft, comprising:

a first storage unit, configured to store a preset flight mode, each flight mode configured with preset flight control parameters;

Flight control interface

a first control unit, configured to send a takeoff command to the aircraft, and after the aircraft takes off, output the preset flight mode through the flight control interface, and after receiving the flight mode selection instruction input by the user through the flight control interface, The aircraft sends a corresponding flight mode start command.

The intelligent mobile communication terminal according to claim 13, further comprising: a first attitude sensor, configured to sense a gesture of the user;

The first control unit further includes:

The first attitude command sending unit is configured to send a corresponding first posture motion instruction to the aircraft according to the sensed gesture motion.

The intelligent mobile communication terminal according to claim 13, wherein the first control unit further comprises:

The intelligent mobile communication terminal according to any one of claims 13 to 15, wherein the preset flight mode includes a remote flight mode, a smart follow mode, a point of interest surround mode, a surround flight mode, and a panorama. At least one of a loop mode, a horizontal side pull mode, and a vertical pull mode.

The intelligent mobile communication terminal according to claim 16, wherein the point of interest cyclo-ring mode comprises:

Outputting, at the flight control interface, geographic location information identifying a current location of the aircraft and a current location of the smart wearable display terminal; After receiving the geographic location point of interest information input by the user through the flight control interface, identifying the geographic location interest point in the geographic location information, and identifying the geographic location interest point and the current location of the aircraft Path information between;

Sending a surround shooting instruction to the aircraft, the surrounding shooting instruction content includes starting a shooting device to perform shooting, and starting the aircraft to perform a surround flight centering on the geographical interest point;

And / or, the vertical pull mode includes:

Sending a vertical pull-up setting command to the aircraft, the vertical pull-up setting command content includes adjusting the pitch angle of the pan/tilt to be vertically downward, and starting the photographing device to start shooting;

After waiting for at least one delay, send a vertical upward flight instruction to the aircraft;

After the aircraft reaches the preset flight distance, sending a stop vertical flight instruction to the aircraft;

And / or, the rotating pull mode includes:

Sending a rotation pull setting command to the aircraft, the rotation pull setting command content includes adjusting the pitch angle of the pan/tilt to be vertically downward, and starting the photographing device to start shooting;

After waiting for at least one delay, sending a spiral upward flight instruction to the aircraft; after the aircraft reaches the preset flight altitude, sending a stop spiral upward flight to the aircraft;

And / or, the panoramic ring mode includes:

Sending a hovering command, a shooting start command, and a nose rotation command to the aircraft;

After receiving the exit panoramic loop mode command input by the user, sending a stop head rotation command to the aircraft, and/or stopping the shooting instruction;

And / or, the horizontal side pull mode includes:

Sending a start shooting command to the aircraft and a straight flight instruction in the horizontal left/right direction; after the aircraft reaches the preset flight distance, sends a flight instruction to the aircraft to stop the horizontal left/right direction.

[Claim 18] An aircraft for performing flight shooting under the control of an intelligent mobile communication terminal, comprising: a flight unit for carrying a camera;

a second storage unit, configured to store a preset flight mode, where each flight mode is configured with preset flight control parameters;

And a control unit, configured to control the photographing device and the flight unit to execute a corresponding flight mode after receiving the flight mode start command from the smart mobile communication terminal.

The aircraft according to claim 18, wherein the control unit comprises: a flight mode control unit, configured to control the camera and the flight department after receiving an airplane mode activation command from the smart mobile communication terminal Performing a corresponding flight mode; the first attitude motion control unit is configured to, after receiving the first gesture motion instruction from the smart mobile communication terminal, drive the flight unit to perform a corresponding flight motion according to the first gesture motion instruction.

The aircraft of claim 18, further comprising:

Yuntai

The control unit further includes:

a display output control unit, configured to send the captured image to the smart wearable display terminal to output;

The second attitude motion control unit is configured to, after receiving the second gesture motion command from the smart wearable display terminal, drive the pan/tilt to perform a corresponding position adjustment operation according to the second gesture motion command.

The aircraft according to any one of claims 18 to 20, wherein the preset flight mode includes a remote flight mode, an intelligent following mode, a point of interest surround mode, a surround flight mode, and a panoramic ring mode. At least one of a horizontal side pull mode and a vertical pull mode.

The aircraft according to claim 21, wherein said flight mode comprises a remote flight mode, an intelligent following mode, a point of interest surround mode, a surround flight mode, a panoramic ring mode, a horizontal side pull mode, and a vertical pull up Any of at least one of the modes.

The aircraft according to claim 22, wherein said point of interest surround mode comprises Sending the current location of the aircraft to the intelligent mobile communication terminal;

After receiving the surround shooting instruction from the smart mobile communication terminal, the shooting device is activated to perform shooting, and the surrounding flight is centered on the geographical interest point;

And / or, the vertical pull mode includes:

Adjust the pitch angle of the gimbal to be vertically downward, and start the shooting device to start shooting; after waiting for at least one delay, the flight department starts to fly vertically upwards;

After reaching the preset flight distance, the flight department stops flying vertically upwards;

And / or, the rotating pull mode includes:

Adjust the pitch angle of the gimbal to be vertically downward, and start the shooting device to start shooting; after waiting for at least one delay, keep the head of the flight part in a rotating state, and start to spiral upward;

After reaching the preset flight altitude, stop the spiral upward flight;

And / or, the panoramic ring mode includes:

After hovering at the current position, start the camera to shoot, and keep the head of the flight part in rotation;

After receiving the exit panoramic loop mode command from the smart mobile communication terminal, the head rotation is stopped, and/or the camera stops shooting.

And / or, the horizontal side pull mode includes:

Start the camera to shoot, and keep the direction of the head of the flight unchanged, and fly straight in the horizontal left/right direction;

After reaching the preset flight distance, stop flying straight in the horizontal left/right direction.