WO2019134122A1 - Unmanned aerial vehicle manipulation method and device, unmanned aerial vehicle manipulation apparatus, and recording medium - Google Patents

Unmanned aerial vehicle manipulation method and device, unmanned aerial vehicle manipulation apparatus, and recording medium Download PDF

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Publication number
WO2019134122A1
WO2019134122A1 PCT/CN2018/071591 CN2018071591W WO2019134122A1 WO 2019134122 A1 WO2019134122 A1 WO 2019134122A1 CN 2018071591 W CN2018071591 W CN 2018071591W WO 2019134122 A1 WO2019134122 A1 WO 2019134122A1
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Prior art keywords
drone
manipulation
mode
interface
control method
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PCT/CN2018/071591
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French (fr)
Chinese (zh)
Inventor
朱炼
张洁明
缪宝杰
苏冠华
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深圳市大疆创新科技有限公司
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Priority to CN201880015889.7A priority Critical patent/CN110383195A/en
Priority to PCT/CN2018/071591 priority patent/WO2019134122A1/en
Publication of WO2019134122A1 publication Critical patent/WO2019134122A1/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038Control 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

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  • the present disclosure relates to a drone control method and apparatus, a drone control device, and a recording medium.
  • drones such as take-off and landing, flight movements, etc. are more and more complex, and the use of drones to achieve image capture (including pictures or video) in a variety of complex flight movements The requirements are also getting higher and higher.
  • control devices that have been used to control drones are mostly remote controls. Most of the operations of such remote controls are controlled by the joystick, and the controller needs to be trained for a period of time to achieve proficiency.
  • operating devices that use mobile terminals such as mobile phones and notebook computers to control them.
  • the operation of the control APP is complicated and complicated, and the user experience is poor. This is an urgent technical problem to be solved in the field.
  • An aspect of the present disclosure provides a drone control method for controlling a drone using a control device, including: displaying a control mode, and displaying a control interface for controlling the drone on a display interface of the display device of the control device At least one mode of operation of the action; receiving flight environment information, receiving flight environment information from the drone regarding environmental conditions in which the drone is located; determining conditions in any one of the at least one maneuver mode When triggered, determining whether the drone meets the condition of entering the triggered mode according to the flight environment information, and if it is determined that the condition is satisfied, performing a switching control mode; The manipulation interface switches to an interface of the triggered mode, and sends a mode instruction corresponding to the triggered mode to the drone to cause the drone to operate according to the mode instruction.
  • a drone control device for controlling a drone, including: a display screen including a manipulation interface for displaying a manipulation mode; and a communication unit capable of receiving information from outside or/and Sending information externally;
  • a processor for controlling the drone control device specifically for: displaying a control mode, displaying at least one control mode for manipulating the action of the drone on the control interface of the display screen; receiving the flight environment Information, by the communication unit, receiving flight environment information about the environmental condition in which the drone is located from the drone; determining a condition, when any one of the at least one control mode is triggered, according to The flight environment information is used to determine whether the drone meets the condition of entering the triggered mode, and if it is determined that the condition is satisfied, the switching control mode is executed; and the switching control mode switches the control interface Forming the interface of the triggered mode, and transmitting, by the communication unit, a mode command corresponding to the triggered mode to the drone, causing the drone to operate according to the mode command.
  • Another aspect of the present disclosure provides a drone control apparatus including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is caused to execute The drone handling method of any of the aspects.
  • Another aspect of the present disclosure provides a computer readable recording medium storing computer executable instructions that, when executed by a processor, cause the processor to perform the none of the one aspect of the aspect Man-machine control method.
  • the drone control method and device, the drone control device and the computer readable recording medium according to the present disclosure can provide the user with a one-button simple manipulation to complete the complicated and diverse actions of the drone to improve the user experience.
  • FIG. 1 is a schematic block diagram showing an application scenario (ie, a drone control system) of a drone control device according to an embodiment of the present disclosure.
  • Fig. 2 is a schematic block diagram showing the structure of a drone operating device of an embodiment of the present disclosure.
  • FIG. 3 is a schematic flow chart showing a drone control method of an embodiment of the present disclosure.
  • FIG. 4 schematically shows an exemplary schematic flowchart of a judgment condition and a switching manipulation mode of the drone control method of the embodiment of the present disclosure.
  • 4(a) is an exemplary schematic flowchart of the determination condition
  • FIG. 4(b) is an exemplary schematic flowchart of the switching manipulation mode.
  • FIG. 5 is a view schematically showing an example of a manipulation interface (a key manipulation mode interface) in a display screen of the drone control device of the embodiment of the present disclosure.
  • FIG. 6 is a view schematically showing an example of a manipulation interface in a display screen of a drone control device of the embodiment of the present disclosure (after a certain mode is triggered by a key manipulation mode interface).
  • 6(a) is an exemplary diagram of an interface in which the take-off mode is clicked
  • FIG. 6(b) is an exemplary diagram of an interface in the split-screen mode.
  • FIG. 7 is a schematic block diagram showing the structure of a drone operating device according to another embodiment of the present disclosure.
  • FIG. 1 is a schematic block diagram showing an application scenario (ie, a drone control system) of a drone control device according to an embodiment of the present disclosure.
  • the drone control system of the embodiment of the present disclosure may include at least: a drone D as a moving body, and a drone control device S for manipulating the inorganic person D to perform various actions.
  • the UAV control device S can be, for example, a remote controller having a joystick or a control button, or a currently usable portable terminal device such as a desktop computer, a portable computer, a tablet computer, or a mobile phone. Furthermore, the drone handling device S has at least a display screen P.
  • the drone D may be equipped with an imaging device V for capturing an image to perform various shootings in the flight operation of the drone.
  • the UAV D may also be provided with sensors for sensing the flight action of the UAV D and/or the flight environment in which it is located (e.g., light intensity, communication signal strength, power, etc.).
  • the drone D and the drone control device S each have at least a communication unit and interact with each other through respective communication units (ie, information communicates with each other), and the interaction can be performed by wired communication.
  • Implementation is now implemented in a wireless communication manner as shown in Figure 1 in most cases.
  • Fig. 2 is a schematic block diagram showing the structure of a drone operating device of an embodiment of the present disclosure.
  • the drone operating device S includes at least a display screen P, a communication unit T, and a processor C.
  • the display screen P has at least a manipulation interface as a user interface, on which various information related to the drone D can be displayed, for example, information of the drone D itself (including Information about the flight environment, etc.) and manipulation information for manipulating the drone D.
  • the communication unit R is capable of receiving various information transmitted from the outside, for example, receiving information related to the flight environment transmitted from the drone D, and the like.
  • the communication unit R can also transmit respective information to the outside, for example, send a manipulation command or the like to the drone D.
  • the processor C is configured to control the UAV control device S, and specifically configured to display at least one control mode for controlling the action of the UAV D on the control interface of the display screen P;
  • the communication unit T receives flight environment information from the drone D regarding environmental conditions in which the drone D is located; when any one of the at least one manipulation modes is triggered, according to the flight
  • the environment information is used to determine whether the drone D satisfies the condition of entering the triggered mode, and if it is determined that the condition is satisfied, the switching control mode is executed; and the switching control mode switches the control interface to the An interface of the triggered mode is transmitted, and a mode command corresponding to the triggered mode is transmitted to the drone D by the communication unit T, so that the drone D operates according to the mode command.
  • the drone control method is the drone control method of the drone control device S of the embodiment of the present disclosure.
  • FIG. 3 is a schematic flow chart showing a drone control method of an embodiment of the present disclosure.
  • the drone control method of the embodiment of the present disclosure includes: displaying the manipulation mode S1; receiving the flight environment information S2; determining the condition S3; and switching the manipulation mode S4.
  • At least one manipulation mode for manipulating the action of the drone D is displayed on the manipulation interface of the display screen P of the drone control device D.
  • a manipulation interface one-button manipulation mode interface
  • FIG. 5 An exemplary diagram of a manipulation interface (one-button manipulation mode interface) of an embodiment of the present disclosure is schematically illustrated as in FIG. 5. The interface regarding the manipulation mode, that is, the one-button manipulation mode interface will be described later in detail using FIG.
  • the at least one manipulation mode may include, for example, at least one of the following modes:
  • a one-button 360 degree mode for rotating the drone D 360 degrees in situ and photographing by the camera V mounted on the drone;
  • a key flying mode for causing the drone D to fly a certain distance backward and upward and to perform shooting by the camera device V;
  • a key wrapping mode for causing the camera device V to face the controller (user) and causing the drone D to take a picture around the controller (user);
  • the flight environment information may further include: information indicating whether an object is sensed within a predetermined distance below the drone D, such that in the bounce mode, the information below In the case where the information of the presence of the object is sensed, the drone D can be raised by a certain distance to avoid the danger that the drone D has touched the object below when performing the bounce mode. ;
  • the photographing and recording mode is for causing the imaging device V to perform photographing, and the image and/or video captured by the imaging device V is received by the communication unit T for storage.
  • the picture and/or video captured by the camera device V can be received by the communication unit T in real time by wifi or the like for saving;
  • Clicking on the takeoff mode is used to cause the drone D to perform a one-button take-off or throw-off.
  • the throwing refers to that the drone D takes off after the drone is thrown by the controller;
  • the landing mode is clicked for causing the drone D to perform a one-button landing or a palm landing.
  • the palm landing refers to landing the drone D to the palm of the controller;
  • a third-party manipulation mode for using a third-party manipulation device to manipulate the actions of the drone D may be a remote controller such as the drone control device S, which may be, for example, a joystick or a control button, or may be, for example, a desktop computer, a laptop computer, a tablet computer or a mobile phone. Such as currently used mobile terminal devices.
  • the third-party control device may establish a connection with the drone control device through a short-range communication manner such as Bluetooth or mfi, and convert the key value of the third-party control device to the non-utility by using a general software development kit or the like.
  • flight environment information from the drone D regarding the environmental conditions in which the drone D is located is received by the communication unit T.
  • the flight environment information may include at least one of a power quantity, a communication signal strength, a light intensity, and a sensor goodness of the drone D.
  • any one of the at least one manipulation modes is triggered (for example, the selection of a click type of an icon or a virtual key or a button of a certain mode in the manipulation interface may be performed)
  • the drone D it is determined whether the drone D satisfies the condition for entering the triggered mode, and if it is determined that the condition is satisfied, the next switching manipulation mode S4 is executed.
  • the determining that the condition is satisfied may further include: the power is not lower than a predetermined power, the communication signal strength is not lower than a predetermined signal strength, The light intensity is not lower than at least one of a predetermined light intensity, and the sensor goodness is not lower than a predetermined goodness.
  • the manipulation interface is switched to the interface of the triggered mode (for example, as shown in FIG. 6(a), FIG. 6(b)), and through the communication
  • the unit T transmits a mode command corresponding to the triggered mode to the drone D, causing the drone to operate accordingly according to the mode command.
  • the display manipulation mode S1 may specifically include: displaying a main interface, and displaying the control interface as a main interface for starting a manipulation, where the main interface includes at least a triggering and entering a one-touch manipulation interface (a key manipulation mode interface) a one-button manipulation start button (which may be a virtual button or a virtual key or an icon, etc.); displaying a sub-interface that, when the one-key manipulation start button is triggered, switches the manipulation interface to display the at least one The sub-interface of the manipulation mode (for example, as shown in Figure 5).
  • the switching control mode S4 may further include: returning to the main interface, where the communication unit T receives the information that the drone D has completed the corresponding action according to the mode instruction, The manipulation interface returns to the main interface without returning to the one-button manipulation interface. Thereby, the number of transitions of the interface can be saved.
  • FIG. 4 schematically shows an exemplary schematic flowchart of a judgment condition and a switching manipulation mode of the drone control method of the embodiment of the present disclosure.
  • 4(a) is an exemplary schematic flowchart of the determination condition
  • FIG. 4(b) is an exemplary schematic flowchart of the switching manipulation mode.
  • step S3 in addition to whether or not the condition for entering the triggered mode is satisfied as described above (step S3-1) and in the case where it is determined that the condition is satisfied
  • a message indicating that the reason for the condition is not satisfied may be displayed on the manipulation interface (step S3-2).
  • the message may be, for example, "low battery”, “low communication signal strength”, “insufficient light intensity”, “sensor failure”, and the like.
  • the method further includes: determining an abnormality S4-1, and performing, in the drone D, the corresponding action according to the mode instruction.
  • the manipulation interface displays a message indicating the cause of the abnormality.
  • the flight environment information may include at least one of the power amount, the communication signal strength, the light intensity, and the sensor quality of the drone D, similarly to the flight environment information in the determination condition S3.
  • the determination of the abnormality may include: the electric quantity is lower than a predetermined electric quantity, the communication signal intensity is lower than a predetermined signal intensity, and the light intensity is lower than a predetermined light.
  • the intensity, the sensor goodness is lower than at least one of the specified goodness.
  • control interface ie, the one-key manipulation mode interface in the display screen of the drone control device S is specifically illustrated by using FIG. 5 by way of example.
  • FIG. 5 is a view schematically showing an example of a manipulation interface (a key manipulation mode interface) in a display screen of the drone control device of the embodiment of the present disclosure.
  • a non-trigger type icon that can be caused by a click or the like to trigger an interface transfer, and an uppercase English word can be used to click through, etc., in the sub-interface.
  • a triggerable class icon that triggers to cause an interface transition.
  • the trigger type icon is, for example, an icon R, which can be triggered to return the control interface from the current sub-interface to the main interface; icons B and D, after being triggered, can transfer the control interface from the current sub-interface to The mode interface corresponding to each triggered mode.
  • the non-trigger type icon is, for example, an icon t indicating a name of the interface "one-key mode"; an icon r indicating a name “return” corresponding to the icon R as a trigger type icon; an icon m indicating
  • the icons B and D of the trigger class icon have corresponding names "click to take off", “bounce”, “one button surround”, etc. (ie, the names of the respective modes in the one-key manipulation mode).
  • FIG. 6 an example of the display screen of the UAV control device S after triggering a certain mode in the control interface (ie, the one-key manipulation mode interface) shown in FIG. 5 is specifically illustrated by using FIG. 6 .
  • FIG. 6 is a view schematically showing an example of a manipulation interface in a display screen of a drone control device of the embodiment of the present disclosure (after a certain mode is triggered by a key manipulation mode interface).
  • 6(a) is an exemplary diagram of an interface for clicking the take-off mode
  • FIG. 6(b) is an exemplary diagram of an interface for the split-screen mode.
  • the manipulation interface can be transferred to the interface shown in FIG. 6(a).
  • T represents the control window in the current mode interface, including the trigger class icon F1 "one-button take-off” (for the drone to perform a one-off takeoff), F2 "flying” ( Used to make the drone perform the throwing), and B “cancel” (used to close the mode interface and return to the above-mentioned one-button control mode interface);
  • C is the background window in the current mode interface, here, directly shows no An image (video) captured by the camera device V of the human machine D in real time, and also in the background window, the flight environment information I of the drone D, and the camera control type icon G (for the camera device) Various controls and settings), and the drone control type icon K (for the control of the drone after take-off, etc.).
  • the manipulation interface can be transferred to the interface shown in FIG. 6(b).
  • a "live image” portion S1 a "playback image” portion S2, and the like can be divided.
  • FIGS. 5 and 6 are merely exemplary views, and the technical solutions of the present disclosure are not particularly limited.
  • the control interface can be in any style, as long as the corresponding manipulation can be performed.
  • the drone control method and device can provide the user with one-button simple manipulation to complete the complicated and diverse actions of the drone (including in-flight imaging and image return, display). And save, etc.), which greatly enhances the user experience.
  • FIG. 7 Another UAV control device that implements the UAV control method in a hardware manner will be described by taking FIG. 7 as an example.
  • FIG. 7 is a schematic block diagram showing a drone operating device having a hardware and software structure corresponding to the drone control method of the embodiment of another embodiment of the present disclosure.
  • the drone handling device 300 can include a processor 310 (eg, a CPU, etc.), and a memory 320 (eg, a hard disk HDD, a read only memory ROM, etc.).
  • a readable storage medium 321 for example, a magnetic disk, a compact disk CD-ROM, a USB, etc.
  • a broken line may also be included.
  • FIG. 7 is only an example, and does not limit the technical solution of this disclosure.
  • the various parts in the UAV control device 300 may be one or more.
  • the processor 310 may be one or more processors.
  • the process described above with reference to the flowchart (Figs. 3, 4) of the drone manipulation method of the embodiment of the present disclosure can be implemented as a computer software program.
  • the computer software program may also be one or more.
  • the computer software program is stored in the memory 320 of the drone machine control device 300 as a storage device, by executing the computer software program, thereby causing one or more of the drone control device 300
  • the processor 310 executes the drone control method and its variants shown in the flowcharts of FIGS. 3, 4 and the like of the present disclosure.
  • the user can also provide a one-button simple manipulation to complete the complicated and diverse actions of the drone, thereby improving the user experience.
  • the wireless communication method can also be stored as a computer program in a computer readable storage medium (for example, the readable storage medium 521 shown in FIG. 7), which can include a code/computer.
  • the instructions are executed to cause the computer to execute the drone control method and variations thereof as shown in the flowcharts of FIGS. 3 and 4 of the present disclosure.
  • a computer readable storage medium may be, for example, any medium that can contain, store, communicate, propagate or transport the instructions.
  • a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium.
  • Specific examples of the readable storage medium include: a magnetic storage device such as a magnetic tape or a hard disk (HDD); an optical storage device such as a compact disk (CD-ROM); a memory such as a random access memory (RAM) or a flash memory; and/or a wired /Wireless communication link.
  • a computer program can be configured to have computer program code, for example, including a computer program module. It should be noted that the division manner and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual conditions, and when these program module combinations are executed by a computer (or processor), the computer is made The flow of the drone control method such as described above in connection with Figs. 3, 4 and variations thereof can be performed.

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Abstract

An unmanned aerial vehicle manipulation method and device, an unmanned aerial vehicle manipulation apparatus, and a computer-readable recording medium. The unmanned aerial vehicle manipulation method uses a manipulation device to manipulate an unmanned aerial vehicle, and comprises: displaying, on a manipulation interface of a display screen of a manipulation device, at least one manipulation mode for manipulating an action of an unmanned aerial vehicle (S1); receiving flight environment information, from the unmanned aerial vehicle, regarding an environmental condition in which the unmanned aerial vehicle is located (S2); when any mode of the at least one manipulation mode is triggered, determining, according to the flight environment information, whether the unmanned aerial vehicle meets a condition for entering the triggered mode, and if it is determined that the condition is met, executing switching of the manipulation mode (S3); and switching the manipulation interface to an interface of the triggered mode, and sending a mode instruction corresponding to the triggered mode to the unmanned aerial vehicle, so that the unmanned aerial vehicle carries out the action according to the mode instruction (S4).

Description

无人机操控方法及设备、无人机操控装置及记录介质UAV control method and device, drone control device and recording medium 技术领域Technical field
本公开涉及一种无人机操控方法及设备、无人机操控装置及记录介质。The present disclosure relates to a drone control method and apparatus, a drone control device, and a recording medium.
背景技术Background technique
随着无人机技术的快速发展,无人机的例如起降、飞行动作等越来越复杂多样,且利用无人机来实现多样复杂的飞行动作中的图像拍摄(包括图片或视频)的要求也越来越高。With the rapid development of drone technology, drones such as take-off and landing, flight movements, etc. are more and more complex, and the use of drones to achieve image capture (including pictures or video) in a variety of complex flight movements The requirements are also getting higher and higher.
然而,至今对无人机进行操控的操控设备还多为遥控器,这种遥控器的操作大多要通过摇杆进行操控,需要操控者经过一段时间的训练后才能达到熟练操控的程度。此外,近年电出现了利用手机、笔记本电脑等这样的移动终端进行操控的操控设备,但在操控无人机进行上述复杂多样的动作时,其操控用APP的操作较繁琐复杂,用户体验较差,这是本领域急切有待解决的技术问题。However, the control devices that have been used to control drones are mostly remote controls. Most of the operations of such remote controls are controlled by the joystick, and the controller needs to be trained for a period of time to achieve proficiency. In addition, in recent years, there have been operating devices that use mobile terminals such as mobile phones and notebook computers to control them. However, when manipulating drones to perform the above-mentioned complicated and diverse actions, the operation of the control APP is complicated and complicated, and the user experience is poor. This is an urgent technical problem to be solved in the field.
发明内容Summary of the invention
本公开就是为了解决上述这样的技术问题而做出的。The present disclosure has been made to solve such technical problems as described above.
本公开的一个方面提供了一种无人机操控方法,使用操控设备对无人机进行操控,包括:显示操控模式,在所述操控设备的显示屏的操控界面显示用于操控无人机的动作的至少一个操控模式;接收飞行环境信息,接收来自所述无人机的关于该无人机所处的环境条件的飞行环境信息;判断条件,在所述至少一个操控模式中的任一个模式被触发时,根据所述飞行环境信息来判断所述无人机是否满足进入被触发的模式的条件,在判断为满足所述条件的情况下,执行切换操控模 式;所述切换操控模式,将所述操控界面切换成所述被触发的模式的界面,且向所述无人机发送与所述被触发的模式相应的模式指令,使所述无人机按照所述模式指令进行动作。An aspect of the present disclosure provides a drone control method for controlling a drone using a control device, including: displaying a control mode, and displaying a control interface for controlling the drone on a display interface of the display device of the control device At least one mode of operation of the action; receiving flight environment information, receiving flight environment information from the drone regarding environmental conditions in which the drone is located; determining conditions in any one of the at least one maneuver mode When triggered, determining whether the drone meets the condition of entering the triggered mode according to the flight environment information, and if it is determined that the condition is satisfied, performing a switching control mode; The manipulation interface switches to an interface of the triggered mode, and sends a mode instruction corresponding to the triggered mode to the drone to cause the drone to operate according to the mode instruction.
本公开的另一个方面提供了一种无人机操控设备,用于操控无人机,包括:显示屏,包括用于显示操控模式的操控界面;通信单元,能够从外部接收信息或/和向外部发送信息;Another aspect of the present disclosure provides a drone control device for controlling a drone, including: a display screen including a manipulation interface for displaying a manipulation mode; and a communication unit capable of receiving information from outside or/and Sending information externally;
处理器,用于控制所述无人机操控设备,具体用于:显示操控模式,在所述显示屏的所述操控界面显示用于操控无人机的动作的至少一个操控模式;接收飞行环境信息,通过所述通信单元接收来自所述无人机的关于该无人机所处的环境条件的飞行环境信息;判断条件,在所述至少一个操控模式中的任一个模式被触发时,根据所述飞行环境信息来判断所述无人机是否满足进入被触发的模式的条件,在判断为满足所述条件的情况下,执行切换操控模式;所述切换操控模式,将所述操控界面切换成所述被触发的模式的界面,且通过所述通信单元向所述无人机发送与所述被触发的模式相应的模式指令,使所述无人机按照所述模式指令进行动作。a processor for controlling the drone control device, specifically for: displaying a control mode, displaying at least one control mode for manipulating the action of the drone on the control interface of the display screen; receiving the flight environment Information, by the communication unit, receiving flight environment information about the environmental condition in which the drone is located from the drone; determining a condition, when any one of the at least one control mode is triggered, according to The flight environment information is used to determine whether the drone meets the condition of entering the triggered mode, and if it is determined that the condition is satisfied, the switching control mode is executed; and the switching control mode switches the control interface Forming the interface of the triggered mode, and transmitting, by the communication unit, a mode command corresponding to the triggered mode to the drone, causing the drone to operate according to the mode command.
本公开的另一方面提供一种无人机操控装置,包括处理器和存储器,在存储器中存储有计算机可执行指令,在所述指令被所述处理器执行时,使所述处理器执行所述一个方面的任一项的所述无人机操控方法。Another aspect of the present disclosure provides a drone control apparatus including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is caused to execute The drone handling method of any of the aspects.
本公开的另一方面提供一种计算机可读记录介质,存储有计算机可执行指令,所述指令在被处理器执行时,使所述处理器执行所述一个方面的任一项所述的无人机操控方法。Another aspect of the present disclosure provides a computer readable recording medium storing computer executable instructions that, when executed by a processor, cause the processor to perform the none of the one aspect of the aspect Man-machine control method.
根据本公开的无人机操控方法及设备、无人机操控装置及计算机可读的记录介质,能够为用户提供一键式的简单操控来完成无人机复杂多样的动作,以提高用户体验。The drone control method and device, the drone control device and the computer readable recording medium according to the present disclosure can provide the user with a one-button simple manipulation to complete the complicated and diverse actions of the drone to improve the user experience.
附图说明DRAWINGS
为了更完整地理解本公开及其优势,现在将参考结合附图的以下 描述,其中:For a more complete understanding of the present disclosure and its advantages, reference will now be made to the following description
图1示意性示出了本公开实施例的无人机操控设备的应用场景(即,无人机操控系统)的结构简图。FIG. 1 is a schematic block diagram showing an application scenario (ie, a drone control system) of a drone control device according to an embodiment of the present disclosure.
图2示意性示出了本公开实施例的无人机操控设备的结构简图。Fig. 2 is a schematic block diagram showing the structure of a drone operating device of an embodiment of the present disclosure.
图3示意性示出了本公开实施例的无人机操控方法的简要流程图。FIG. 3 is a schematic flow chart showing a drone control method of an embodiment of the present disclosure.
图4示意性示出了本公开实施例的无人机操控方法的判断条件和切换操控模式的示例性简要流程图。其中,图4(a)是判断条件的示例性简要流程图,图4(b)是切换操控模式的示例性简要流程图。FIG. 4 schematically shows an exemplary schematic flowchart of a judgment condition and a switching manipulation mode of the drone control method of the embodiment of the present disclosure. 4(a) is an exemplary schematic flowchart of the determination condition, and FIG. 4(b) is an exemplary schematic flowchart of the switching manipulation mode.
图5示意性示出了本公开实施例的无人机操控设备的显示屏中的操控界面(一键操控模式界面)的示例图。FIG. 5 is a view schematically showing an example of a manipulation interface (a key manipulation mode interface) in a display screen of the drone control device of the embodiment of the present disclosure.
图6示意性示出了本公开实施例的无人机操控设备的显示屏中的操控界面(在一键操控模式界面触发了某种模式之后)的示例图。其中,图6(a)是点击起飞模式的界面的示例图,图6(b)是分屏模式的界面的示例图。FIG. 6 is a view schematically showing an example of a manipulation interface in a display screen of a drone control device of the embodiment of the present disclosure (after a certain mode is triggered by a key manipulation mode interface). 6(a) is an exemplary diagram of an interface in which the take-off mode is clicked, and FIG. 6(b) is an exemplary diagram of an interface in the split-screen mode.
图7示意性示出了本公开另一实施例的无人机操控装置的结构简图。FIG. 7 is a schematic block diagram showing the structure of a drone operating device according to another embodiment of the present disclosure.
具体实施方式Detailed ways
以下,将参照附图来描述本公开的实施例。Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
图1示意性示出了本公开实施例的无人机操控设备的应用场景(即,无人机操控系统)的结构简图。FIG. 1 is a schematic block diagram showing an application scenario (ie, a drone control system) of a drone control device according to an embodiment of the present disclosure.
如图1所示,本公开实施例的无人机操控系统可以至少包括:作为移动体的无人机D、用于操控无机人D执行各种动作的无人机操控设备S。As shown in FIG. 1, the drone control system of the embodiment of the present disclosure may include at least: a drone D as a moving body, and a drone control device S for manipulating the inorganic person D to perform various actions.
所述无人机操控设备S既可以为例如具有操控杆或操控键等的遥控器,也可以为例如台式电脑、便携式电脑、平板电脑或手机等当前常用的可移动式终端设备。此外,所述无人机操控设备S至少具备显示屏P。The UAV control device S can be, for example, a remote controller having a joystick or a control button, or a currently usable portable terminal device such as a desktop computer, a portable computer, a tablet computer, or a mobile phone. Furthermore, the drone handling device S has at least a display screen P.
所述无人机D上可以配备用于拍摄图像的摄像装置V,以进行无人机飞行动作中的各种拍摄。所述无人机D上还可以配备用于感测该无人 机D的飞行动作和/或其所处的飞行环境(例如,光线强度、通信信号强度、电量等)的传感器。The drone D may be equipped with an imaging device V for capturing an image to perform various shootings in the flight operation of the drone. The UAV D may also be provided with sensors for sensing the flight action of the UAV D and/or the flight environment in which it is located (e.g., light intensity, communication signal strength, power, etc.).
此外,所述无人机D和所述无人机操控设备S各自都至少具备通信单元,并通过各自的通信单元来彼此进行交互(即,信息的彼此通信),该交互可以通过有线通信方式实现,当然,现今大多情况下是如图1所示那样以无线通信方式实现的。In addition, the drone D and the drone control device S each have at least a communication unit and interact with each other through respective communication units (ie, information communicates with each other), and the interaction can be performed by wired communication. Implementation, of course, is now implemented in a wireless communication manner as shown in Figure 1 in most cases.
下面,针对本公开实施例的无人机操控设备的结构,参照图2进行说明。Next, the structure of the drone operating device according to the embodiment of the present disclosure will be described with reference to FIG. 2.
图2示意性示出了本公开实施例的无人机操控设备的结构简图。Fig. 2 is a schematic block diagram showing the structure of a drone operating device of an embodiment of the present disclosure.
如图2所示,无人机操控设备S至少包括显示屏P、通信单元T和处理器C。As shown in FIG. 2, the drone operating device S includes at least a display screen P, a communication unit T, and a processor C.
所述显示屏P至少具有作为用户界面的操控界面,在所述操控界面上可以显示各种与所述无人机D相关的信息,例如,所述无人机D自身的信息(包括与所述飞行环境相关的信息等)和对所述无人机D进行操控的操控信息等。The display screen P has at least a manipulation interface as a user interface, on which various information related to the drone D can be displayed, for example, information of the drone D itself (including Information about the flight environment, etc.) and manipulation information for manipulating the drone D.
所述通信单元R能够接收从外部发来的各种信息,例如,接收从所述无人机D发送来的与所述飞行环境相关的信息等。所述通信单元R也能够向外部发送各自信息,例如,向所述无人机D发送操控指令等。The communication unit R is capable of receiving various information transmitted from the outside, for example, receiving information related to the flight environment transmitted from the drone D, and the like. The communication unit R can also transmit respective information to the outside, for example, send a manipulation command or the like to the drone D.
所述处理器C,用于控制所述无人机操控设备S,具体用于:在所述显示屏P的所述操控界面显示用于操控无人机D的动作的至少一个操控模式;通过所述通信单元T接收来自所述无人机D的关于该无人机D所处的环境条件的飞行环境信息;在所述至少一个操控模式中的任一个模式被触发时,根据所述飞行环境信息来判断所述无人机D是否满足进入被触发的模式的条件,在判断为满足所述条件的情况下,执行切换操控模式;所述切换操控模式,将所述操控界面切换成所述被触发的模式的界面,且通过所述通信单元T向所述无人机D发送与所述被触发的模式相应的模式指令,使所述无人机D按照所述模式指令进行动作。The processor C is configured to control the UAV control device S, and specifically configured to display at least one control mode for controlling the action of the UAV D on the control interface of the display screen P; The communication unit T receives flight environment information from the drone D regarding environmental conditions in which the drone D is located; when any one of the at least one manipulation modes is triggered, according to the flight The environment information is used to determine whether the drone D satisfies the condition of entering the triggered mode, and if it is determined that the condition is satisfied, the switching control mode is executed; and the switching control mode switches the control interface to the An interface of the triggered mode is transmitted, and a mode command corresponding to the triggered mode is transmitted to the drone D by the communication unit T, so that the drone D operates according to the mode command.
下面,参照图3并结合所述图1、图2来具体说明本公开实施例的无人机操控方法。在这里要指出的是,该无人机操控方法是本公开实施例的所述无人机操控设备S的无人机操控方法。Hereinafter, a drone control method according to an embodiment of the present disclosure will be specifically described with reference to FIG. 3 in conjunction with FIG. 1 and FIG. It should be noted here that the drone control method is the drone control method of the drone control device S of the embodiment of the present disclosure.
图3示意性示出了本公开实施例的无人机操控方法的简要流程图。FIG. 3 is a schematic flow chart showing a drone control method of an embodiment of the present disclosure.
如图3所示,本公开实施例的无人机操控方法包括:显示操控模式S1;接收飞行环境信息S2;判断条件S3;和切换操控模式S4。As shown in FIG. 3, the drone control method of the embodiment of the present disclosure includes: displaying the manipulation mode S1; receiving the flight environment information S2; determining the condition S3; and switching the manipulation mode S4.
首先,在所述显示操控模式S1中,在所述无人机操控设备D的显示屏P的操控界面显示用于操控无人机D的动作的至少一个操控模式。例如,如图5那样地示意性示出了本公开实施例的操控界面(一键操控模式界面)的一种示例图。关于操控模式的界面即该一键操控模式界面将在后面利用图5进行详述。First, in the display manipulation mode S1, at least one manipulation mode for manipulating the action of the drone D is displayed on the manipulation interface of the display screen P of the drone control device D. For example, an exemplary diagram of a manipulation interface (one-button manipulation mode interface) of an embodiment of the present disclosure is schematically illustrated as in FIG. 5. The interface regarding the manipulation mode, that is, the one-button manipulation mode interface will be described later in detail using FIG.
这里,所述至少一个操控模式例如可以至少包括下列模式中的任一个:Here, the at least one manipulation mode may include, for example, at least one of the following modes:
一键360度模式,该模式用于使所述无人机D原地旋转360度且通过所述无人机上安装的摄像装置V进行拍摄;a one-button 360 degree mode for rotating the drone D 360 degrees in situ and photographing by the camera V mounted on the drone;
一键飞远模式,用于使所述无人机D向后上方飞出一定距离且通过所述摄像装置V进行拍摄;a key flying mode for causing the drone D to fly a certain distance backward and upward and to perform shooting by the camera device V;
一键环绕模式,用于使所述摄像装置V朝向操控者(用户)且使所述无人机D围绕该操控者(用户)进行拍摄;a key wrapping mode for causing the camera device V to face the controller (user) and causing the drone D to take a picture around the controller (user);
弹跳模式,用于使所述无人机D在一定高度之间来回弹跳且通过所述摄像装置V进行拍摄。其中,在所述弹跳模式中,所述一定高度之间可以例如是0.5m至2m高度之间。此外,在所述飞行环境信息中还可以包括:对所述无人机D的下方的规定距离内是否存在物体进行感测的下方信息,这样,在所述弹跳模式中,在所述下方信息中包含感测到存在物体的信息的情况下,就可以使所述无人机D上升一定距离,以避免所述无人机D在执行所述弹跳模式时有碰触到下方的物体的危险;A bouncing mode for causing the drone D to bounce back and forth between certain heights and to take a picture by the camera device V. Wherein, in the bouncing mode, the certain height may be between 0.5m and 2m in height, for example. In addition, the flight environment information may further include: information indicating whether an object is sensed within a predetermined distance below the drone D, such that in the bounce mode, the information below In the case where the information of the presence of the object is sensed, the drone D can be raised by a certain distance to avoid the danger that the drone D has touched the object below when performing the bounce mode. ;
拍照录像模式,用于使所述摄像装置V进行拍摄,且通过所述通信单元T接收由所述摄像装置V拍摄到的图片和/或视频进行保存。其 中,可以通过wifi等实时地由所述通信单元T接收由所述摄像装置V拍摄到的图片和/或视频进行保存;The photographing and recording mode is for causing the imaging device V to perform photographing, and the image and/or video captured by the imaging device V is received by the communication unit T for storage. The picture and/or video captured by the camera device V can be received by the communication unit T in real time by wifi or the like for saving;
点击起飞模式,用于使所述无人机D执行一键起飞或抛飞。其中,所述抛飞是指由操控者抛出无人机D后,该无人机D顺势起飞;Clicking on the takeoff mode is used to cause the drone D to perform a one-button take-off or throw-off. Wherein, the throwing refers to that the drone D takes off after the drone is thrown by the controller;
点击降落模式,用于使所述无人机D执行一键降落或掌上降落。其中,所述掌上降落是指使无人机D降落到操控者伸出的手掌上;The landing mode is clicked for causing the drone D to perform a one-button landing or a palm landing. Wherein, the palm landing refers to landing the drone D to the palm of the controller;
第三方操控模式,用于使用第三方操控设备来操控所述无人机D的动作。其中,所述第三方操控设备可以是如所述无人机操控设备S那样的既可以例如为具有操控杆或操控键等的遥控器,也可以例如为台式电脑、便携式电脑、平板电脑或手机等当前常用的可移动式终端设备。此外,所述第三方操控设备可以通过蓝牙或mfi等近距离通信方式与所述无人机操控设备建立连接,利用通用软件开发工具包等将该第三方操控设备的键值变换为所述无人机操控设备S对应的操控指令,且通过wifi等通信方式将该操控指令发送给所述无人机D;A third-party manipulation mode for using a third-party manipulation device to manipulate the actions of the drone D. The third-party control device may be a remote controller such as the drone control device S, which may be, for example, a joystick or a control button, or may be, for example, a desktop computer, a laptop computer, a tablet computer or a mobile phone. Such as currently used mobile terminal devices. In addition, the third-party control device may establish a connection with the drone control device through a short-range communication manner such as Bluetooth or mfi, and convert the key value of the third-party control device to the non-utility by using a general software development kit or the like. Manipulating the control command corresponding to the device S, and transmitting the manipulation command to the drone D through a communication method such as wifi;
分屏模式,用于在所述显示屏P上对由所述摄像装置V拍摄到并传回和/或已保存的图片或视频进行分屏显示。A split screen mode for performing split screen display on the display screen P for pictures or videos captured and returned and/or saved by the camera device V.
接着,在所述接收飞行环境信息S2中,通过所述通信单元T接收来自所述无人机D的关于该无人机D所处的环境条件的飞行环境信息。所述飞行环境信息可以包括:所述无人机D的电量、通信信号强度、光线强度、传感器良好度中的至少一个。Next, in the received flight environment information S2, flight environment information from the drone D regarding the environmental conditions in which the drone D is located is received by the communication unit T. The flight environment information may include at least one of a power quantity, a communication signal strength, a light intensity, and a sensor goodness of the drone D.
然后,在所述判断条件S3中,在所述至少一个操控模式中的任一个模式被触发(例如,可以是对操控界面中的某一模式的图标或虚拟键或按钮等进行点击类的选择等)时,根据所述飞行环境信息来判断所述无人机D是否满足进入被触发的该模式的条件,在判断为满足所述条件的情况下,执行接下来的切换操控模式S4。其中,与上面所述的所述飞行环境信息相应地,所述判断为满足所述条件的情形也可以包括:所述电量不低于规定电量、所述通信信号强度不低于规定信号强度、所述光线强度不低于规定光线强度、所述传感器良好度不低于规定良好度中的至少一个。Then, in the determining condition S3, any one of the at least one manipulation modes is triggered (for example, the selection of a click type of an icon or a virtual key or a button of a certain mode in the manipulation interface may be performed) In the case of the flight environment information, it is determined whether the drone D satisfies the condition for entering the triggered mode, and if it is determined that the condition is satisfied, the next switching manipulation mode S4 is executed. In the case of the flight environment information described above, the determining that the condition is satisfied may further include: the power is not lower than a predetermined power, the communication signal strength is not lower than a predetermined signal strength, The light intensity is not lower than at least one of a predetermined light intensity, and the sensor goodness is not lower than a predetermined goodness.
然后,在所述切换操控模式S4中,将所述操控界面切换成所述被触发的模式的界面(例如,如图6(a)、图6(b)所示),且通过所述通信单元T向所述无人机D发送与所述被触发的模式相应的模式指令,使所述无人机按照所述模式指令相应地进行动作。Then, in the switching manipulation mode S4, the manipulation interface is switched to the interface of the triggered mode (for example, as shown in FIG. 6(a), FIG. 6(b)), and through the communication The unit T transmits a mode command corresponding to the triggered mode to the drone D, causing the drone to operate accordingly according to the mode command.
此外,所述显示操控模式S1可以具体包括:显示主界面,使所述操控界面显示作为操控开始的主界面,该主界面中至少包括用于触发并进入一键操控界面(一键操控模式界面)的一键操控开始按钮(可以是虚拟按钮或虚拟键或图标等);显示子界面,在所述一键操控开始按钮被触发时,使所述操控界面切换为用于显示所述至少一个操控模式的子界面(例如,图5所示)。In addition, the display manipulation mode S1 may specifically include: displaying a main interface, and displaying the control interface as a main interface for starting a manipulation, where the main interface includes at least a triggering and entering a one-touch manipulation interface (a key manipulation mode interface) a one-button manipulation start button (which may be a virtual button or a virtual key or an icon, etc.); displaying a sub-interface that, when the one-key manipulation start button is triggered, switches the manipulation interface to display the at least one The sub-interface of the manipulation mode (for example, as shown in Figure 5).
这样,在所述切换操控模式S4中还可以包括:返回主界面,在所述通信单元T接收到所述无人机D已完成按照所述模式指令相应的动作的信息的情况下,所述操控界面返回所述主界面,而不返回所述一键操控界面。由此,能够节省界面的转移次数。In this way, the switching control mode S4 may further include: returning to the main interface, where the communication unit T receives the information that the drone D has completed the corresponding action according to the mode instruction, The manipulation interface returns to the main interface without returning to the one-button manipulation interface. Thereby, the number of transitions of the interface can be saved.
下面,利用图4来具体说明本公开实施例的无人机操控方法的所述判断条件S3和切换操控模式S4的示例性简要流程图。Next, an exemplary schematic flowchart of the determination condition S3 and the switching manipulation mode S4 of the drone control method of the embodiment of the present disclosure will be specifically described using FIG.
图4示意性示出了本公开实施例的无人机操控方法的判断条件和切换操控模式的示例性简要流程图。其中,图4(a)是判断条件的示例性简要流程图,图4(b)是切换操控模式的示例性简要流程图。FIG. 4 schematically shows an exemplary schematic flowchart of a judgment condition and a switching manipulation mode of the drone control method of the embodiment of the present disclosure. 4(a) is an exemplary schematic flowchart of the determination condition, and FIG. 4(b) is an exemplary schematic flowchart of the switching manipulation mode.
如图4(a)所示,在所述判断条件S3中,除了如上所述进行是否满足进入被触发的所述模式的条件(步骤S3-1)且在判断为满足所述条件的情况下,进入接下来的所述切换操控模式S4以外,还可以在判断为不满足所述条件的情况下,在所述操控界面显示表示不满足所述条件的原因的消息(步骤S3-2)。该消息可以为:例如,“电量不足”、“通信信号强度过低”、“光线强度不够”、“传感器故障”等。由此,能够使操作者更明确无法进入操控模式的原因而迅速采取相应措施,例如要切换成手动模式等。As shown in FIG. 4(a), in the determination condition S3, in addition to whether or not the condition for entering the triggered mode is satisfied as described above (step S3-1) and in the case where it is determined that the condition is satisfied In addition to the next switching operation mode S4, if it is determined that the condition is not satisfied, a message indicating that the reason for the condition is not satisfied may be displayed on the manipulation interface (step S3-2). The message may be, for example, "low battery", "low communication signal strength", "insufficient light intensity", "sensor failure", and the like. Thereby, it is possible to promptly take measures corresponding to the reason why the operator can not enter the manipulation mode, for example, to switch to the manual mode or the like.
另外,如图4(b)所示,在所述切换操控模式S4中,可以还包括:判断异常S4-1,在所述无人机D进行按照所述模式指令相应的所 述动作的过程中,由所述通信单元T接收来自所述无人机D的所述飞行环境信息来判断所述无人机D是否异常;显示异常S4-2,在判断为异常的情况下,在所述操控界面显示表示所述异常的原因的消息。在此,所述飞行环境信息也可以与上述的判断条件S3中所述飞行环境信息同样地包括:所述无人机D的电量、通信信号强度、光线强度、传感器良好度中的至少一个。这样,在所述判断异常S4-1中,判断为所述异常的情形也可以包括:所述电量低于规定电量、所述通信信号强度低于规定信号强度、所述光线强度低于规定光线强度、所述传感器良好度低于规定良好度中的至少一个。由此,能够更方便操作者明确下一步操控将如何进行,例如要切换成手动模式等。In addition, as shown in FIG. 4(b), in the switching control mode S4, the method further includes: determining an abnormality S4-1, and performing, in the drone D, the corresponding action according to the mode instruction. Receiving, by the communication unit T, the flight environment information from the drone D to determine whether the drone D is abnormal; displaying an abnormality S4-2, and in the case of determining that the abnormality is abnormal, The manipulation interface displays a message indicating the cause of the abnormality. Here, the flight environment information may include at least one of the power amount, the communication signal strength, the light intensity, and the sensor quality of the drone D, similarly to the flight environment information in the determination condition S3. In this way, in the determination abnormality S4-1, the determination of the abnormality may include: the electric quantity is lower than a predetermined electric quantity, the communication signal intensity is lower than a predetermined signal intensity, and the light intensity is lower than a predetermined light. The intensity, the sensor goodness is lower than at least one of the specified goodness. Thereby, it is more convenient for the operator to clarify how the next manipulation will be performed, for example, switching to the manual mode or the like.
下面,利用图5来以示例来具体说明所述无人机操控设备S的显示屏中的操控界面(即,一键操控模式界面)。In the following, the control interface (ie, the one-key manipulation mode interface) in the display screen of the drone control device S is specifically illustrated by using FIG. 5 by way of example.
图5示意性示出了本公开实施例的无人机操控设备的显示屏中的操控界面(一键操控模式界面)的示例图。FIG. 5 is a view schematically showing an example of a manipulation interface (a key manipulation mode interface) in a display screen of the drone control device of the embodiment of the present disclosure.
如图5所示,在该操控界面(即,所述子界面)中,包括以小写英字表示的不能通过点击等触发来引起界面转移的非触发类图标和以大写英字表示的能通过点击等触发来引起界面转移的可触发类图标。其中,所述触发类图标例如:图标R,其被触发后可以使操控界面从当前的子界面返回至主界面;图标B和D,其被触发后可以使操控界面从当前的子界面转移到各个被触发模式相应的模式界面。所述非触发类图标例如:图标t,其表示该界面的名称“一键模式”;图标r,其表示作为触发类图标的所述图标R相应的名称“返回”;图标m,其表示作为触发类图标的所述图标B和D相应的名称“点击起飞”、“弹跳”、“一键环绕”等(即,一键操控模式中的各个模式的名称)。As shown in FIG. 5, in the control interface (ie, the sub-interface), a non-trigger type icon that can be caused by a click or the like to trigger an interface transfer, and an uppercase English word can be used to click through, etc., in the sub-interface. A triggerable class icon that triggers to cause an interface transition. The trigger type icon is, for example, an icon R, which can be triggered to return the control interface from the current sub-interface to the main interface; icons B and D, after being triggered, can transfer the control interface from the current sub-interface to The mode interface corresponding to each triggered mode. The non-trigger type icon is, for example, an icon t indicating a name of the interface "one-key mode"; an icon r indicating a name "return" corresponding to the icon R as a trigger type icon; an icon m indicating The icons B and D of the trigger class icon have corresponding names "click to take off", "bounce", "one button surround", etc. (ie, the names of the respective modes in the one-key manipulation mode).
下面,利用图6来以示例来具体说明所述无人机操控设备S的显示屏中的在触发了上述图5所示的操控界面(即,一键操控模式界面)中的某一模式之后的模式界面的情形。In the following, an example of the display screen of the UAV control device S after triggering a certain mode in the control interface (ie, the one-key manipulation mode interface) shown in FIG. 5 is specifically illustrated by using FIG. 6 . The situation of the mode interface.
图6示意性示出了本公开实施例的无人机操控设备的显示屏中的操控界面(在一键操控模式界面触发了某种模式之后)的示例图。其 中,图6(a)是点击起飞模式的界面的示例图,图6(b)是分屏模式的界面的示例图。FIG. 6 is a view schematically showing an example of a manipulation interface in a display screen of a drone control device of the embodiment of the present disclosure (after a certain mode is triggered by a key manipulation mode interface). 6(a) is an exemplary diagram of an interface for clicking the take-off mode, and FIG. 6(b) is an exemplary diagram of an interface for the split-screen mode.
若在上述图5中触发了名称为“点击起飞”的触发类图标B或D时,则操控界面可以转移到该图6(a)所示的界面。If the trigger type icon B or D named "click takeoff" is triggered in the above FIG. 5, the manipulation interface can be transferred to the interface shown in FIG. 6(a).
如图6(a)所示,T表示当前的模式界面中的操控窗口,其中包括触发类图标F1“一键起飞”(用于使无人机执行一键起飞)、F2“抛飞”(用于使无人机执行抛飞)、和B“取消”(用于关闭该模式界面而返回上述一键操控模式界面);C是当前的模式界面中的背景窗口,这里,直接显示了无人机D的摄像装置V所实时拍摄到的图像(视频),且在该背景窗口中还同时显示有例如无人机D的飞行环境信息I、摄像装置操控类图标G(用于摄像装置的各种操控及设置)、和无人机操控类图标K(用于无人机起飞后的操控等)。As shown in Figure 6(a), T represents the control window in the current mode interface, including the trigger class icon F1 "one-button take-off" (for the drone to perform a one-off takeoff), F2 "flying" ( Used to make the drone perform the throwing), and B "cancel" (used to close the mode interface and return to the above-mentioned one-button control mode interface); C is the background window in the current mode interface, here, directly shows no An image (video) captured by the camera device V of the human machine D in real time, and also in the background window, the flight environment information I of the drone D, and the camera control type icon G (for the camera device) Various controls and settings), and the drone control type icon K (for the control of the drone after take-off, etc.).
此外,若在上述图5中触发了名称为“分屏”的触发类图标B或D时,则操控界面可以转移到该图6(b)所示的界面。In addition, if the trigger type icon B or D named "split screen" is triggered in the above FIG. 5, the manipulation interface can be transferred to the interface shown in FIG. 6(b).
如图6(b)所示,在该操控界面中可以划分为例如“实时图像”部分S1、和“回放图像”部分S2等。As shown in FIG. 6(b), in the manipulation interface, for example, a "live image" portion S1, a "playback image" portion S2, and the like can be divided.
此外,上述图5、6仅仅是示例图,并不对本公开的技术方案有特别任何限定。操控界面可以呈任意样式,只要能执行相应的操控即可。In addition, the above-described FIGS. 5 and 6 are merely exemplary views, and the technical solutions of the present disclosure are not particularly limited. The control interface can be in any style, as long as the corresponding manipulation can be performed.
由此,根据以上的本公开实施例的无人机操控方法及设备,能够为用户提供一键式的简单操控来完成无人机复杂多样的动作(包括飞行中的摄像及图像回传、显示及保存等),从而大大提高用户体验。Therefore, the drone control method and device according to the above embodiments of the present disclosure can provide the user with one-button simple manipulation to complete the complicated and diverse actions of the drone (including in-flight imaging and image return, display). And save, etc.), which greatly enhances the user experience.
下面,以图7为例,说明另一种以硬件方式来实现了所述无人机操控方法的无人机操控装置。Next, another UAV control device that implements the UAV control method in a hardware manner will be described by taking FIG. 7 as an example.
图7示意性示出了本公开另一实施例的与所述实施例的无人机操控方法相对应的具有硬件和软件结构的无人机操控装置的简要结构图。FIG. 7 is a schematic block diagram showing a drone operating device having a hardware and software structure corresponding to the drone control method of the embodiment of another embodiment of the present disclosure.
如图7所示,无人机操控装置300可以包括:处理器310(例如,CPU等)、和存储器320(例如,硬盘HDD、只读存储器ROM等)。此外,还可以包括用虚线表示的可读存储介质321(例如,磁盘、光盘 CD-ROM、USB等)。As shown in FIG. 7, the drone handling device 300 can include a processor 310 (eg, a CPU, etc.), and a memory 320 (eg, a hard disk HDD, a read only memory ROM, etc.). In addition, a readable storage medium 321 (for example, a magnetic disk, a compact disk CD-ROM, a USB, etc.) indicated by a broken line may also be included.
此外,该图7仅是一个示例,并不限定本公开的技术方案。其中,无人机操控装置300中的各个部分均可以是一个或多个,例如,处理器310既可以是一个也可以是多个处理器。In addition, this FIG. 7 is only an example, and does not limit the technical solution of this disclosure. The various parts in the UAV control device 300 may be one or more. For example, the processor 310 may be one or more processors.
这样,不言而喻,本公开实施例的所述无人机操控方法的上文参考流程图(图3、4)描述的过程可以被实现为计算机软件程序。在此,该计算机软件程序也可以为一个或多个。Thus, it goes without saying that the process described above with reference to the flowchart (Figs. 3, 4) of the drone manipulation method of the embodiment of the present disclosure can be implemented as a computer software program. Here, the computer software program may also be one or more.
于是,例如,所述计算机软件程序存储于所述无人机机操控装置300的作为存储装置的存储器320中,通过执行该计算机软件程序,从而使所述无人机操控装置300的一个或多个处理器310执行本公开的图3、4等流程图所示的所述无人机操控方法及其变形。Thus, for example, the computer software program is stored in the memory 320 of the drone machine control device 300 as a storage device, by executing the computer software program, thereby causing one or more of the drone control device 300 The processor 310 executes the drone control method and its variants shown in the flowcharts of FIGS. 3, 4 and the like of the present disclosure.
由此,同样能够为用户提供一键式的简单操控来完成无人机复杂多样的动作,从而提高用户体验。Therefore, the user can also provide a one-button simple manipulation to complete the complicated and diverse actions of the drone, thereby improving the user experience.
此外,不言而喻,所述无线通信方法同样可以作为计算机程序而存储于计算机可读存储介质(例如,图7所示的可读存储介质521)中,该计算机程序可以包括代码/计算机可执行指令,使计算机执行例如本公开的图3、4等流程图所示的所述无人机操控方法及其变形。Moreover, it goes without saying that the wireless communication method can also be stored as a computer program in a computer readable storage medium (for example, the readable storage medium 521 shown in FIG. 7), which can include a code/computer. The instructions are executed to cause the computer to execute the drone control method and variations thereof as shown in the flowcharts of FIGS. 3 and 4 of the present disclosure.
此外,计算机可读存储介质,例如可以是能够包含、存储、传送、传播或传输指令的任意介质。例如,可读存储介质可以包括但不限于电、磁、光、电磁、红外或半导体系统、装置、器件或传播介质。可读存储介质的具体示例包括:磁存储装置,如磁带或硬盘(HDD);光存储装置,如光盘(CD-ROM);存储器,如随机存取存储器(RAM)或闪存;和/或有线/无线通信链路。Furthermore, a computer readable storage medium may be, for example, any medium that can contain, store, communicate, propagate or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: a magnetic storage device such as a magnetic tape or a hard disk (HDD); an optical storage device such as a compact disk (CD-ROM); a memory such as a random access memory (RAM) or a flash memory; and/or a wired /Wireless communication link.
另外,计算机程序可被配置为具有例如包括计算机程序模块的计算机程序代码。应当注意,模块的划分方式和个数并不是固定的,本领域技术人员可以根据实际情况使用合适的程序模块或程序模块组合,当这些程序模块组合被计算机(或处理器)执行时,使得计算机可以执行例如上面结合图3、4所描述的无人机操控方法的流程及其变形。Additionally, a computer program can be configured to have computer program code, for example, including a computer program module. It should be noted that the division manner and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual conditions, and when these program module combinations are executed by a computer (or processor), the computer is made The flow of the drone control method such as described above in connection with Figs. 3, 4 and variations thereof can be performed.
本领域技术人员可以理解,本公开的各个实施例和/或权利要求中记 载的特征可以进行多种组合或/或结合,即使这样的组合或结合没有明确记载于本公开中。特别地,在不脱离本公开精神和教导的情况下,本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合。所有这些组合和/或结合均落入本公开的范围。It will be appreciated by those skilled in the art that the various embodiments of the present disclosure and/or the features recited in the claims can be various combinations and/or combinations, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, various combinations and/or combinations of the features described in the various embodiments and/or claims of the present disclosure can be made without departing from the spirit and scope of the disclosure. All such combinations and/or combinations fall within the scope of the disclosure.
尽管已经参照本公开的特定示例性实施例示出并描述了本公开,但是本领域技术人员应该理解,在不背离所附权利要求及其等同物限定的本公开的精神和范围的情况下,可以对本公开进行形式和细节上的多种改变。因此,本公开的范围不应该限于所述实施例,而是应该不仅由所附权利要求来进行确定,还由所附权利要求的等同物来进行限定。Although the present disclosure has been shown and described with respect to the specific exemplary embodiments of the present disclosure, it will be understood by those skilled in the art Various changes in form and detail are made to the present disclosure. Therefore, the scope of the present disclosure should not be limited to the described embodiments, but the invention is defined by the appended claims.

Claims (34)

  1. 一种无人机操控方法,使用操控设备对无人机进行操控,包括:A drone control method that uses a control device to manipulate a drone, including:
    显示操控模式,在所述操控设备的显示屏的操控界面显示用于操控无人机的动作的至少一个操控模式;Displaying a manipulation mode in which at least one manipulation mode for manipulating the action of the drone is displayed on a manipulation interface of the display screen of the manipulation device;
    接收飞行环境信息,接收来自所述无人机的关于该无人机所处的环境条件的飞行环境信息;Receiving flight environment information, receiving flight environment information from the drone regarding environmental conditions in which the drone is located;
    判断条件,在所述至少一个操控模式中的任一个模式被触发时,根据所述飞行环境信息来判断所述无人机是否满足进入被触发的模式的条件,在判断为满足所述条件的情况下,执行切换操控模式;Determining a condition, when any one of the at least one manipulation modes is triggered, determining, according to the flight environment information, whether the drone meets a condition for entering a triggered mode, and determining that the condition is satisfied In the case, the switching manipulation mode is executed;
    所述切换操控模式,将所述操控界面切换成所述被触发的模式的界面,且向所述无人机发送与所述被触发的模式相应的模式指令,使所述无人机按照所述模式指令进行动作。Switching the manipulation mode, switching the manipulation interface to the interface of the triggered mode, and transmitting a mode instruction corresponding to the triggered mode to the drone, so that the drone according to the The mode command operates.
  2. 根据权利要求1所述的无人机操控方法,其中,The drone control method according to claim 1, wherein
    所述显示操控模式具体包括:The display manipulation mode specifically includes:
    显示主界面,使所述操控界面显示作为操控开始的主界面,该主界面中至少包括一键操控开始按钮;Displaying a main interface, so that the control interface displays a main interface as a start of manipulation, and the main interface includes at least a one-button manipulation start button;
    显示子界面,在所述一键操控开始按钮被触发时,使所述操控界面切换为用于显示所述至少一个操控模式的子界面。The sub-interface is displayed, and when the one-key manipulation start button is triggered, the manipulation interface is switched to a sub-interface for displaying the at least one manipulation mode.
  3. 根据权利要求2所述的无人机操控方法,其中,The drone control method according to claim 2, wherein
    在所述切换操控模式中,还包括:In the switching control mode, the method further includes:
    返回主界面,在接收到所述无人机完成所述动作的信息的情况下,所述操控界面返回所述主界面。Returning to the main interface, when receiving the information that the drone completes the action, the manipulation interface returns to the main interface.
  4. 根据权利要求1所述的无人机操控方法,其中,The drone control method according to claim 1, wherein
    在所述判断条件中,在判断为不满足所述条件的情况下,在所述操控界面显示表示不满足所述条件的原因的消息。In the determination condition, when it is determined that the condition is not satisfied, a message indicating that the reason for the condition is not satisfied is displayed on the manipulation interface.
  5. 根据权利要求1所述的无人机操控方法,其中,The drone control method according to claim 1, wherein
    所述飞行环境信息包括:所述无人机的电量、通信信号强度、光线强度、传感器良好度中的至少一个。The flight environment information includes at least one of a power quantity, a communication signal strength, a light intensity, and a sensor goodness of the drone.
  6. 根据权利要求5所述的无人机操控方法,其中,The drone control method according to claim 5, wherein
    在所述判断条件中,判断为满足所述条件的情形包括:In the determination condition, the case of determining that the condition is satisfied includes:
    所述电量不低于规定电量、所述通信信号强度不低于规定信号强度、所述光线强度不低于规定光线强度、所述传感器良好度不低于规定良好度中的至少一个。The electric quantity is not lower than a predetermined electric quantity, the communication signal intensity is not lower than a predetermined signal intensity, the light intensity is not lower than a predetermined light intensity, and the sensor goodness is not lower than at least one of a predetermined good degree.
  7. 根据权利要求1所述的无人机操控方法,其中,The drone control method according to claim 1, wherein
    在所述切换操控模式中,还包括:In the switching control mode, the method further includes:
    判断异常,在所述无人机进行所述动作的过程中,接收来自所述无人机的所述飞行环境信息来判断所述无人机是否异常;Determining an abnormality, in the process of performing the action by the drone, receiving the flight environment information from the drone to determine whether the drone is abnormal;
    显示异常,在判断为异常的情况下,在所述操控界面显示表示所述异常的原因的消息。An abnormality is displayed, and when it is determined that the abnormality is present, a message indicating the cause of the abnormality is displayed on the manipulation interface.
  8. 根据权利要求7所述的无人机操控方法,其中,The drone control method according to claim 7, wherein
    所述飞行环境信息包括:所述无人机的电量、通信信号强度、光线强度、传感器良好度中的至少一个。The flight environment information includes at least one of a power quantity, a communication signal strength, a light intensity, and a sensor goodness of the drone.
  9. 根据权利要求8所述的无人机操控方法,其中,The drone control method according to claim 8, wherein
    在所述判断异常中,判断为所述异常的情形包括:In the judgment abnormality, the case of determining the abnormality includes:
    所述电量低于规定电量、所述通信信号强度低于规定信号强度、所述光线强度低于规定光线强度、所述传感器良好度低于规定良好度中的至少一个。The electric quantity is lower than a predetermined electric quantity, the communication signal intensity is lower than a predetermined signal intensity, the light intensity is lower than a predetermined light intensity, and the sensor goodness is lower than a predetermined good degree.
  10. 根据权利要求1所述的无人机操控方法,其中,The drone control method according to claim 1, wherein
    所述至少一个操控模式包括如下模式中的至少一个:The at least one manipulation mode includes at least one of the following modes:
    一键360度模式,用于使所述无人机原地旋转360度且通过所述无人机上安装的摄像装置进行拍摄;a one-button 360 degree mode for rotating the drone 360 degrees in situ and photographing by an image pickup device mounted on the drone;
    一键飞远模式,用于使所述无人机向后上方飞出一定距离且通过所述摄像装置进行拍摄;a key flying mode for causing the drone to fly a certain distance backward and upward and to perform shooting by the camera device;
    一键环绕模式,用于使所述摄像装置朝向操控者且使所述无人机围绕该操控者进行拍摄;a key wrapping mode for directing the camera device toward a controller and causing the drone to take a picture around the controller;
    弹跳模式,用于使所述无人机在一定高度之间来回弹跳且通过所述摄像装置进行拍摄;a bouncing mode for causing the drone to bounce back and forth between certain heights and to perform shooting by the camera device;
    拍照录像模式,用于使所述摄像装置进行拍摄,且接收拍摄到的图片和/或视频进行保存;a photographing and recording mode for causing the camera to perform shooting, and receiving the captured picture and/or video for saving;
    点击起飞模式,用于使所述无人机执行一键起飞或抛飞;Clicking on the take-off mode for causing the drone to perform a one-button take-off or throw-off;
    点击降落模式,用于使所述无人机执行一键降落或掌上降落;Clicking on the landing mode for causing the drone to perform a one-click landing or a palm landing;
    第三方操控模式,用于使用第三方操控设备来操控所述无人机的动作;a third-party manipulation mode for using a third-party manipulation device to manipulate the actions of the drone;
    分屏模式,用于在所述显示屏上对所述图片或所述视频进行分屏显示。a split screen mode for performing split screen display on the picture or the video on the display screen.
  11. 根据权利要求10所述的无人机操控方法,其中,The drone control method according to claim 10, wherein
    在所述弹跳模式中,所述一定高度之间是0.5m至2m高度之间。In the bouncing mode, the certain height is between 0.5 m and 2 m in height.
  12. 根据权利要求10所述的无人机操控方法,其中,The drone control method according to claim 10, wherein
    所述飞行环境信息包括:对所述无人机的下方的规定距离内是否存在物体进行感测的下方信息,The flight environment information includes: information on whether or not an object is sensed within a predetermined distance below the drone,
    在所述弹跳模式中,在所述下方信息中包含感测到存在物体的信息的情况下,使所述无人机上升一定距离。In the bounce mode, in a case where the lower information includes information that senses the presence of an object, the drone is raised by a certain distance.
  13. 根据权利要求10所述的无人机操控方法,其中,The drone control method according to claim 10, wherein
    在所述拍照录像模式中,通过wifi实时接收由所述摄像装置拍摄到的图片和/或视频进行保存。In the photo recording mode, pictures and/or videos captured by the camera device are received in real time via wifi for storage.
  14. 根据权利要求10所述的无人机操控方法,其中,The drone control method according to claim 10, wherein
    在所述第三方操控模式中,利用通用软件开发工具包将所述第三方操控设备的键值变换为所述操控设备对应的操控指令,且将该操控指令发送给所述无人机。In the third-party manipulation mode, the key value of the third-party manipulation device is converted into a manipulation instruction corresponding to the manipulation device by using a general software development kit, and the manipulation instruction is sent to the drone.
  15. 根据权利要求14所述的无人机操控方法,其中,The drone control method according to claim 14, wherein
    在所述第三方操控模式中,通过蓝牙或mfi将所述第三方操控设备与所述操控设备建立连接,利用所述通用软件开发工具包将所述第三方操控设备的键值变换为所述操控设备对应的操控指令,且通过wifi将该操控指令发送给所述无人机。In the third-party manipulation mode, the third-party manipulation device is connected to the manipulation device via Bluetooth or mfi, and the key value of the third-party manipulation device is converted into the The manipulation instruction corresponding to the device is manipulated, and the manipulation instruction is sent to the drone through wifi.
  16. 根据权利要求1-15中任一项所述的无人机操控方法,其中,The drone control method according to any one of claims 1 to 15, wherein
    所述操控设备是手机。The handling device is a mobile phone.
  17. 一种无人机操控设备,用于操控无人机,包括:A drone control device for manipulating a drone, including:
    显示屏,包括用于显示操控模式的操控界面;a display screen including a manipulation interface for displaying a manipulation mode;
    通信单元,能够从外部接收信息或/和向外部发送信息;a communication unit capable of receiving information from outside or/and transmitting information to the outside;
    处理器,用于控制所述无人机操控设备,具体用于:a processor for controlling the drone control device, specifically for:
    显示操控模式,在所述显示屏的所述操控界面显示用于操控无人机的动作的至少一个操控模式;Displaying a manipulation mode, displaying at least one manipulation mode for manipulating an action of the drone on the manipulation interface of the display screen;
    接收飞行环境信息,通过所述通信单元接收来自所述无人机的关于该无人机所处的环境条件的飞行环境信息;Receiving flight environment information, and receiving, by the communication unit, flight environment information from the drone regarding environmental conditions in which the drone is located;
    判断条件,在所述至少一个操控模式中的任一个模式被触发时,根据所述飞行环境信息来判断所述无人机是否满足进入被触发的模式的条件,在判断为满足所述条件的情况下,执行切换操控模式;Determining a condition, when any one of the at least one manipulation modes is triggered, determining, according to the flight environment information, whether the drone meets a condition for entering a triggered mode, and determining that the condition is satisfied In the case, the switching manipulation mode is executed;
    所述切换操控模式,将所述操控界面切换成所述被触发的模式的界面,且通过所述通信单元向所述无人机发送与所述被触发的模式相应的模式指令,使所述无人机按照所述模式指令进行动作。Switching the manipulation mode, switching the manipulation interface to the interface of the triggered mode, and transmitting, by the communication unit, a mode instruction corresponding to the triggered mode to the drone to cause the The drone operates in accordance with the mode command.
  18. 根据权利要求17所述的无人机操控设备,其中,The drone handling device according to claim 17, wherein
    所述显示操控模式具体包括:The display manipulation mode specifically includes:
    显示主界面,使所述操控界面显示作为操控开始的主界面,该主界面中至少包括一键操控开始按钮;Displaying a main interface, so that the control interface displays a main interface as a start of manipulation, and the main interface includes at least a one-button manipulation start button;
    显示子界面,在所述一键操控开始按钮被触发时,使所述操控界面切换为用于显示所述至少一个操控模式的子界面。The sub-interface is displayed, and when the one-key manipulation start button is triggered, the manipulation interface is switched to a sub-interface for displaying the at least one manipulation mode.
  19. 根据权利要求18所述的无人机操控设备,其中,The drone handling device according to claim 18, wherein
    在所述切换操控模式中,还包括:In the switching control mode, the method further includes:
    返回主界面,在所述通信单元接收到所述无人机完成所述动作的信息的情况下,所述操控界面返回所述主界面。Returning to the main interface, when the communication unit receives the information that the drone completes the action, the manipulation interface returns to the main interface.
  20. 根据权利要求17所述的无人机操控设备,其中,The drone handling device according to claim 17, wherein
    在所述判断条件中,在判断为不满足所述条件的情况下,在所述操控界面显示表示不满足所述条件的原因的消息。In the determination condition, when it is determined that the condition is not satisfied, a message indicating that the reason for the condition is not satisfied is displayed on the manipulation interface.
  21. 根据权利要求17所述的无人机操控设备,其中,The drone handling device according to claim 17, wherein
    所述飞行环境信息包括:所述无人机的电量、通信信号强度、光线强度、传感器良好度中的至少一个。The flight environment information includes at least one of a power quantity, a communication signal strength, a light intensity, and a sensor goodness of the drone.
  22. 根据权利要求21所述的无人机操控设备,其中,The drone handling device according to claim 21, wherein
    在所述判断条件中,判断为满足所述条件的情形包括:In the determination condition, the case of determining that the condition is satisfied includes:
    所述电量不低于规定电量、所述通信信号强度不低于规定信号强度、所述光线强度不低于规定光线强度、所述传感器良好度不低于规定良好度中的至少一个。The electric quantity is not lower than a predetermined electric quantity, the communication signal intensity is not lower than a predetermined signal intensity, the light intensity is not lower than a predetermined light intensity, and the sensor goodness is not lower than at least one of a predetermined good degree.
  23. 根据权利要求17所述的无人机操控设备,其中,The drone handling device according to claim 17, wherein
    在所述切换操控模式中,还包括:In the switching control mode, the method further includes:
    判断异常,在所述无人机进行所述动作的过程中,通过所述通信单元接收来自所述无人机的所述飞行环境信息来判断所述无人机是否异常;Determining an abnormality, in the process of performing the action by the drone, receiving, by the communication unit, the flight environment information from the drone to determine whether the drone is abnormal;
    显示异常,在判断为异常的情况下,在所述操控界面显示表示所述异常的原因的消息。An abnormality is displayed, and when it is determined that the abnormality is present, a message indicating the cause of the abnormality is displayed on the manipulation interface.
  24. 根据权利要求23所述的无人机操控设备,其中,The drone handling device according to claim 23, wherein
    所述飞行环境信息包括:所述无人机的电量、通信信号强度、光线强度、传感器良好度中的至少一个。The flight environment information includes at least one of a power quantity, a communication signal strength, a light intensity, and a sensor goodness of the drone.
  25. 根据权利要求24所述的无人机操控设备,其中,The drone operating device according to claim 24, wherein
    在所述判断异常中,判断为所述异常的情形包括:In the judgment abnormality, the case of determining the abnormality includes:
    所述电量低于规定电量、所述通信信号强度低于规定信号强度、所述光线强度低于规定光线强度、所述传感器良好度低于规定良好度中的至少一个。The electric quantity is lower than a predetermined electric quantity, the communication signal intensity is lower than a predetermined signal intensity, the light intensity is lower than a predetermined light intensity, and the sensor goodness is lower than a predetermined good degree.
  26. 根据权利要求17所述的无人机操控设备,其中,The drone handling device according to claim 17, wherein
    所述至少一个操控模式包括如下模式中的至少一个:The at least one manipulation mode includes at least one of the following modes:
    一键360度模式,用于使所述无人机原地旋转360度且通过所述无人机上安装的摄像装置进行拍摄;a one-button 360 degree mode for rotating the drone 360 degrees in situ and photographing by an image pickup device mounted on the drone;
    一键飞远模式,用于使所述无人机向后上方飞出一定距离且通过所述摄像装置进行拍摄;a key flying mode for causing the drone to fly a certain distance backward and upward and to perform shooting by the camera device;
    一键环绕模式,用于使所述摄像装置朝向操控者且使所述无人机围绕该操控者进行拍摄;a key wrapping mode for directing the camera device toward a controller and causing the drone to take a picture around the controller;
    弹跳模式,用于使所述无人机在一定高度之间来回弹跳且通过所述摄像装置进行拍摄;a bouncing mode for causing the drone to bounce back and forth between certain heights and to perform shooting by the camera device;
    拍照录像模式,用于使所述摄像装置进行拍摄,且接收拍摄到的图片和/或视频进行保存;a photographing and recording mode for causing the camera to perform shooting, and receiving the captured picture and/or video for saving;
    点击起飞模式,用于使所述无人机执行一键起飞或抛飞;Clicking on the take-off mode for causing the drone to perform a one-button take-off or throw-off;
    点击降落模式,用于使所述无人机执行一键降落或掌上降落;Clicking on the landing mode for causing the drone to perform a one-click landing or a palm landing;
    第三方操控模式,用于使用第三方操控设备来操控所述无人机的动作;a third-party manipulation mode for using a third-party manipulation device to manipulate the actions of the drone;
    分屏模式,用于在所述显示屏上对所述图片或所述视频进行分屏显示。a split screen mode for performing split screen display on the picture or the video on the display screen.
  27. 根据权利要求26所述的无人机操控设备,其中,The drone handling apparatus according to claim 26, wherein
    在所述弹跳模式中,所述一定高度之间是0.5m至2m高度之间。In the bouncing mode, the certain height is between 0.5 m and 2 m in height.
  28. 根据权利要求26所述的无人机操控设备,其中,The drone handling apparatus according to claim 26, wherein
    所述飞行环境信息包括:对所述无人机的下方的规定距离内是否存在物体进行感测的下方信息,The flight environment information includes: information on whether or not an object is sensed within a predetermined distance below the drone,
    在所述弹跳模式中,在所述下方信息中包含感测到存在物体的信息的情况下,使所述无人机上升一定距离。In the bounce mode, in a case where the lower information includes information that senses the presence of an object, the drone is raised by a certain distance.
  29. 根据权利要求26所述的无人机操控设备,其中,The drone handling apparatus according to claim 26, wherein
    在所述拍照录像模式中,通过wifi实时接收由所述摄像装置拍摄到的图片和/或视频进行保存。In the photo recording mode, pictures and/or videos captured by the camera device are received in real time via wifi for storage.
  30. 根据权利要求26所述的无人机操控设备,其中,The drone handling apparatus according to claim 26, wherein
    在所述第三方操控模式中,利用通用软件开发工具包将所述第三方操控设备的键值变换为所述操控设备对应的操控指令,且将该操控指令通过所述通信单元发送给所述无人机。In the third-party manipulation mode, the key value of the third-party manipulation device is converted into a manipulation instruction corresponding to the manipulation device by using a general software development kit, and the manipulation instruction is sent to the Drone.
  31. 根据权利要求30所述的无人机操控设备,其中,The drone operating device according to claim 30, wherein
    在所述第三方操控模式中,通过蓝牙或mfi将所述第三方操控设备与所述操控设备建立连接,利用所述通用软件开发工具包将所述第 三方操控设备的键值变换为所述操控设备对应的操控指令,且通过wifi将该操控指令发送给所述无人机。In the third-party manipulation mode, the third-party manipulation device is connected to the manipulation device via Bluetooth or mfi, and the key value of the third-party manipulation device is converted into the The manipulation instruction corresponding to the device is manipulated, and the manipulation instruction is sent to the drone through wifi.
  32. 根据权利要求17-31中任一项所述的无人机操控设备,其中,The drone handling apparatus according to any one of claims 17 to 31, wherein
    所述无人机操控设备是手机。The drone control device is a mobile phone.
  33. 一种无人机操控装置,包括处理器和存储器,在存储器中存储有计算机可执行指令,在所述指令被所述处理器执行时,使所述处理器执行权利要求1-16中任一项所述的无人机操控方法。A UAV control device comprising a processor and a memory, the computer executable instructions being stored in the memory, the processor being caused to perform any of claims 1-16 when the instructions are executed by the processor The drone control method described in the item.
  34. 一种计算机可读的记录介质,存储有可执行指令,该指令被处理器执行时使该处理器执行权利要求1-16中任一项所述的无人机操控方法。A computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the drone control method of any of claims 1-16.
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