WO2019134122A1

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

Info

Publication number: WO2019134122A1
Application number: PCT/CN2018/071591
Authority: WO
Inventors: 朱炼; 张洁明; 缪宝杰; 苏冠华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-01-05
Filing date: 2018-01-05
Publication date: 2019-07-11
Also published as: CN110383195A

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

UAV control method and device, drone control device and recording medium

Technical field

The present disclosure relates to a drone control method and apparatus, a drone control device, and a recording medium.

Background technique

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.

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.

Summary of the invention

The present disclosure has been made to solve such technical problems as described above.

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.

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;

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.

DRAWINGS

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

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, and 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, and 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.

Detailed ways

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

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.

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.).

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.

Next, the structure of the drone operating device according to the embodiment of the present disclosure will be described with reference to FIG. 2.

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.

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.

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.

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.

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.

Here, 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);

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. ;

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. Wherein, 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. Wherein, 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. 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;

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.

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.

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.

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.

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).

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.

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.

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.

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.

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.

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).

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.

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.

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).

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.).

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).

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

A drone control method that uses a control device to manipulate a drone, including:

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;

Receiving flight environment information, receiving flight environment information from the drone regarding environmental conditions in which the drone is located;

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;

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.
The drone control method according to claim 1, wherein

The display manipulation mode specifically includes:

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;

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.
The drone control method according to claim 2, wherein

In the switching control mode, the method further includes:

Returning to the main interface, when receiving the information that the drone completes the action, the manipulation interface returns to the main interface.
The drone control method according to claim 1, wherein

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.
The drone control method according to claim 1, wherein

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.
The drone control method according to claim 5, wherein

In the determination condition, the case of determining that the condition is satisfied includes:

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.
The drone control method according to claim 1, wherein

In the switching control mode, the method further includes:

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;

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.
The drone control method according to claim 7, wherein

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.
The drone control method according to claim 8, wherein

In the judgment abnormality, the case of determining the abnormality includes:

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.
The drone control method according to claim 1, wherein

The at least one manipulation mode includes at least one of the following modes:

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;

a key flying mode for causing the drone to fly a certain distance backward and upward and to perform shooting by the camera device;

a key wrapping mode for directing the camera device toward a controller and causing the drone to take a picture around the controller;

a bouncing mode for causing the drone to bounce back and forth between certain heights and to perform shooting by the camera device;

a photographing and recording mode for causing the camera to perform shooting, and receiving the captured picture and/or video for saving;

Clicking on the take-off mode for causing the drone to perform a one-button take-off or throw-off;

Clicking on the landing mode for causing the drone to perform a one-click landing or a palm landing;

a third-party manipulation mode for using a third-party manipulation device to manipulate the actions of the drone;

a split screen mode for performing split screen display on the picture or the video on the display screen.
The drone control method according to claim 10, wherein

In the bouncing mode, the certain height is between 0.5 m and 2 m in height.
The drone control method according to claim 10, wherein

The flight environment information includes: information on whether or not an object is sensed within a predetermined distance below the drone,

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.
The drone control method according to claim 10, wherein

In the photo recording mode, pictures and/or videos captured by the camera device are received in real time via wifi for storage.
The drone control method according to claim 10, wherein

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.
The drone control method according to claim 14, wherein

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.
The drone control method according to any one of claims 1 to 15, wherein

The handling device is a mobile phone.
A drone control device for manipulating a drone, including:

a display screen including a manipulation interface for displaying a manipulation mode;

a communication unit capable of receiving information from outside or/and transmitting information to the outside;

a processor for controlling the drone control device, specifically for:

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;

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;

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;

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.
The drone handling device according to claim 17, wherein

The display manipulation mode specifically includes:

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;

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.
The drone handling device according to claim 18, wherein

In the switching control mode, the method further includes:

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.
The drone handling device according to claim 17, wherein

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.
The drone handling device according to claim 17, wherein

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.
The drone handling device according to claim 21, wherein

In the determination condition, the case of determining that the condition is satisfied includes:

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.
The drone handling device according to claim 17, wherein

In the switching control mode, the method further includes:

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;

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.
The drone handling device according to claim 23, wherein

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.
The drone operating device according to claim 24, wherein

In the judgment abnormality, the case of determining the abnormality includes:

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.
The drone handling device according to claim 17, wherein

The at least one manipulation mode includes at least one of the following modes:

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;

a key flying mode for causing the drone to fly a certain distance backward and upward and to perform shooting by the camera device;

a key wrapping mode for directing the camera device toward a controller and causing the drone to take a picture around the controller;

a bouncing mode for causing the drone to bounce back and forth between certain heights and to perform shooting by the camera device;

a photographing and recording mode for causing the camera to perform shooting, and receiving the captured picture and/or video for saving;

Clicking on the take-off mode for causing the drone to perform a one-button take-off or throw-off;

Clicking on the landing mode for causing the drone to perform a one-click landing or a palm landing;

a third-party manipulation mode for using a third-party manipulation device to manipulate the actions of the drone;

a split screen mode for performing split screen display on the picture or the video on the display screen.
The drone handling apparatus according to claim 26, wherein

In the bouncing mode, the certain height is between 0.5 m and 2 m in height.
The drone handling apparatus according to claim 26, wherein

The flight environment information includes: information on whether or not an object is sensed within a predetermined distance below the drone,

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.
The drone handling apparatus according to claim 26, wherein

In the photo recording mode, pictures and/or videos captured by the camera device are received in real time via wifi for storage.
The drone handling apparatus according to claim 26, wherein

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.
The drone operating device according to claim 30, wherein

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.
The drone handling apparatus according to any one of claims 17 to 31, wherein

The drone control device is a mobile phone.
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.
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.