WO2020014962A1

WO2020014962A1 - Point of interest encircling flight method and control terminal

Info

Publication number: WO2020014962A1
Application number: PCT/CN2018/096446
Authority: WO
Inventors: 刘雨奇; 邬梁爽
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-07-20
Filing date: 2018-07-20
Publication date: 2020-01-23
Also published as: CN110799923A; CN110799923B

Abstract

A point of interest encircling flight method, comprising: obtaining a current position visual image of an aircraft by means of visual image identification, displaying the current position visual image on an interface of a control terminal, and determining a target point of interest in the current position visual image of the aircraft (S1); and measuring and calculating the distance between a current position of the aircraft and the target point of interest, generating an initial radius for encircling flight of the aircraft according to the distance, and controlling the aircraft to perform point of interest encircling flight according to the radius (S2).

Description

Method for orbiting interest points and control terminal

Technical field

The present invention relates to the field of unmanned aerial vehicles, and in particular, to a method and a control terminal for orbiting flying around points of interest of an unmanned aerial vehicle.

Background technique

UAVs have broad application prospects in aerial photography, aerial surveys, disaster investigation and rescue, transmission line inspections, and military fields. At present, in the process of remote control of a drone, the operator usually requires the drone to monitor some points of interest (such as transmission line failure points, disaster occurrence points, accident occurrence points, etc.) as flying points around the point. In the prior art, the operator is required to use the remote control to perform complex operations such as dot operation after the drone flies to the point of interest. Therefore, the operator is required to have good operation skills, which reduces the user experience of the operator.

Summary of the invention

Embodiments of the present invention provide a method for orbiting a point of interest and a control terminal, so as to improve the intelligence of the point of interest orbiting, simplify and facilitate user operations, and improve user experience.

A first aspect of an embodiment of the present invention provides a method for orbiting an unattended point of interest, including:

Obtaining a visual image of the current position of the aircraft through visual image recognition, and displaying the visual image on the control terminal interface;

Determine the target interest point in the visual image of the current position of the aircraft, measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft to fly around according to the distance, and control the aircraft to use the initial radius Perform an orbit of interest flight.

A second aspect of the embodiments of the present invention provides a control terminal for orbital flight of points of interest, which includes:

Memory and processor, where

The memory is configured to store executable instructions;

The processor is configured to execute the executable instructions stored in the memory to perform the following operations:

A target interest point is determined, a distance between the current position of the aircraft and the target interest point is calculated, and an initial radius of the aircraft orbiting flight is generated according to the distance, and the aircraft is controlled to perform an interest point orbiting flight at the initial radius.

A third aspect of the embodiments of the present invention provides a computer-readable storage medium that stores executable instructions. When the executable instructions are executed by one or more processors, the one or more processes can be performed. The device performs the method of orbiting a point of interest as described in the first aspect.

A fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a control device for orbital flight of a point of interest according to the second aspect.

In the embodiment of the present invention, when flying around the point of interest, the target distance can be automatically and intelligently calculated through the visual image, and the user does not need to perform complicated operations such as location dots, which makes the user convenient and fast operation and improves the user operation experience.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the following specific embodiments, the drawings are used to explain the present invention, but not to limit the present invention. In the drawings:

FIG. 1 is a flowchart of a method for flying around a point of interest according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of an operation interface for selecting a target interest point according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of a conventional position marking method.

FIG. 4 is a schematic diagram of intelligently calculating an initial radius of an orbiting flight according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of sliding adjustment parameters on an operation interface of a control terminal according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of adjusting a parameter by using a remote control stick according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of a control device for flying around a point of interest according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is considered to be “connected” to another component, it may be directly connected to another component or a centered component may exist at the same time. When a component "gets" data from another component, the acquisition here may be that a component directly communicates with the other component to obtain data, or that a component obtains data from the other component through other components.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

At present, the UAV needs to use the buttons of the remote control to perform the point of interest flying around the point of interest. At the same time, it is necessary to operate the application interface on the mobile phone while operating the joystick. In order to solve the above problem, an embodiment of the present invention provides a method for orbiting a point of interest to intelligently calculate a target distance, which will be explained in detail below.

An embodiment of the present invention provides a method for orbiting a point of interest. In this embodiment, a drone is used as an example for detailed description. FIG. 1 is a flowchart of a method for orbiting a point of interest in an embodiment of the present invention. The method for orbiting the point of interest is described in detail below.

Step S101: Obtain a visual image of the current position of the drone through visual image recognition, display it on the control terminal interface, and determine a target interest point in the visual image of the current position of the drone.

Specifically, the execution subject of the method may be a control terminal of a drone. Further, the execution subject of the method may be a processor of the control terminal of the drone, wherein the processor may be a general-purpose or special-purpose processor, and the processor may be one or more, the One or more processors work individually or in concert. Generally, the control terminal is a mobile phone and / or a remote controller or a dedicated control device.

A visual image recognition device is configured on the drone, wherein the imaging device of the visual image recognition device is used to capture an environmental image within the current visual range of the drone, and sends the environmental image to a control terminal of the drone. The control terminal first needs to be connected to the drone. After the connection is successful, the FPV information is displayed on the control terminal interface, and the drone is set to enter the POI (point of interest) mode, and the drone's flight altitude and return flight are set. Altitude and speed are preset.

When the drone is in the multi-target tracking mode, the processing unit of the visual image recognition device automatically recognizes the captured image, classifies various things and people therein, and sends the recognition result to the control of the drone. terminal. Through the automatic recognition of visual images, the display of things in the images is more intuitive, and it is convenient for users to select target interest points more quickly.

After receiving the image of the drone's current environment, the control terminal of the drone displays it on the control terminal interface. Specifically, the user may select the target interest point as the center point of the surround at the control terminal.

In some cases, when the control terminal only receives image information within the visual range sent by the visual image recognition device, the user may select the range by using direct frame selection or circle drawing on the image displayed on the control terminal interface. This range is determined as the target point of interest as the center point of the orbital flight.

Optionally, for example, when the drone is in a multi-target tracking mode, the control terminal receives the image information and the automatic recognition result sent by the visual image recognition device, based on the automatic recognition results of the objects in the visual range and their types, The user selects the target object on the control terminal interface to determine the target interest point. Specifically, the manner of selecting the target object to determine the target interest point includes: clicking the target object for selection, double-clicking the target object for selection, long-pressing the target object, sliding selection, circle selection, and voice instruction selection.

In some cases, the drone is controlled to enable the multi-target tracking mode, to automatically recognize objects in the visual range, to control the terminal to receive image information and automatic recognition results sent by the visual image recognition device, and to display the image on the control terminal On the interface, at the same time, the object on the image automatically displays a recognition frame to mark the type of the identified object. The user can select the target interest point of interest as the center of the orbital flight according to the recognition box. This point can be the point of transmission line failure, frequent disasters, accidents, etc., and the camera device equipped with the drone can shoot around 360 °. Center point object of interest, or. The selection operation can be performed by single-clicking the target object on the control terminal interface, double-clicking the target object to select, long-pressing the target object, sliding selection, etc., or directly selecting the voice command issued by the user.

Optionally, after the operation of selecting the target interest point is successful, the control terminal gives confirmation information of the target interest point, where the confirmation information of the target interest point includes the position and / or type of the target. In the above case, if the operation of selecting the target interest point fails, the control terminal gives a prompt of the failure state.

2 (a) -2 (c) are schematic diagrams of an operation interface for selecting a target interest point according to an embodiment of the present invention. As shown in Figure 2 (a) -2 (b), first set the drone to enter the point of interest surround mode. The user selects the mode of using the visual image of the drone to dot. At this time, the control terminal receives the image sent by the visual image recognition device. Information, and automatically identify the person in the image range. When the target person appears in the visual image range, the user selects the target person as the target interest point by sliding the frame on the control terminal interface. Continuing to refer to FIG. 2 (c), after confirming that the selection is successful, the user can select the GO button on the control terminal interface to confirm and control the drone to start orbital flight.

Step S102: Calculate a distance between the current position of the drone and the target interest point, and generate an initial radius of the drone orbiting according to the distance, and control the drone to orbit the interest point around the initial radius. .

The traditional method of determining the point of interest is that after the drone reaches the point of interest, the operator uses the remote control buttons to perform complex operations such as clicking. As shown in Figure 3, the user needs to operate the remote control buttons and the application program interface at the same time. Inconvenient operation. However, in this embodiment, using the visual image calculation of the drone, after the target interest point appears in the visual range of the drone, the user selects and confirms the target interest point through the control terminal, and then intelligently calculates and The distance of the target point of interest can start orbiting, so there is no need for the drone to fly to the position of the target point of interest and then click the remote control button to reduce the complexity of the user's operation.

Specifically, when measuring the distance between the current position of the drone and the target interest point, it is necessary to first obtain the current GPS coordinates of the drone as the position of the drone. The drone is equipped with a GPS positioning system, and the current position provided by the GPS positioning system is used to determine the current position of the drone. In some other embodiments, the UAV may also be configured with other positioning systems, and specific positioning accuracy may be selected as needed. The drone uses the coordinates provided by the positioning system as the current position coordinates of the drone.

After determining the current position coordinates of the drone, the relative distance between the drone and the target point of interest needs to be calculated. Specifically, the relative position of the drone and the target interest point is estimated according to the difference of each frame image in the visual image recognition, and the virtual coordinates of the target interest point are further determined according to the current position coordinates of the drone obtained before, As the target position.

FIG. 4 is a schematic diagram of intelligently calculating an initial radius of an orbiting flight according to an embodiment of the present invention. As shown in Figure 4, during the flight of the UAV, there may be a certain height difference Δh between the flight height and the selected target interest point, the height difference Δh and the distance D between the two and the horizontal projection of the distance R ₀ forms a right triangle. Further, when the relative position of the drone and the target interest point is estimated according to the difference of each frame image in the visual image recognition, the distance D and the height difference between the drone and the target interest point according to the visual image △ h is calculated, and according to the Pythagorean theorem, the distance R ₀ between the projection of the target position on the horizontal plane and the projection of the drone position on the horizontal plane can be calculated. The distance R _{0 is} used as the initial radius of the drone to start orbiting.

In the above case, when the distance measurement between the current position of the drone and the target interest point fails, a prompt indicating the status of the measurement failure is displayed on the control terminal interface. The status prompt may be that the drone position information acquisition fails or the target position information acquisition fails. After obtaining the failure status information, the user can debug or retry the drone status.

If the calculation is successful, the drone begins to orbit around the initial radius, and the user can adjust the parameters of the drone orbit through the operation of the control terminal.

Optionally, the adjusting the drone's orbiting parameters by the operation of the control terminal includes: controlling the drone's orbiting parameters according to the operation of dragging the slider of the control terminal interface, the drone's orbiting parameters It includes at least one of a circle radius, a circle height, a circle direction, and a circle speed. Using the control terminal to slidingly control the drone's orbiting parameters can effectively simplify the user's operation, avoiding the need for the user to control the drone's orbiting parameters through the remote control while operating the application program interface; It shows the real-time flying status of the drone more intuitively, which further improves the user experience.

FIG. 5 is a schematic diagram of sliding adjustment parameters on an operation interface of a control terminal according to an embodiment of the present invention. As shown in Figure 5, during the drone's orbiting process, the size of the drone's orbiting parameters can be adjusted by dragging the slider on the control terminal operation interface, including the adjustment of the orbiting radius, altitude, speed, and return altitude. Thus, the flight trajectory of the drone is changed, and at the same time, the flight trajectory of the drone is simulated in real time on the control terminal operation interface. It can be understood that in addition to sliding adjustment, it can also be adjusted by other methods such as inputting parameters and controlling increase / decrease buttons.

In some other embodiments, when the parameters of the drone's orbiting are adjusted by the operation of the control terminal, at least one of the orbiting radius, the orbiting height, the orbiting direction, and the orbiting speed can be adjusted by using a remote control stick or a wheel. For example, when the dial of the remote control is used to control the orbit direction, when the dial is set to slide in the first direction, the drone flies clockwise; when the dial is set to slide in the second direction, the drone orbits counterclockwise. flight.

FIG. 6 is a schematic diagram of adjusting a parameter by using a remote control stick according to an embodiment of the present invention. As shown in FIG. 6, during the drone's orbiting process, the drone can be used to adjust the drone's orbital flight. At the same time, the control terminal operation interface displays the simulated remote control's shot amount and the drone's flight track. It is convenient for users to control the drone flight trajectory more intuitively.

In particular, before the drone obtains a visual image of the current position of the drone through visual image recognition, after the control terminal and the drone are successfully connected to each other through the control terminal interface, the drone flight altitude and return altitude can be controlled through the control terminal interface. And speed.

Another embodiment of the present invention provides a control terminal for orbit flying of points of interest, wherein FIG. 7 is a schematic diagram of a control terminal for orbit flying of points of interest of a drone according to an embodiment of the present invention. The control terminal of the point of interest orbit flying in this embodiment may include a power module, various interface modules, and the like. The control terminal of the point of interest orbit flying includes a remote controller, a smart phone, a desktop computer, a laptop computer, and a wearable device. One or more of them. As shown in FIG. 7, in this embodiment, the control terminal 700 for flying around the point of interest shown further includes a memory 701 and a processor 702.

The memory 701 may include volatile memory (for example, random-access memory (RAM) 701; the memory 701 may also include non-volatile memory (for example, flash memory) A memory (flash memory), a hard disk (HDD) or a solid-state drive (SSD); the memory 701 may further include a combination of the above types of memories.

The processor 702 may be a central processing unit (central processing unit, abbreviation: CPU). The processor 702 may further include a hardware chip. The hardware chip may be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.

Optionally, the memory 701 is further configured to store program instructions. The processor 702 may call the program instructions to implement related methods as shown in the corresponding embodiment in FIG. 1.

Specifically, the processor 702 is configured to execute the executable instructions stored in the memory 701 to perform the following operations:

Obtaining a visual image of the current position of the aircraft through visual image recognition, displaying it on the control terminal interface, and determining a target interest point in the visual image of the current position of the aircraft;

Measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft's orbiting flight based on the distance, and control the aircraft to perform the point of interest orbiting flight at the initial radius.

Further, when the processor 702 determines the target interest point, the processor 702 is specifically configured to determine the target interest point according to a click or frame selection operation on the control terminal interface.

Specifically, the processor 702 is further configured to: when the aircraft performs the visual image recognition, enable a multi-target tracking mode, automatically recognize objects and types within the visual range, and display the automatic recognition result on the control terminal interface .

Further, when determining the target interest point by the processor 702, the processor 702 is specifically configured to determine the target interest point based on the operation of selecting the target object on the control terminal interface based on the automatic recognition result of the objects in the visual range and their types. .

Optionally, the operation mode of clicking the target object to determine the target interest point includes: clicking the target object to select, double-clicking the target object to select or long-pressing the target object to select, sliding selection, circle selection and voice command selection set.

When the processor 702 measures a distance between the current position of the aircraft and the target interest point, and generates an initial radius of the aircraft's orbiting flight based on the distance, the processor 702 is specifically configured to:

Obtain the current GPS coordinates of the aircraft as the aircraft position;

Estimating the relative position with the target interest point according to the difference of each frame of the image in the visual image recognition, and further determining the virtual GPS coordinates of the target interest point as the target position according to the GPS coordinates of the aircraft;

The distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.

Further, the processor 702 is further configured to:

The height difference and distance between the aircraft and the target interest point are calculated by the visual image, and the GPS coordinates of the aircraft are used to determine the virtual GPS coordinates of the target interest point.

Optionally, the processor 702 is further configured to: when the measurement of the distance between the current position of the aircraft and the target interest point fails, display a status prompt of the measurement failure on the control terminal interface.

Specifically, the status prompt includes: the aircraft position information acquisition fails or the target position information acquisition fails.

Further optionally, the processor 702 is further configured to: after controlling the aircraft to fly around the point of interest at the initial radius, adjust parameters of the aircraft to fly around according to the operation of the control terminal.

When the processor 702 adjusts the parameters of the orbiting of the aircraft through the operation of the control terminal, it is specifically used to control the parameters of the orbiting of the aircraft according to the operation of dragging the slider on the interface of the control terminal.

Specifically, the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.

Specifically, the processor 702 is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency-link connection with the aircraft, display the FPV information on the control terminal interface after the connection is successful, and set the aircraft to enter POI mode.

Further, the processor 702 is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency connection with the aircraft, and after the connection is successful, perform flight control on the aircraft's flight altitude and return home according to the operation of the control terminal interface. Altitude and speed are preset.

In other embodiments, when the processor 702 adjusts the parameters of the aircraft's orbital flight through the operation of the control terminal, the processor 702 is specifically configured to adjust the orbital radius, orbital height, orbital direction, and orbital speed according to the operation of the remote control stick or dial. At least one of.

It can be understood that, for specific principles and explanations of the control terminal provided by the embodiment of the present invention, reference may be made to relevant parts in the point of interest orbiting flight method described in FIG. 1, and details are not described herein again.

Another embodiment of the present invention provides a computer-readable storage medium, in which executable instructions are stored, and the executable instructions, when executed by one or more processors, may cause the one or more processes to be processed. The drone executes the flight log processing method of the drone in the embodiment corresponding to FIG. 1.

Another embodiment of the present invention provides an unmanned aerial vehicle, which includes a control terminal for flying around a point of interest in the embodiment corresponding to FIG. 5.

The embodiments of the present invention have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the invention. Although the embodiments have been described separately above, this does not mean that the measures in the respective embodiments cannot be used in an advantageous combination. The scope of the invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present invention.

Claims

A method of orbit flying around a point of interest, which comprises:

Obtaining a visual image of the current position of the aircraft through visual image recognition, displaying it on the control terminal interface, and determining a target interest point in the visual image of the current position of the aircraft;

Measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft's orbiting flight based on the distance, and control the aircraft to perform the point of interest orbiting flight at the initial radius.
The method according to claim 1, wherein determining the target interest point comprises: determining the target interest point according to a selection operation on an interface of the control terminal.
The method according to claim 2, further comprising: when the aircraft performs the visual image recognition, enabling a multi-target tracking mode, automatically identifying objects and types within the visual range, and displaying Recognize results automatically.
The method according to claim 3, wherein determining the target interest point comprises: based on an automatic recognition result of the objects in the visual range and their types, and according to the operation of selecting the target object in the control terminal interface, Target points of interest.
The method according to claim 4, wherein the method of selecting the target object to determine the target interest point comprises at least one of the following: single-clicking the target object to select, double-clicking the target object to select, and long-pressing the target object , Slide selection, circle selection and voice command selection.
The method according to claim 1, wherein the measuring the distance between the current position of the aircraft and the target interest point, and generating the initial radius of the aircraft's orbiting flight based on the distance, comprises:

Obtain the current GPS coordinates of the aircraft as the aircraft position;

Estimating the relative position with the target interest point according to the difference of each frame of the image in the visual image recognition, and further determining the virtual GPS coordinates of the target interest point as the target position according to the GPS coordinates of the aircraft;

The distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.
The method according to claim 6, further comprising: calculating a height difference and a distance between the aircraft and the target interest point through a visual image, and using the GPS coordinates of the aircraft to determine a virtual target interest point. GPS coordinates.
The method according to claim 1, further comprising: when the distance between the current position of the aircraft and the target interest point fails to be measured, displaying a state prompt of the failed calculation on the control terminal interface.
The method according to claim 8, wherein the status prompt comprises: acquisition of aircraft position information fails or acquisition of target position information fails.
The method according to claim 1, further comprising: after performing the point-of-interest orbiting flight with the initial radius, adjusting a parameter of the orbiting flight of the aircraft by operating the control terminal.
The method according to claim 10, wherein adjusting the parameters of the orbiting of the aircraft by operating the control terminal comprises controlling parameters of the orbiting of the aircraft according to an operation of dragging a slider of an interface of the control terminal.
The method according to claim 10 or 11, wherein the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.
The method according to claim 1, wherein before the obtaining a visual image of the current position of the aircraft through visual image recognition, further comprising: a control terminal is connected to the aircraft in frequency, and the FPV information is displayed on the control terminal interface after the connection is successful , And set the aircraft into POI (point of interest) mode.
The method according to claim 1, characterized in that before the obtaining a visual image of the current position of the aircraft through visual image recognition, further comprising: a control terminal is connected to the aircraft in frequency, and after the connection is successful, the aircraft is controlled through the interface of the control terminal. Flight altitude, return altitude and speed are preset.
The method according to claim 10, wherein adjusting the parameters of the orbiting of the aircraft by the operation of the control terminal further comprises: adjusting at least one of the orbiting radius, orbiting height, orbiting direction, and orbiting speed by using a remote control stick or a dial. One.
The method according to claim 1, wherein the control terminal is a mobile phone and / or a remote controller.
A control terminal for flying around a point of interest, which includes: a memory and a processor, wherein:

The memory is configured to store executable instructions;

The processor is configured to execute the executable instructions stored in the memory to perform the following operations:

Obtaining a visual image of the current position of the aircraft through visual image recognition, displaying it on the control terminal interface, and determining a target interest point in the visual image of the current position of the aircraft;

Measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft's orbiting flight based on the distance, and control the aircraft to perform the point of interest orbiting flight at the initial radius.
The control terminal according to claim 17, wherein when the processor determines the target interest point, the processor is specifically configured to determine the target interest point according to a click or frame selection operation on the interface of the control terminal.
The control terminal according to claim 18, wherein the processor is further configured to: when the aircraft performs the visual image recognition, enable a multi-target tracking mode to automatically recognize objects and types within the visual range. And display the automatic recognition result in the control terminal interface.
The control terminal according to claim 19, wherein when the processor determines a target interest point, the processor is specifically configured to: based on an automatic recognition result of an object in the visual range and its type, according to Select the operation of the target object to determine the target point of interest.
The control terminal according to claim 20, wherein the operation mode of clicking the target object to determine the target interest point comprises at least one of the following: single-clicking the target object to select, double-clicking the target object to select, or long-pressing the target Object selection, sliding selection, circle selection and voice command selection.
The control terminal according to claim 17, wherein the processor calculates a distance between the current position of the aircraft and the target point of interest, and uses the distance to generate an initial radius for the aircraft to fly around, specifically using to:

Obtain the current GPS coordinates of the aircraft as the aircraft position;

Estimating the relative position with the target interest point according to the difference of each frame of the image in the visual image recognition, and further determining the virtual GPS coordinates of the target interest point as the target position according to the GPS coordinates of the aircraft;

The distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.
The control terminal according to claim 22, wherein the processor is further configured to:

The height difference and distance between the aircraft and the target interest point are calculated by the visual image, and the GPS coordinates of the aircraft are used to determine the virtual GPS coordinates of the target interest point.
The control terminal according to claim 17, wherein the processor is further configured to: when the measurement of the distance between the current position of the aircraft and the target interest point fails, display a status prompt of the measurement failure on the control terminal interface.
The control terminal according to claim 24, wherein the status prompt comprises: a failure in obtaining aircraft position information or a failure in obtaining target position information.
The control terminal according to claim 17, wherein the processor is further configured to: after controlling the aircraft to fly around the point of interest at the initial radius, adjust the parameters of the aircraft to fly around according to the operation of the control terminal.
The control terminal according to claim 26, wherein when the processor adjusts the parameters of the orbiting flight of the aircraft through the operation of the control terminal, the processor is specifically configured to control the orbiting flight of the aircraft according to an operation of dragging a slider on the interface of the control terminal. Parameters.
The control terminal according to claim 26 or 27, wherein the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.
The control terminal according to claim 17, wherein the processor is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency-link connection with the aircraft, and connect the FPV information after the connection is successful Display on the control terminal interface and set the aircraft to enter the POI mode.
The control terminal according to claim 17, wherein the processor is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency connection with the aircraft, and after the connection is successful, according to the control, The operation of the terminal interface presets the aircraft's flight altitude, return altitude and speed.
The method according to claim 26, wherein when the processor adjusts the parameters of the orbiting of the aircraft through the operation of the control terminal, the processor is specifically configured to adjust the orbiting radius and orbiting height according to the operation of the remote control stick or the dial At least one of the orbiting direction and the orbiting speed.
The control device according to claim 17, wherein the control terminal uses a mobile phone and / or a remote controller.
A computer-readable storage medium, characterized in that it stores executable instructions, and when the executable instructions are executed by one or more processors, the one or more processors can execute the instructions according to claim 1 The method of any of -16.
An unmanned aerial vehicle, comprising a control terminal for orbital flight of points of interest according to claims 17-32.