WO2021097849A1

WO2021097849A1 - Flight control method and system, unmanned aerial vehicle, remote controller and storage medium

Info

Publication number: WO2021097849A1
Application number: PCT/CN2019/120417
Authority: WO
Inventors: 黄敏
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2021-05-27
Also published as: CN112334854A

Abstract

A flight control method, a flight control system, an unmanned aerial vehicle, a remote controller and a storage medium. The method comprises: when an unmanned aerial vehicle is in a first person view flight mode, controlling a gimbal to lock a photographic angle of a photographic apparatus (S101); acquiring an adjusted signal, wherein the adjusted signal is used for reducing the adjustment intensity for the unmanned aerial vehicle (S102); and controlling the flight of the unmanned aerial vehicle according to the adjusted signal (S103).

Description

Flight control method, system, unmanned aerial vehicle, remote controller and storage medium

Technical field

This application relates to the technical field of flight control, and in particular to a flight control method, system, unmanned aerial vehicle, remote control and storage medium.

Background technique

First-person perspective flight has received more and more attention in recent years, and its immersive flight experience has attracted many people's attention. First-person viewing angle flight is generally to bind a camera device with wireless transmission to the unmanned aerial vehicle, and the user can view the real-time image of the first viewing angle in real time through the first-person view (FPV, First Person View) glasses.

Since the first-person perspective flight is generally the camera device is hardly attached to the body of the unmanned aerial vehicle, the shaking of the unmanned aerial vehicle will be directly reflected on the screen. Usually due to unskilled pilot operations or unreasonable parameter settings, the picture shakes, which not only makes it difficult for beginners to have a good experience, but also is not very friendly to users with shooting needs. In order to solve this problem, the existing solutions are divided into two types: First, use a traditional aerial camera with a gimbal for FPV experience; second, use a traversing machine without a gimbal for FPV experience, try to reduce the control intensity and slow down the adjustment Intensity.

However, the attitude of the unmanned aerial vehicle in the first scheme is limited, and it is impossible to experience the ultimate flying pleasure under the first-person main perspective; the picture in the second scheme will still jitter, especially for novices due to factors such as tension, which will aggravate the jitter.

Summary of the invention

Based on this, this application provides a flight control method, a flight control system, an unmanned aerial vehicle, a remote controller, and a storage medium.

In the first aspect, this application provides a flight control system, which is applied to an unmanned aerial vehicle equipped with a camera device, and the system includes: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

When the unmanned aerial vehicle is in the first-person perspective flight mode, controlling the pan/tilt mounted on the unmanned aerial vehicle to lock the shooting angle of the camera device;

Acquiring an adjusted signal, where the adjusted signal is used to reduce the adjustment intensity of the unmanned aerial vehicle;

According to the adjusted signal, the unmanned aerial vehicle is controlled to fly.

In the second aspect, this application provides a flight control method applied to an unmanned aerial vehicle equipped with a camera device, including:

In a third aspect, the present application provides an unmanned aerial vehicle equipped with a camera device, including: a memory and a processor;

The memory is used to store a computer program;

In a fourth aspect, the present application provides a remote control, the remote control including: a memory, a processor, and a communication circuit;

The memory is used to store a computer program;

The processor is used to execute the computer program and, when executing the computer program, implement the following steps:

When the unmanned aerial vehicle is in the first-person perspective flight mode, acquiring adjustment related information, where the adjustment related information is used to reduce the adjustment strength of the unmanned aerial vehicle;

The communication circuit is used to feed back adjustment related information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can control itself to fly according to the adjustment related information.

In a fifth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the flight control method described above .

The embodiments of the present application provide a flight control method, a flight control system, an unmanned aerial vehicle, a remote controller, and a storage medium. When the unmanned aerial vehicle is in the first-person view flight mode, it controls the PTZ to lock the camera device on the unmanned aerial vehicle. The shooting angle, in this way, can greatly improve the immersion and ultimate flying pleasure of flying in FPV. Obtain the adjusted signal, and the adjusted signal is used to reduce the adjustment intensity of the UAV; according to the adjusted signal, the UAV is controlled to fly. In this way, the remote control or the UAV can be reduced. The adjustment strength of the aircraft to the unmanned aerial vehicle; for example, when a novice is operating or when there is a shooting demand, the adjustment of the remote control to the unmanned aerial vehicle can be reduced to reduce the screen jitter, and new users can enjoy a smooth flying experience when they get it. , Or you can take a more friendly picture, which can improve the user experience. When a novice is operating or when there is a shooting demand, it can also reduce the adjustment of the unmanned aerial vehicle to reduce the shaking of the picture. The new user can enjoy a smooth flight experience when they get it, or they can take a more friendly picture. Can improve user experience. If the adjustment strength of the remote control is combined with the adjustment strength of the UAV, the adjustment method will be more flexible and convenient, and the adjustment effect of reducing the screen jitter will be more significant. New users can enjoy a smoother flight experience when they arrive, or they can A more user-friendly picture is captured, and the user experience can be improved even more.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flowchart of an embodiment of a flight control method according to the present application;

FIG. 2 is a schematic diagram of an embodiment of the shooting angle of the camera when the camera is locked by the gimbal in the flight control method of the present application;

3 is a schematic flowchart of another embodiment of the flight control method of the present application;

4 is a schematic flowchart of another embodiment of the flight control method of the present application;

Figure 5 is a schematic diagram of the remote control joystick control mode of the unmanned aerial vehicle;

FIG. 6 is a schematic diagram of a control mode of the remote controller rocker of the unmanned aerial vehicle using an American hand as an example;

FIG. 7 is a schematic diagram of another control method of the remote control joystick of the unmanned aerial vehicle using an American hand as an example;

FIG. 8 is a schematic flowchart of another embodiment of the flight control method of the present application;

Fig. 9 is a schematic structural diagram of an embodiment of the flight control system of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

The existing first-person viewing angle flight has the camera device hardly attached to the body of the unmanned aerial vehicle, and the shaking of the unmanned aerial vehicle is directly reflected on the screen. Unskilled pilot operations or unreasonable parameter settings cause screen jitter, making it difficult for beginners to have a good experience, and it is not friendly to users with shooting needs. Existing solutions, the first is to use a traditional aerial camera with a gimbal, but the attitude of the unmanned aerial vehicle is restricted, and users cannot experience the ultimate flying pleasure; the second is to use a traversing machine without a gimbal for FPV experience and try to reduce the adjustment Intensity, slow down the adjustment intensity, but the picture will still jitter, especially for novices due to tension and other factors will aggravate the picture jitter.

In the embodiment of the present application, when the UAV is in the first-person view flight mode, the camera is controlled to lock the camera angle of the gimbal on the UAV. In this way, the immersion and ultimate flying pleasure during FPV flight can be greatly improved. Obtain the adjusted signal, and the adjusted signal is used to reduce the adjustment intensity of the UAV; according to the adjusted signal, the UAV is controlled to fly. In this way, the remote control or the UAV can be reduced. The adjustment strength of the aircraft to the unmanned aerial vehicle; for example, when a novice is operating or when there is a shooting demand, the adjustment of the remote control to the unmanned aerial vehicle can be reduced to reduce the screen jitter, and new users can enjoy a smooth flying experience when they get it. , Or you can take a more friendly picture, which can improve the user experience. When a novice is operating or when there is a shooting demand, it can also reduce the adjustment of the unmanned aerial vehicle to reduce the shaking of the picture. The new user can enjoy a smooth flight experience when they get it, or they can take a more friendly picture. Can improve user experience. If the adjustment strength of the remote control is combined with the adjustment strength of the UAV, the adjustment method will be more flexible and convenient, and the adjustment effect of reducing the screen jitter will be more significant. New users can enjoy a smoother flight experience when they arrive, or they can A more user-friendly picture is captured, and the user experience can be improved even more.

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

Referring to Fig. 1, Fig. 1 is a schematic flowchart of an embodiment of a flight control method according to the present application. The method is applied to an unmanned aerial vehicle, and the method includes:

Step S101: When the unmanned aerial vehicle is in the first-person perspective flight mode, control the gimbal mounted on the unmanned aerial vehicle to lock the shooting angle of the camera device.

Referring to Fig. 2, in the first-person view flight mode, with the assistance of the gimbal 100, the picture is generally relatively stable. However, because the attitude of the pan/tilt head 100 is adjustable (for example, the controllable angle of the pitch direction is -90° to +30°, and the default control angle is -90° to 0°), the shooting angle of the camera device 200 varies with the head of the pan/tilt. The attitude of 100 is changed, so the attitude of the unmanned aerial vehicle is restricted. In this embodiment, the camera device 200 is locked by the pan/tilt 100 to lock the shooting angle of the camera device 200 (for example, 0°), so that the camera device 200 is fixed on the UAV body through the pan/tilt 100 to avoid unmanned people. The attitude of the aircraft is restricted. In this way, the immersion and ultimate flying pleasure of flying during the FPV experience can be greatly improved. Specifically, when the unmanned aerial vehicle is in the first-person perspective flight mode, the adjustment mechanism 101 is controlled to adjust the attitude of the gimbal 100 on the unmanned aerial vehicle to the attitude corresponding to the shooting angle of the camera device 200, and then the adjustment mechanism 101 is locked to lock the camera device. 200 shooting angles.

Step S102: Obtain the adjusted signal, and the adjusted signal is used to reduce the adjustment intensity of the UAV.

Step S103: Control the unmanned aerial vehicle to fly according to the adjusted signal.

The adjusted signal can be adjusted to the UAV. For example, when a novice is operating or when there is a shooting demand, it is possible to reduce the adjustment of the UAV to reduce the shaking of the screen, and the new user can enjoy a smooth flight experience at hand, or can take a more friendly picture. Improve user experience.

It should be noted that, in this embodiment, the execution subject of acquiring the adjusted signal is an unmanned aerial vehicle, and the subject of adjusting the signal may be an unmanned aerial vehicle or a remote controller. The signal before adjustment can come from an unmanned aerial vehicle or a remote control.

Obtaining the adjusted signal in step S102 may have the following situations: (1) Obtaining the adjusted signal of the UAV itself, (2) Obtaining the adjusted signal sent by the remote control, (3) Obtaining the unmanned signal sent by the remote control For the adjusted signal, the UAV adjusts the unadjusted signal to obtain the adjusted signal, (4) Obtain the adjusted signal of the UAV itself and the adjusted signal sent by the remote controller, (5) Obtain the unmanned signal The adjusted signal of the aircraft itself and the adjusted signal obtained by adjusting the unadjusted signal sent by the remote control by the unmanned aerial vehicle.

In the embodiment of this application, when the unmanned aerial vehicle is in the first-person perspective flight mode, the camera mounted on the unmanned aerial vehicle is controlled to lock the shooting angle of the camera device. In this way, the immersion and ultimate flying pleasure of flying during the FPV experience can be greatly improved . Obtain the adjusted signal, and the adjusted signal is used to reduce the adjustment intensity of the UAV; according to the adjusted signal, the UAV is controlled to fly. In this way, the remote control or the UAV can be reduced. The adjustment strength of the aircraft to the unmanned aerial vehicle; for example, when a novice is operating or when there is a shooting demand, the adjustment of the remote control to the unmanned aerial vehicle can be reduced to reduce the screen jitter, and new users can enjoy a smooth flying experience when they get it. , Or you can take a more friendly picture, which can improve the user experience. When a novice is operating or when there is a shooting demand, it can also reduce the adjustment of the unmanned aerial vehicle to reduce the shaking of the picture. The new user can enjoy a smooth flight experience when they get it, or they can take a more friendly picture. Can improve user experience. If the adjustment strength of the remote control is combined with the adjustment strength of the UAV, the adjustment method will be more flexible and convenient, and the adjustment effect of reducing the screen jitter will be more significant. New users can enjoy a smoother flight experience when they arrive, or they can A more user-friendly picture is captured, and the user experience can be improved even more.

Due to the existing first-person viewing angle flying, the picture is often shaken due to unskilled pilot operations or unreasonable parameter settings, which makes it difficult for beginners to have a good experience and is not friendly to users with shooting needs. Therefore, the following focuses on the adjustment of step S102 in the smaller direction and the specific implementation method to meet the needs of novices and shooting users. That is, the adjusted signal can reduce the adjustment intensity of the UAV.

Taking the unadjusted signal as the source of the remote control terminal indicates that the adjusted signal can reduce the adjustment strength of the UAV. The remote control can reduce the unadjusted first control signal to the second control signal, and send the second control signal as the adjusted signal to the UAV; the remote control can also send the unadjusted first control signal to the unmanned aerial vehicle. For a human aircraft, the unadjusted first control signal is reduced to a second control signal by the unmanned aircraft, and the second control signal is used as the adjusted signal.

The first control signal is the unadjusted (pre-adjusted) control signal sent by the remote control to the UAV, which can be the control signal sent by the user through the joystick of the remote control, or the control signal sent by the user through the screen of the remote control .

Since the remote control sends the control signal to the unmanned aerial vehicle, it is common for the pilot to send it through the remote control. The first control signal includes the control signal corresponding to the pilot’s input operation received by the remote control. The control of the aircraft can enhance the user experience.

In an embodiment, reducing the adjustment intensity of the first control signal is achieved by pre-setting, setting the first parameter of the remote control to a preset parameter value range. Among them, the first parameter of the remote control can be divided into a plurality of different numerical ranges, and each different numerical range corresponds to a different adjustment intensity. Further, a step-by-step approach can be adopted to gradually reduce the adjustment strength of the first control signal to the UAV.

Referring to FIG. 3, if the remote controller reduces the unadjusted first control signal to the second control signal, the second control signal is sent to the UAV as the adjusted signal. The specific process may include: step S201 and step S202 .

Step S201: The remote controller reduces the first control signal corresponding to the pilot's input operation to the second control signal corresponding to the preset parameter value range according to the preset parameter value range of the first parameter of the remote controller.

Step S202: the remote controller uses the second control signal as the adjusted signal and sends it to the unmanned aerial vehicle.

Referring to Figure 4, if the remote controller sends the unadjusted first control signal to the UAV, the UAV will reduce the unadjusted first control signal to the second control signal, and use the second control signal as the adjusted Information, its specific process may include: step S301 and step S302.

Step S301: the remote controller sends the unadjusted first control signal and the preset parameter value range of the first parameter of the remote controller to the unmanned aerial vehicle.

Step S302: The UAV reduces the first control signal corresponding to the pilot's input operation to the second control signal corresponding to the preset parameter value range according to the preset parameter value range of the first parameter, and uses the second control signal as Adjusted signal.

The first parameter refers to a parameter corresponding to the pilot's input operation, and the preset parameter value range is a parameter value range for reducing the adjustment strength of the first control signal.

Among them, the first parameter includes rocker parameters. Joystick parameters are more common parameters. The joystick is a component that the pilot can directly control on the remote control. The pilot uses the joystick on the remote control to control the unmanned aerial vehicle. Refer to Figure 5, the joystick control mode of the remote control is divided into American hands (the joystick for controlling the throttle is the left stick of the remote control), Japanese hands (the joystick for controlling the throttle is the right stick of the remote control) and China hand. Normally, the default control mode of the remote control is the American hand. The following takes the American hand as an example to describe the control method of the remote control stick in detail.

Refer to Figures 6 and 7, the left side is the joystick of the remote control, and the right side is the UAV; among them, the joystick back to center/center means that the joystick of the remote control is in the middle position; the amount of the joystick refers to the remote control The offset of the rocker's rocker from the center of the rocker. Refer to the upper row of Figure 6: When the remote control's left stick is up and down, it is the throttle stick, which is used to control the lift of the UAV; push the left stick up, the UAV rises; pull down the left stick, no one The aircraft is lowered; when the left stick is in the neutral position, the height of the unmanned aerial vehicle remains unchanged (automatically fixed height); when the unmanned aerial vehicle takes off, the throttle stick must be pushed up to the neutral position so that the unmanned aerial vehicle can take off from the ground (required Push the stick slowly to prevent the UAV from suddenly rushing upwards). Refer to the bottom row of Figure 6: the yaw stick is used to control the aircraft heading when the left stick of the remote control is used to move the stick, the yaw stick is used to control the aircraft heading; when the left stick is pressed to the left, the UAV rotates counterclockwise; The joystick, the UAV rotates clockwise; when the left joystick is in the neutral position, the rotation angular velocity is zero, and the UAV does not rotate; the amount of the joystick corresponds to the angular velocity of the UAV rotation, the larger the amount of the stick, the greater the angular velocity of rotation. Refer to the upper row of Figure 7: the right stick of the remote sensor is the pitch stick when the stick is up and down. The pitch stick is used to control the unmanned aerial vehicle to fly forward and backward; push the right stick up, the unmanned aerial vehicle will tilt forward and move forward Flying; pull down the right stick, the UAV tilts backwards and flies backwards. When the right stick is in the neutral position, the front and rear direction of the UAV remains horizontal; the amount of joystick corresponds to the angle of the UAV's front and back tilt. The greater the amount of stick, the greater the tilt angle and the faster the flight speed. Refer to the bottom row of Figure 7: When the remote sensor's right joystick is used to move left and right, it is a roll stick. The roll stick is used to control the UAV to fly left and right; push the right stick to the left, the UAV tilts to the left and to the left Fly; press the right joystick to the right, the UAV tilts to the right and flies to the right; when the right joystick is in the middle position, the left and right directions of the UAV remain horizontal; the amount of the joystick corresponds to the angle of the left and right tilt of the aircraft, the more the amount of stick is Larger, the greater the tilt angle, the faster the flight speed.

The joystick parameters can be directly adjusted to the first control signal corresponding to the pilot's input operation through the joystick. In this way, on the one hand, the user experience will not be affected. On the other hand, setting the joystick parameters is relatively simple for new pilots, and the threshold is low.

Specifically, the joystick parameters include the response sensitivity of the joystick corresponding to pitch and roll. Pitch and roll are more likely to cause unmanned aircraft to shake. In this embodiment, by reducing the response sensitivity of the pitch and roll corresponding joysticks, the adjustment strength of the first control signal of the pitch and roll corresponding joysticks input by the pilot is reduced. .

For example, divide the rod amount into 10 levels, 10 levels of rod amounts correspond to 10 tilt angles (front and back tilt and/or left and right tilt), and the 1-10 level rod amounts correspond to 1°, 2°, and 5° respectively. , 8°, 11°, 14°, 20°, 30°, 40°, 50°, in order to reduce the response sensitivity of the joystick corresponding to pitch and roll, set the following 14°, 20°, 30°, 40°, 50° ° Delete, change 1° to 0°, the first and second grades correspond to 0°, the 3rd and 4th grades correspond to 2°, the 5th and 6th grades correspond to 5°, the 7th and 8th grades The amount corresponds to 8°, and the 9th and 10th grades correspond to 11°. Adjust the front pilot input operation (the pilot moves the right joystick up, down, left or right, the level of the stick is the 8th level) corresponding to the first control signal is 30° forward or backward tilt, or left or right Tilt 30°, the adjusted second control signal is 8° front or back tilt, or 8° left or right tilt. Obviously, in this way, the adjustment of the remote control to the UAV can be greatly reduced.

Specifically, the joystick parameters include the smooth area of the center point of the joystick corresponding to pitch and roll (ie, the joystick is centered/centered). Under normal circumstances, when the pilot operating the joystick is in the smooth area of the center point of the pitch and roll corresponding to the joystick, the speed of the unmanned aerial vehicle along the original pitch and roll direction will immediately drop to zero, and move in the opposite direction to make it The front and rear directions of the human aircraft remain horizontal and the left and right directions remain horizontal. Due to the drastic changes in speed, it is easy to cause the unmanned aircraft to shake. In this embodiment, the joystick can be set when the pitch and roll correspond to the smooth area of the center point of the joystick. When the speed of the UAV along the original pitch and roll direction is still increased to the maximum and then gradually decreases to zero, the movement in the opposite direction keeps the UAV's front and rear directions and the left and right directions horizontal. As the speed changes gradually and gently, It can effectively reduce the jitter of unmanned aerial vehicles.

Taking the unadjusted signal as the source of the UAV side indicates that the adjusted signal can reduce the adjustment strength of the UAV. The unmanned aerial vehicle reduces the unadjusted first adjustment signal to a second adjustment signal, and uses the second adjustment signal as the adjusted signal.

The first adjustment signal is an unadjusted adjustment signal sent by the unmanned aerial vehicle's own flight control system to the unmanned aerial vehicle before adjustment.

In one embodiment, reducing the adjustment strength of the first adjustment signal is achieved by pre-setting, that is, setting the adjustment control mode of the UAV. The adjustment control mode in this embodiment refers to a control mode in which the adjustment intensity of the first adjustment signal is reduced.

At this time, referring to FIG. 8, step S102 may specifically include: sub-step S1021 and sub-step S1022.

Sub-step S1021: According to the adjustment control mode, the first adjustment signal input before the adjustment is adjusted to the second adjustment signal, so that the adjustment strength of the second adjustment signal on the UAV is reduced.

Sub-step S1022: Use the second adjustment signal as the adjusted signal.

In this embodiment, by adjusting the flight control settings, the adjustment force of the originally input first adjustment signal on the UAV is reduced, which is simple and convenient.

In one embodiment, the first adjustment signal includes the adjustment signal output by the normal control value of the derivative parameter in the proportional integral derivative control mode (PID, Proportional Integral Derivative control), and the second adjustment signal includes the increase derivative in the proportional integral derivative control mode. The adjustment signal output by the control quantity of the parameter. That is, before adjusting the setting, the original differential parameter in the proportional integral derivative control mode is the normal control value. After adjustment, increase the control amount of the derivative parameter in the proportional integral derivative control mode. The transfer function of the proportional integral derivative control mode is:

In the formula, Kp is the proportional parameter, Ti is the integral time constant, and Td is the derivative time constant; Ki is the integral parameter, where Ki=Kp/Ti, Kd is the derivative parameter, where Kd=Kp*Td. The basis of PID control is proportional control; integral control can eliminate steady-state errors, but may increase overshoot; differential control can speed up the response of large inertia systems and weaken the trend of overshoot. The introduction of differential control enables the system to respond according to the trend of deviation changes. Appropriate differential action can speed up the system response, effectively reduce overshoot, improve the dynamic characteristics of the system, and increase the stability of the system. The embodiment of the application is to use the derivative action to improve the dynamic characteristics of the system and increase the stability of the system. By increasing the control amount of the derivative parameters in the PID control mode, the stability of the system is further increased, thereby suppressing the jitter of the unmanned aerial vehicle.

In another embodiment, the first adjustment signal includes an adjustment signal that instructs the UAV to perform a pitch attitude and a roll attitude, and the second adjustment signal includes an adjustment signal that instructs the UAV to perform speed control. That is, before adjusting the settings, it is the first adjustment signal that instructs the UAV to perform the pitch and roll attitudes. After the adjustment is set, it is the first adjustment signal that instructs the UAV to perform the pitch and roll attitudes to be adjusted to indicate the UAV. The second adjustment signal for speed control. Pitch and roll attitudes can easily cause the UAV to shake. Changing the pitch and roll attitude commands to speed control can improve the smoothness of the picture and at the same time limit the UAV's dynamic attitude angle.

In yet another embodiment, the first adjustment signal includes an adjustment signal of a key command from the remote controller, and the second adjustment signal includes an adjustment signal that instructs to assist the UAV to restore its attitude. That is, before adjusting the settings, the first adjustment signal corresponds to the instructions issued by the keys of the remote control, and after adjustment, the first adjustment signal corresponding to the key instructions of the remote control is adjusted to a second adjustment signal that instructs to assist the UAV to restore its attitude. In this way, jitter can also be suppressed.

Taking the unadjusted signal as the source of the remote control terminal and the source of the UAV side, respectively, it shows that the adjusted signal can reduce the adjustment strength of the UAV. The remote control can reduce the unadjusted first control signal to the second control signal, and send the second control signal as part of the adjusted signal to the UAV; the remote control can also send the unadjusted first control signal to For unmanned aerial vehicles, the unadjusted first control signal is reduced by the unadjusted first control signal to the second control signal, and the second control signal is used as a part of the adjusted signal. The unmanned aerial vehicle reduces the unadjusted first adjustment signal to a second adjustment signal, and uses the second adjustment signal as another part of the adjusted signal.

The embodiment of the application combines the adjustment strength of the remote control and the adjustment strength of the UAV, the adjustment method will be more flexible and convenient, the adjustment effect of reducing the screen jitter will be more significant, and new users can enjoy smoother flight at their hands. Experience, or you can shoot a more friendly picture, which can improve the user experience.

Referring to FIG. 9, FIG. 9 is a schematic structural diagram of an embodiment of the flight control system of the present application. The flight control system is applied to an unmanned aerial vehicle equipped with a camera device. It should be noted that the system of this embodiment can perform the above-mentioned flight control For the detailed description of the method and related content, please refer to the above method section, which will not be repeated here.

The flight control system 10 includes: a memory 11 and a processor 12; the memory 11 and the processor 12 are connected by a bus 13.

Among them, the processor 12 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.

Among them, the memory 11 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, etc.

The memory 11 is used to store computer programs.

The processor 12 is used to execute a computer program and, when executing the computer program, implement the following steps:

When the unmanned aerial vehicle is in the first-person view flight mode, control the gimbal on the unmanned aerial vehicle to lock the shooting angle of the camera device; obtain the adjusted signal, and the adjusted signal is used to reduce the adjustment strength of the unmanned aerial vehicle; according to the adjustment After the signal, control the unmanned aerial vehicle to fly.

Wherein, when the processor executes the computer program, the following steps are implemented: when the unmanned aerial vehicle is in the first-person perspective flight mode, the adjustment mechanism is controlled to adjust the attitude of the pan/tilt mounted on the unmanned aerial vehicle to the After the posture corresponding to the shooting angle of the camera device, the adjustment mechanism is locked to lock the shooting angle of the camera device.

Wherein, the adjusted signal comes from a remote control.

Wherein, the adjusted signal is obtained by reducing the first control signal corresponding to the pilot's input operation to the second control signal corresponding to the preset parameter value range by the remote control according to the preset parameter value range of the first parameter of.

Among them, the first parameter includes rocker parameters.

Among them, the joystick parameters include the response sensitivity of the corresponding joystick for pitch and roll.

Among them, the joystick parameters include the smooth area of the center point of the corresponding joystick for pitch and roll.

Wherein, when the processor executes the computer program, the following steps are implemented: setting the adjustment control mode of the UAV; according to the adjustment control mode, the first adjustment signal input before adjustment is adjusted to the second adjustment signal, so that the second adjustment signal is The adjustment strength of the unmanned aerial vehicle is reduced; the second adjustment signal is used as the adjusted signal.

Wherein, the first adjustment signal includes the adjustment signal output by the normal control quantity of the derivative parameter in the proportional-integral-derivative control mode, and the second adjustment signal includes the adjustment signal output by the control amount of the derivative parameter in the proportional-integral-derivative control mode.

Wherein, the first adjustment signal includes an adjustment signal that instructs the UAV to perform a pitch attitude and a roll attitude, and the second adjustment signal includes an adjustment signal that instructs the UAV to perform speed control.

Wherein, the first adjustment signal includes an adjustment signal of a key command from the remote controller, and the second adjustment signal includes an adjustment signal that instructs to assist the UAV to restore its attitude.

The present application also provides an unmanned aerial vehicle equipped with a camera device, which includes a memory and a processor. It should be noted that the unmanned aerial vehicle in this embodiment can implement the steps in the above flight control method. For detailed descriptions of related content, please refer to the related content in the above flight control method, which will not be repeated here.

The memory is used to store a computer program; the processor is used to execute the computer program and when the computer program is executed, the following steps are implemented:

Wherein, the unmanned aerial vehicle further includes a communication circuit, the communication circuit is used to receive the adjusted signal from the remote control, or the communication circuit is used to receive the unadjusted first control signal from the remote control, A control signal is used to adjust the level of information.

Wherein, the first control signal includes a control signal corresponding to the pilot's input operation, and the information about the degree of reducing the first control signal includes a preset parameter value range of the first parameter of the remote controller; the processor is executing In the computer program, the following steps are implemented: according to the preset parameter value range of the first parameter of the remote control, the first control signal corresponding to the pilot input operation is reduced to the second control signal corresponding to the preset parameter value range; The second control signal is used as an adjusted signal.

Among them, the first parameter includes rocker parameters.

The application also provides a remote control, which includes a memory, a processor, and a communication circuit. It should be noted that, for a detailed description of the related content of the remote controller in this embodiment, please refer to the related content in the above-mentioned flight control method, which will not be repeated here.

The memory is used to store the computer program; the processor is used to execute the computer program and when the computer program is executed, the following steps are realized: when the unmanned aerial vehicle is in the first-person perspective flight mode, the adjustment related information is obtained, and the adjustment related information is used to reduce the impact on the unmanned aircraft. The adjustment strength of the aircraft; the communication circuit is used to feed back the adjustment-related information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can control itself to fly according to the adjustment-related information.

In the embodiment of the present application, when the unmanned aerial vehicle is in the first-person perspective flight mode, the adjustment strength of the remote control to the unmanned aerial vehicle is adjusted. In this way, the adjustment strength of the remote control to the unmanned aerial vehicle can be reduced; When there is a shooting demand, the screen shake can be reduced by reducing the adjustment of the remote control to the UAV, and new users can enjoy a smooth flight experience when they get it, or they can shoot more friendly images, which can improve the user experience.

Among them, the adjustment-related information includes the adjusted signal; when the processor executes the computer program, the following steps are implemented: when the UAV is in the first-person view flight mode, the first control signal corresponding to the pilot's input operation is obtained; A preset parameter value range of a parameter reduces the first control signal corresponding to the pilot's input operation to the second control signal; the second control signal is used as the adjusted signal.

Among them, the adjustment-related information includes the first control signal corresponding to the pilot's input operation, and information about the degree of reduction of the first control signal; when the processor executes the computer program, the following steps are implemented: when the unmanned aerial vehicle is in the first-person perspective In flight mode, obtain the first control signal corresponding to the pilot's input operation and the preset parameter value range of the first parameter, so that the UAV can reduce the first control signal to the second control signal corresponding to the preset parameter value range , And use the second control signal as the adjusted signal.

Wherein, when the processor executes the computer program, the following steps are implemented: the first parameter of the remote control is set to the preset parameter value range, and the preset parameter value range is used to instruct to reduce the first control signal corresponding to the pilot's input operation to the preset value. Set the second control signal corresponding to the parameter value range.

Among them, the first parameter includes rocker parameters.

This application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor realizes the flight control method as described above. For a detailed description of the relevant content, please refer to the above flight control method section, which will not be repeated here.

Wherein, the computer-readable storage medium may be any of the aforementioned remote controllers and/or internal storage units of the unmanned aerial vehicle, such as the remote controller and/or the hard disk or memory of the unmanned aerial vehicle. The computer-readable storage medium may also be a remote control and/or an external storage device of the unmanned aerial vehicle, such as a plug-in hard disk, a smart memory card, a secure digital card, and a flash memory card equipped on the remote control and/or the unmanned aerial vehicle, and many more.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

The above are only specific embodiments of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A flight control system, characterized in that it is applied to an unmanned aerial vehicle equipped with a camera device, and the system includes: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

When the unmanned aerial vehicle is in the first-person perspective flight mode, controlling the pan/tilt mounted on the unmanned aerial vehicle to lock the shooting angle of the camera device;

Acquiring an adjusted signal, where the adjusted signal is used to reduce the adjustment intensity of the unmanned aerial vehicle;

According to the adjusted signal, the unmanned aerial vehicle is controlled to fly.
The system according to claim 1, wherein the processor implements the following steps when executing the computer program:

When the UAV is in the first-person viewing angle flight mode, the adjustment mechanism is controlled to adjust the attitude of the gimbal mounted on the UAV to the attitude corresponding to the shooting angle of the camera device, and then the adjustment mechanism is locked to lock the camera. The shooting angle of the camera.
The system according to claim 1, wherein the adjusted signal comes from a remote control.
The system according to claim 3, wherein the adjusted signal is that the remote controller reduces the first control signal corresponding to the pilot's input operation to a value based on the preset parameter value range of the first parameter. Obtained by the second control signal corresponding to the preset parameter value range.
The system according to claim 4, wherein the first parameter comprises a rocker parameter.
The system according to claim 5, wherein the parameters of the joystick include the response sensitivity of the corresponding joystick for pitch and roll.
The system according to claim 5, wherein the parameters of the joystick include a smooth area of the center point of the corresponding joystick for pitch and roll.
The system according to claim 1, wherein the processor implements the following steps when executing the computer program:

Setting the adjustment control mode of the unmanned aerial vehicle;

According to the adjustment control mode, adjusting the first adjustment signal input before the adjustment to the second adjustment signal, so that the adjustment strength of the second adjustment signal on the UAV is reduced;

The second adjustment signal is used as the adjusted signal.
The system according to claim 8, wherein the first adjustment signal includes an adjustment signal output by a normal control quantity of a derivative parameter in a proportional integral derivative control mode, and the second adjustment signal includes a proportional integral derivative control mode The adjustment signal output by the control quantity of the differential parameter is increased in the.
The system according to claim 8, wherein the first adjustment signal includes an adjustment signal for instructing the UAV to perform a pitch attitude and a roll attitude, and the second adjustment signal includes an adjustment signal for instructing the UAV to perform speed control. signal.
8. The system according to claim 8, wherein the first adjustment signal includes an adjustment signal from a remote control key command, and the second adjustment signal includes an adjustment signal that instructs an assisted UAV to restore its attitude.
A flight control method, characterized in that it is applied to an unmanned aerial vehicle equipped with a camera device, and includes:

When the unmanned aerial vehicle is in the first-person perspective flight mode, controlling the pan/tilt mounted on the unmanned aerial vehicle to lock the shooting angle of the camera device;

Acquiring an adjusted signal, where the adjusted signal is used to reduce the adjustment intensity of the unmanned aerial vehicle;

According to the adjusted signal, the unmanned aerial vehicle is controlled to fly.
The method of claim 12, wherein when the unmanned aerial vehicle is in the first-person perspective flight mode, controlling the pan/tilt mounted on the unmanned aerial vehicle to lock the shooting angle of the camera device comprises:

When the UAV is in the first-person viewing angle flight mode, the adjustment mechanism is controlled to adjust the attitude of the gimbal mounted on the UAV to the attitude corresponding to the shooting angle of the camera device, and then the adjustment mechanism is locked to lock the camera. The shooting angle of the camera.
The method according to claim 12, wherein the adjusted signal comes from the remote control.
The method according to claim 14, wherein the adjusted signal is that the remote controller reduces the first control signal corresponding to the pilot's input operation to a value based on the preset parameter value range of the first parameter. Obtained by the second control signal corresponding to the preset parameter value range.
The method according to claim 15, wherein the first parameter comprises a rocker parameter.
The method according to claim 16, wherein the parameters of the joystick include the response sensitivity of the joystick corresponding to pitch and roll.
The method according to claim 16, wherein the parameters of the joystick include a smooth area corresponding to the center point of the joystick for pitch and roll.
The method according to claim 12, characterized in that, before the obtaining the adjusted signal, the method comprises:

Setting the adjustment control mode of the unmanned aerial vehicle;

The obtaining the adjusted signal includes:

According to the adjustment control mode, adjusting the first adjustment signal input before adjustment to a second adjustment signal, so that the adjustment strength of the second adjustment signal on the UAV is reduced;

The second adjustment signal is used as the adjusted signal.
The method according to claim 19, wherein the first adjustment signal comprises an adjustment signal output by a normal control quantity of a derivative parameter in a proportional-integral-derivative control mode, and the second adjustment signal comprises an adjustment signal in a proportional-integral-derivative control mode. Increase the output adjustment signal of the control quantity of the derivative parameter.
The method according to claim 19, wherein the first adjustment signal includes an adjustment signal for instructing the UAV to perform a pitch attitude and a roll attitude, and the second adjustment signal includes an adjustment signal for instructing the UAV to perform speed control. signal.
The method according to claim 19, wherein the first adjustment signal comprises an adjustment signal of a key command from a remote control, and the second adjustment signal comprises an adjustment signal for instructing an assisted UAV to restore its attitude.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a camera device, including: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

When the unmanned aerial vehicle is in the first-person perspective flight mode, controlling the pan/tilt mounted on the unmanned aerial vehicle to lock the shooting angle of the camera device;

Acquiring an adjusted signal, where the adjusted signal is used to reduce the adjustment intensity of the unmanned aerial vehicle;

According to the adjusted signal, the unmanned aerial vehicle is controlled to fly.
The unmanned aerial vehicle according to claim 23, wherein the processor implements the following steps when executing the computer program:

When the UAV is in the first-person viewing angle flight mode, the adjustment mechanism is controlled to adjust the attitude of the gimbal mounted on the UAV to the attitude corresponding to the shooting angle of the camera device, and then the adjustment mechanism is locked to lock the camera. The shooting angle of the camera.
The unmanned aerial vehicle according to claim 23, wherein the processor implements the following steps when executing the computer program:

Setting the adjustment control mode of the unmanned aerial vehicle;

According to the adjustment control mode, adjusting the first adjustment signal input before adjustment to a second adjustment signal, so that the adjustment strength of the second adjustment signal on the UAV is reduced;

The second adjustment signal is used as the adjusted signal.
The unmanned aerial vehicle according to claim 25, wherein the first adjustment signal includes an adjustment signal output by a normal control quantity of a derivative parameter in a proportional integral derivative control mode, and the second adjustment signal includes a proportional integral derivative In the control mode, the adjustment signal output by the control quantity of the derivative parameter is added.
The unmanned aerial vehicle according to claim 25, wherein the first adjustment signal includes an adjustment signal instructing the unmanned aerial vehicle to perform a pitch attitude and a roll attitude, and the second adjustment signal includes an instruction to instruct the unmanned aerial vehicle to perform speed control. The regulation signal.
The unmanned aerial vehicle according to claim 25, wherein the first adjustment signal comprises an adjustment signal of a key command from a remote controller, and the second adjustment signal comprises an adjustment signal for instructing to assist the restoration of the attitude of the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 23, wherein the unmanned aerial vehicle further comprises a communication circuit, and the communication circuit is used to receive an adjusted signal from a remote controller, or the communication circuit is used to receive an adjusted signal from a remote controller. The unadjusted first control signal of the remote controller, and information on the degree of reduction of the first control signal.
The unmanned aerial vehicle according to claim 29, wherein the first control signal includes a control signal corresponding to the pilot's input operation, and the information about the degree of reducing the first control signal includes the The preset parameter value range of the first parameter of the remote control;

When the processor executes the computer program, the following steps are implemented:

Reducing the first control signal corresponding to the pilot's input operation to the second control signal corresponding to the preset parameter value range according to the preset parameter value range of the first parameter of the remote controller;

The second control signal is used as the adjusted signal.
The unmanned aerial vehicle according to claim 30, wherein the first parameter comprises a joystick parameter.
The unmanned aerial vehicle according to claim 31, wherein the parameters of the joystick include the response sensitivity of the joystick corresponding to pitch and roll.
The unmanned aerial vehicle according to claim 31, wherein the rocker parameter includes a smooth area of the center point of the corresponding rocker for pitch and roll.
A remote control, characterized in that the remote control includes a memory, a processor, and a communication circuit;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

When the unmanned aerial vehicle is in the first-person perspective flight mode, acquiring adjustment related information, where the adjustment related information is used to reduce the adjustment strength of the unmanned aerial vehicle;

The communication circuit is used to feed back the adjustment related information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls itself to fly according to the adjustment related information.
The remote control according to claim 34, wherein the adjustment-related information includes an adjusted signal;

When the processor executes the computer program, the following steps are implemented:

When the unmanned aerial vehicle is in the first-person perspective flight mode, acquiring the first control signal corresponding to the pilot's input operation;

Reduce the first control signal corresponding to the pilot's input operation to the second control signal according to the preset parameter value range of the first parameter;

The second control signal is used as the adjusted signal.
The remote control according to claim 34, wherein the adjustment-related information includes a first control signal corresponding to the pilot's input operation, and information about the degree of adjustment of the first control signal;

When the processor executes the computer program, the following steps are implemented:

When the unmanned aerial vehicle is in the first-person perspective flight mode, the first control signal and the preset parameter value range of the first parameter corresponding to the pilot’s input operation are acquired for the unmanned aerial vehicle to reduce the first control signal Is a second control signal corresponding to the preset parameter value range, and uses the second control signal as an adjusted signal.
The remote control according to claim 35 or 36, wherein the processor implements the following steps when executing the computer program:

The first parameter of the remote controller is set to a preset parameter value range, and the preset parameter value range is used to instruct to reduce the first control signal corresponding to the pilot's input operation to the second control signal corresponding to the preset parameter value range. control signal.
The remote control according to any one of claims 35-37, wherein the first parameter comprises a joystick parameter.
The remote control according to claim 38, wherein the parameters of the joystick include the response sensitivity of the joystick corresponding to pitch and roll.
The remote control according to claim 38, wherein the parameters of the joystick include a smooth area of the center point of the corresponding joystick for pitch and roll.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any one of claims 12-22 The flight control control method.