WO2021212519A1 - Procédé, appareil et système de guidage de vol, et terminal de commande à distance et support de stockage lisible - Google Patents

Procédé, appareil et système de guidage de vol, et terminal de commande à distance et support de stockage lisible Download PDF

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Publication number
WO2021212519A1
WO2021212519A1 PCT/CN2020/086869 CN2020086869W WO2021212519A1 WO 2021212519 A1 WO2021212519 A1 WO 2021212519A1 CN 2020086869 W CN2020086869 W CN 2020086869W WO 2021212519 A1 WO2021212519 A1 WO 2021212519A1
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WIPO (PCT)
Prior art keywords
drone
obstacle
flight
flight guidance
distance
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Application number
PCT/CN2020/086869
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English (en)
Chinese (zh)
Inventor
温亚停
方馨月
陈晨
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/086869 priority Critical patent/WO2021212519A1/fr
Priority to CN202080005305.5A priority patent/CN112771350A/zh
Publication of WO2021212519A1 publication Critical patent/WO2021212519A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • This application relates to the field of information display technology, and in particular to a flight guidance method, device, system, remote control terminal, and readable storage medium.
  • this application provides a flight guidance method, device, system, remote control terminal, and readable storage medium, which are designed to intuitively and accurately show the position and distance of obstacles to the user who controls the drone to ensure that the drone Flight safety.
  • this application provides a flight guidance method applied to a remote control terminal, the remote control terminal is used to communicate with an unmanned aerial vehicle on which a pan/tilt is mounted, and the method includes:
  • the flight guide page including a flight guide compass, the flight guide compass being used to simultaneously identify the position of the drone and the position of the pan/tilt;
  • the obstacle information is displayed on the flight guidance compass.
  • this application also provides a remote control terminal, the remote control terminal including a display device, a memory, and a processor, the remote control terminal communicates with an unmanned aerial vehicle, and the unmanned aerial vehicle has a pan/tilt mounted on it;
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • the flight guide page including a flight guide compass, and the flight guide compass is used to simultaneously identify the position of the drone and the position of the pan/tilt;
  • the obstacle information is displayed on the flight guidance compass.
  • this application also provides a flight guidance device, which is applied to a remote control terminal, the remote control terminal is communicatively connected with an unmanned aerial vehicle, a pan/tilt is mounted on the unmanned aerial vehicle, and the flight instruction device includes processing Device and memory;
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • the obstacle information is displayed on the flight guidance compass.
  • the present application also provides a flight guidance system, the flight guidance system comprising a drone and a remote control terminal according to any one of the instructions provided in this application, and the remote control terminal communicates with the drone connect.
  • this application also provides a computer-readable storage medium that stores a computer program that, when executed by a processor, enables the processor to implement the information provided in the specification of this application Any one of the flight guidance methods.
  • the embodiments of the application provide a flight guidance method, device, system, remote control terminal, and readable storage medium.
  • the flight guidance page is displayed on the remote control terminal, and the flight guidance page is displayed on the flight guidance page to simultaneously identify the position and position of the drone.
  • FIG. 1 is a schematic diagram of a scene for implementing the flight guidance method provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of steps of a flight guidance method provided by an embodiment of the present application
  • Fig. 3 is a schematic diagram of a flight guide page displayed by the remote control terminal in an embodiment of the present application
  • FIG. 4 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 5 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 6 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 7 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 8 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 9 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 10 is another schematic diagram of a flight guide page displayed by the remote control terminal in an embodiment of the present application.
  • FIG. 11 is another schematic diagram of a flight guide page displayed by the remote control terminal in an embodiment of the present application.
  • FIG. 12 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 13 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • FIG. 14 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • 15 is another schematic diagram of the flight guide page displayed by the remote control terminal in the embodiment of the present application.
  • 16 is a schematic block diagram of the structure of a remote control terminal provided by an embodiment of the present application.
  • FIG. 17 is a schematic block diagram of the structure of a flight guidance device provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a scene for implementing the flight guidance method provided by the embodiment of the application, as shown in FIG.
  • the remote control terminal 100 is in communication connection with an unmanned aerial vehicle 200.
  • a pan/tilt is mounted on the unmanned aerial vehicle 200.
  • the remote control terminal 100 includes a display device 101.
  • the display device 101 is used to display a flight guide page.
  • the drone 200 includes an obstacle sensing device 201, and the obstacle sensing device 201 is used to obtain sensing signals of at least one direction of the drone 200, By analyzing the sensing signals in at least one direction of the drone 200, obstacle information in at least one direction of the drone 200 can be obtained, and the obstacle information can be displayed on the flight guidance compass, so that the user can know the unmanned Obstacles sensed by the drone, it is convenient for the user to control the drone to avoid the obstacles.
  • the display device 101 may be a liquid crystal display or a touch screen.
  • the remote control terminal 100 includes a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like.
  • the obstacle sensing device 201 may include at least one sensor for acquiring sensing signals from the drone 200 in at least one direction.
  • the obstacle sensing device 201 may include a sensor for detecting obstacles in front of the drone 200.
  • the obstacle sensing device 201 may include two sensors for detecting obstacles in front of and behind the drone 200, respectively.
  • the obstacle sensing device 201 may include four sensors for detecting obstacles in the front, rear, left, and right of the drone 200, respectively.
  • the obstacle sensing device 201 may include five sensors, which are used to detect obstacles in the front, rear, left, right, and upper sides of the drone 200, respectively.
  • the obstacle sensing device 201 may include six-direction sensors for detecting obstacles in the front, rear, left, right, upper, and lower sides of the drone 200, respectively.
  • the sensors in the obstacle sensing device 201 may be implemented separately or integrated.
  • the detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.
  • the drone 200 may have one or more propulsion units to allow the drone 200 to fly in the air.
  • the one or more propulsion units can make the drone 200 at one or more, two or more, three or more, four or more, five or more, six or more free angles move.
  • the drone 200 can rotate around one, two, three, or more rotation axes.
  • the rotation axes may be perpendicular to each other.
  • the rotation axes can be maintained perpendicular to each other during the entire flight of the drone 200.
  • the rotation axis may include a pitch axis, a roll axis, and/or a yaw axis.
  • the drone 200 can move in one or more dimensions.
  • the drone 200 can move upward due to the lifting force generated by one or more rotors.
  • the drone 200 can move along the Z axis (which can be upward relative to the drone 200), the X axis, and/or the Y axis (which can be lateral).
  • the drone 200 can move along one, two, or three axes that are perpendicular to each other.
  • the drone 200 may be a rotary wing aircraft.
  • the drone 200 may be a multi-rotor aircraft that may include multiple rotors.
  • the multiple rotors can rotate to generate lifting force for the drone 200.
  • the rotor may be a propulsion unit, which allows the drone 200 to move freely in the air.
  • the rotor can rotate at the same rate and/or can generate the same amount of lift or thrust.
  • the rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust, and/or allowing the drone 200 to rotate.
  • one, two, three, four, five, six, seven, eight, nine, ten or more rotors may be provided on the drone 200.
  • These rotors can be arranged such that their rotation axes are parallel to each other.
  • the rotation axis of the rotors can be at any angle with respect to each other, which can affect the movement of the drone 200.
  • the drone 200 may have multiple rotors.
  • the rotor may be connected to the main body of the drone 200, and the main body may include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors.
  • the rotor may be connected to the body by one or more arms or extensions branching from the central part of the body.
  • one or more arms may extend radially from the central body of the drone 200, and may have a rotor at or near the end of the arm.
  • FIG. 2 is a schematic flowchart of steps of a flight guidance method provided by an embodiment of the present application. Specifically, as shown in FIG. 2, the flight guidance method includes step S101 to step S103.
  • the remote control terminal includes an integrated display device, or the remote control terminal includes a carrier platform, which is used to carry the display device.
  • the user can install the display device on the carrier platform and establish a communication connection between the remote control terminal and the display device.
  • the display device can be a liquid crystal display or a touch screen, and display devices include mobile phones and tablet computers.
  • the flight guide page When the user controls the flight of the drone through the remote control terminal, the flight guide page is displayed on the display device of the remote control terminal or the display device connected to the remote control terminal, so that the user can know the flight status of the drone.
  • the flight guide page includes a flight guide compass, which is used to simultaneously identify the position of the drone that is in communication with the remote control terminal and the position of the drone's gimbal.
  • the flight guide page also displays the drone's position.
  • the flight guidance compass includes any one of the attitude ball and the horizontal status indicator (Horizontal Situation Indicator, HSI).
  • the display position of the flight guidance compass can be set according to the actual situation, which is not specifically limited in this application.
  • the lower middle area of the flight guide page displays the flight guide compass.
  • the flight guidance compass is an azimuth indication mark indicating the azimuth on the flight guidance page, and it can be a square, a circle, an ellipse, or other shapes that can indicate the azimuth.
  • the flight guidance compass is square
  • the four corners of the direction are set to four directions: east, west, south, north, and the current position of the drone and the pan/tilt can be indicated in the square compass.
  • the flight guidance compass is circular as an example for description.
  • the flight guidance compass rotates with the rotation of the drone, and the center area of the flight guidance compass displays a drone icon.
  • the drone icon is used to indicate the drone, and the drone icon does not follow.
  • the edge area of the flight guidance compass shows the corresponding indicator characters for the true east, west, south and true north directions.
  • the edge area of the flight guidance compass also shows clouds.
  • PTZ icon the PTZ icon is used to represent the PTZ of the drone.
  • the position of the PTZ icon in the edge area is determined according to the direction of the Yaw axis of the PTZ.
  • the position of the PTZ icon in the edge area follows The direction of the pan-tilt changes.
  • the user can know the position and position of the gimbal based on the displayed flight guidance compass.
  • the position of the drone is convenient for the user to control the attitude of the drone's gimbal and the attitude of the drone.
  • the drone icon, pan/tilt icon, and indicator characters can be set according to actual conditions. This application does not specifically limit this.
  • the indicator characters corresponding to the direction of due east, west, south and north are respectively E, W, S, and N.
  • the drone icon is an arrow, circle, triangle, or other shapes
  • the gimbal icon is a triangle, quadrilateral, pentagon, or other shapes.
  • the angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose of the drone, where the angle value is that of the drone.
  • the angle of the nose with respect to true north, true south, true west, or true east.
  • the drone icon is an arrow icon
  • the arrow icon is fixed to the top of the flight guide page, and the direction of the arrow icon is consistent with the nose of the drone; when the orientation of the drone changes,
  • the edge area of the flight guidance compass displays the corresponding gimbal icon for each gimbal, and the color of each gimbal icon is different, the flight guidance compass
  • the edge area of also displays multiple angle scale lines and the corresponding angle value of each angle scale line. Among them, the angle value is the angle deviating from the true north direction.
  • the user can be accurate and clear based on the displayed flight guidance compass Knowing the position of the gimbal and the position of the drone is convenient for the user to control the attitude of the gimbal of the drone and the attitude of the drone.
  • the center area of the flight guidance compass also displays a speed indicator line of the drone, the speed indicator line intersects the drone icon, and the speed indicator line is used to indicate the flight speed and flight direction of the drone.
  • the direction of the speed indicating line changes with the flight direction of the drone
  • the length of the speed indicating line changes with the flight speed of the drone.
  • the speed indicator line can also be used to indicate power parameters such as acceleration. The greater the flying speed of the drone, the longer the length of the speed indicator line, and the slower the flying speed of the drone, then the speed indicator line The shorter the length.
  • the flight guidance compass 10 is displayed in the lower middle area of the flight guidance page, and the drone icon 20 displayed in the central area of the flight guidance compass is
  • the speed indication line 30 intersects the drone icon 20, the nose of the drone displayed near the upper side of the flight guidance compass 10 corresponds to an angle of 300°, and the edge area 50 of the flight guidance compass 10 shows the true east direction.
  • the corresponding indicator characters of, due west, due south, and due north are E, W, S, and N respectively.
  • the edge area 50 of the flight guidance compass 10 displays 6 angle graduation lines, in a clockwise direction, each graduation The corresponding angle values of the lines are 33, 3, 6, 12, 15 and 24 respectively.
  • the displayed angles of 33, 3, 6, 12, 15 and 24 are angles of 330°, 30°, 60°, 120°, 150° and Shorthand for 240°
  • the edge area 50 of the flight guidance compass 10 also displays three gimbal icons 40, and the displayed three gimbal icons 40 are respectively with PTZ icon
  • the position on the flight guidance compass 10 is 300° from true north, and the gimbal icon
  • the angle of the position on the flight guidance compass is between 330° from true north and 360° from true north, the gimbal icon
  • the position on the flight guidance compass is 210° from true north.
  • the flight guidance compass is also used to indicate a space area with a preset distance around the drone, and the flight guidance compass also displays a home point icon of the drone, and the home point icon is used to represent the drone.
  • the home point of the drone, the position of the home point icon on the flight guidance compass is determined according to the direction and distance of the drone’s home point relative to the drone; the distance between the drone’s home point and the drone When the distance is less than the preset distance, the home point icon is located inside the flight guidance compass.
  • the home point icon When the distance between the home point of the drone and the drone is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass ; The home point icon and the distance of the drone's home point relative to the drone are also displayed near the flight guidance compass.
  • the preset distance and the home point icon can be set based on actual conditions, which is not specifically limited in this application.
  • the preset distance is 16m
  • the home point icon is in the shape of a circle, rectangle, triangle, or other shapes.
  • the flight guidance compass further includes a mark point icon, the mark point icon is used to represent the space point marked by the drone, and the position of the mark point icon on the flight guidance compass is based on the marked space point relative to the space point.
  • the direction and distance of the man-machine are determined; when the distance between the marked space point and the drone is less than the preset distance, the marked point icon is located inside the flight guidance compass, and the distance between the marked space point and the drone is greater than When the distance is equal to or equal to the preset distance, the mark point icon is located inside the edge area of the flight guidance compass; the mark point icon and the distance of the marked space point relative to the drone are also displayed near the flight guidance compass.
  • the marker icon can be set based on the actual situation, and this application does not specifically limit this.
  • the marker icon is a diamond, circle, or rectangle, etc.
  • the flight guidance page also displays a dot button. When the user clicks the dot button
  • the remote control terminal controls the drone to mark the space point to obtain the three-dimensional coordinates of the space point, and display the marked point icon of the marked space point on the flight guidance compass according to the three-dimensional coordinates of the space point.
  • the user can know the direction and distance of the drone relative to the marked space point, which is convenient for the user to control the drone to fly to the marked space point.
  • the flight guidance compass further includes a follow icon, the follow icon is used to indicate the object followed by the drone, and the position of the follow icon on the flight guidance compass is based on the relative The direction and distance of the man-machine are determined; when the distance of the object followed by the drone relative to the drone is less than the preset distance, the follow icon is located inside the flight guidance compass, and the object followed by the drone is relative to the drone When the distance is greater than or equal to the preset distance, the follow icon is located inside the edge area of the flight guidance compass; the mark point icon and the distance of the marked space point relative to the drone are also displayed near the flight guidance compass.
  • the follow icon can be set based on actual conditions, and this application does not specifically limit this.
  • the follow icon is
  • the flight guide page also displays an object follow button.
  • the drone automatically recognizes people, vehicles, and ships and other objects, and adjusts the camera's focus so that objects such as people, vehicles, and ships are in the center of the screen.
  • a follow icon is displayed on the flight guidance compass.
  • the home point icon of the drone is displayed inside the flight guidance compass
  • the home point icon is displayed near the lower right side of the flight guidance compass
  • the distance from the home point of the drone to the drone is 10m
  • the inner side of the edge area of the flight guidance compass is displayed with a marker icon
  • a marker icon is displayed near the lower left side of the flight guidance compass
  • the distance from the marked space point to the drone is 45m
  • the follow icon is displayed inside the flight guidance compass
  • a follow icon is displayed near the upper left side of the flight guidance compass
  • the distance from the following object to the drone is 5m.
  • the obstacle information includes the distance between the UAV and the obstacle, the orientation of the obstacle relative to the UAV, the shape and size of the obstacle, etc.
  • At least one direction of the UAV includes the front of the UAV, At least one of the rear, left, and right directions, the at least one direction of the drone includes at least one of the front, rear, left, and right of the drone, and at least one of the upper and lower sides of the drone .
  • the remote control terminal acquires the sensing signal sent by the drone at a preset time interval, and analyzes the sensing signal to determine whether there is an obstacle in at least one direction of the drone. If there is an obstacle in at least one direction of the drone, the sensing signal is analyzed to obtain obstacle information in at least one direction of the drone, or the drone obtains the sensing collected by the obstacle sensing device at preset intervals. Signal and analyze the sensed signal to determine whether there is an obstacle in at least one direction of the drone. If it is determined that there is an obstacle in at least one direction of the drone, then the sensed signal is analyzed to obtain an unmanned Obstacle information in at least one direction of the machine, and send the obstacle information to the remote control terminal.
  • the preset time can be set based on actual conditions, which is not specifically limited in this application, for example, the preset time is 1 second.
  • the obstacle sensing device may include at least one sensor for acquiring sensing signals from the drone in at least one direction.
  • the obstacle sensing device may include a sensor for detecting obstacles in front of the drone.
  • the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone, respectively.
  • the obstacle sensing device may include four-directional sensors to detect obstacles in the front, rear, left, and right of the drone, and each direction sensor includes a binocular vision sensor to obtain the obstacle depth in the corresponding direction. Information to obtain the shape of the obstacle.
  • the obstacle sensing device may include six-directional sensors for detecting obstacles in the front, rear, left, right, bottom, and top of the drone, respectively.
  • the sensors in the obstacle sensing device can be implemented separately or integrated.
  • the detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.
  • the obstacle information is displayed on the flight guidance compass.
  • an obstacle icon is displayed on the flight guidance compass according to the obstacle information.
  • the obstacle icon is used to indicate the obstacle perceived by the drone.
  • the obstacle information includes the obstacle perceived by the drone relative to The direction of the drone, and the position of the obstacle icon on the flight guidance compass is determined according to the direction of the obstacle perceived by the drone relative to the drone.
  • the number of obstacle icons is determined according to the number of obstacles perceived. For example, if the number of obstacles perceived by the drone is 2, then two obstacle icons will be displayed on the flight guidance compass for identification. The position of the obstacle relative to the drone.
  • the user can know the position of the obstacle relative to the drone, which is convenient for the user to control the drone to avoid the obstacle in time and ensure the flight safety of the drone.
  • the obstacle information further includes the shape of the obstacle perceived by the drone, and the shape of the obstacle icon is determined according to the shape of the obstacle perceived by the drone, or the shape of the obstacle icon
  • the shape is determined based on the distance between the obstacle and the drone that the drone perceives. Specifically, the perceived distance between the obstacle and the drone is greater than or equal to the preset distance, the shape of the obstacle icon is an arc line segment, and the distance between the perceived obstacle and the drone is less than the preset distance
  • the shape of the obstacle icon is quadrilateral or pentagon; the color and/or size of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.
  • the color of the obstacle icon is green.
  • the color of the obstacle icon is yellow.
  • the perceived distance between the obstacle and the drone is less than or equal to the preset stopping distance, the color of the obstacle icon is red.
  • the preset warning distance is greater than the preset stopping distance.
  • the stopping distance, the preset warning distance and the preset stopping distance can be set by the user, which is not specifically limited in this application, for example, the preset warning distance is 10m, and the preset stopping distance is 4m.
  • the obstacle icon flashes at intervals for a preset duration, and/or a warning tone is played to indicate Remind the user to control the drone to avoid obstacles.
  • the color of the obstacle icon is yellow, and the yellow The obstacle icon flashes at a preset time interval, and the first warning tone is broadcast.
  • the color of the obstacle icon is red.
  • the red obstacle icon flashes at a preset time interval, and a warning tone is broadcast for the second time, and it can also be controlled to automatically control the drone to stop.
  • the first warning sound is different from the second warning sound.
  • the second warning sound is denser and quicker than the first warning sound.
  • the preset duration can be set based on actual conditions. This application does not specifically limit this, for example, , The preset duration is 1 second.
  • an obstacle icon when an obstacle is detected in at least one of the front, rear, left, and rear of the drone, an obstacle icon will be displayed on the flight guidance compass.
  • the distance between the human and the machine is greater than the preset warning distance, and the preset warning distance is greater than the preset distance, the obstacle icon is a green arc line segment, if the distance between the perceived obstacle and the drone is less than or equal to If the warning distance is preset, the obstacle icon is a yellow arc line segment, and the yellow arc line segment flashes at a preset interval, and the first warning tone is broadcast at the same time. If the distance is less than or equal to the preset stopping distance, the obstacle icon is a red arc line segment, and the red arc line segment flashes at a preset interval, and the second warning tone is broadcast at the same time.
  • the obstacle icon is a green box, if the perceived obstacle is from the drone If the distance between the obstacles is less than or equal to the preset warning distance, the obstacle icon is a yellow box, and the yellow box flashes at the preset time interval, and the first warning tone is played at the same time.
  • the distance between the human and the machine is less than or equal to the preset stopping distance, the obstacle icon is a red box, and the red box flashes at the preset interval, and the second warning tone is broadcast at the same time.
  • the flight guidance compass includes an obstacle perception blind zone and an obstacle perception zone.
  • the obstacle perception blind zone and the obstacle perception zone have different colors.
  • the number of the obstacle perception blind zone depends on the rotor of the drone. The number is determined.
  • the obstacle perception blind zone is the space area where the UAV cannot perceive the obstacle.
  • the obstacle perception blind zone on the flight guidance compass is symmetrically distributed.
  • the obstacle perception blind zone is fan-shaped with a preset angle, and the obstacle perception area is larger than the obstacle. Perceive the area of the blind zone.
  • the flight guidance compass includes 4 obstacle perception blind areas and 4 obstacle perception areas.
  • the color of the obstacle perception blind area is gray, and the color of the obstacle perception area is white.
  • you start reading in a clockwise direction you can see that the angle range of the first obstacle perception blind zone is between 330° from the true north direction and 360° from the true north direction, and the angle range of the second obstacle perception blind zone is the deviation from true north.
  • the angle range of the third obstacle sensing blind zone is between 150° from the true north direction and 180° deviation from the true north direction
  • the angle range of the fourth obstacle sensing blind zone is deviation
  • the flight guidance compass displays two obstacle icons. Reading clockwise from the nose direction, you can see that the first obstacle icon is located at 60° from true north.
  • the first obstacle icon is an arc-shaped line segment
  • the second obstacle icon is located in a position area 180° from the true north direction
  • the second obstacle icon is a quadrilateral.
  • the obstacle indicator bar is used to indicate the distance between the drone and the obstacle. The length of the obstacle indicator bar varies with the distance between the drone and the obstacle. If it is determined that the obstacle perceived by the drone is located in the front, rear, left, and/or right of the drone, the obstacle information will be displayed on the flight guidance compass.
  • the display position of the obstacle indicator bar on the flight guidance page can be set according to actual conditions, which is not specifically limited in this application.
  • the obstacle indicator bar is displayed in the right display area of the flight guidance compass.
  • the user can know the difference between the obstacles above and/or below the drone and the drone. It is convenient for the user to control the drone to avoid obstacles in time and ensure the flight safety of the drone.
  • the obstacle indicator is displayed at the upper end of the obstacle indicator bar, and the distance between the drone and the obstacle is also displayed near the upper end; Only when an obstacle is detected below the drone, the obstacle indicator is displayed at the lower end of the obstacle indicator bar, and the distance between the drone and the obstacle is also displayed near the lower end; above the drone When an obstacle is sensed at and below, the upper and lower ends of the obstacle indicator bar display obstacle signs, and the distance between the drone and the obstacle above is displayed near the upper end, and the distance between the drone and the obstacle is displayed near the lower end.
  • the shape of the obstacle mark can be a circle, rectangle, triangle or other shapes.
  • the obstacle mark When the obstacle is sensed above the drone, and the drone is constantly approaching the obstacle, the obstacle mark is continuously pressed down.
  • the displayed obstacle indicator bar is gradually shortened.
  • the obstacle mark continues to rise, making the displayed obstacle indicator bar continuously stretch.
  • the obstacle indicator bar when the distance between the drone and the obstacle is greater than or equal to the first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line segment
  • the colors of the first line segment, the second line segment and the third line segment are different.
  • the length of the first line segment, the second line segment and the third line segment changes with the distance between the drone and the obstacle.
  • the colors of the first line segment, the second line segment, and the third line segment can be set based on actual conditions, which are not specifically limited in this application. For example, the color of the first line segment is red, and the color of the second line segment is yellow. , The color of the third line segment is green.
  • red means that the distance between the drone and the obstacle is very close, and the possibility of collision between the drone and the obstacle is high
  • yellow means that the distance between the drone and the obstacle is relatively short, and no one is there.
  • the probability of collision between the drone and the obstacle is higher.
  • the green color indicates that the distance between the drone and the obstacle is far, and the probability of collision between the drone and the obstacle is less.
  • the obstacle indicator bar when the distance between the drone and the obstacle is less than the first preset distance and greater than or equal to the second preset distance, the obstacle indicator bar includes a first line segment and a second line segment, and The first preset warning sound is broadcast, and the first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range.
  • the red first line segment and the yellow second line segment are displayed, and the alarm sound is broadcast to remind the user that the UAV is within the obstacle avoidance warning range .
  • the drone has the risk of collision with obstacles, which is convenient for users to control the drone to fly avoiding obstacles in time.
  • the obstacle indicator bar when the distance between the drone and the obstacle is less than the second preset distance and greater than or equal to the third preset distance, the obstacle indicator bar includes the first line segment and broadcasts the second prediction.
  • An alarm sound is set, and the second preset alarm sound is used to remind the user that the drone is within the obstacle avoidance braking range.
  • the first red line segment When the drone is gradually approaching an obstacle and the distance between the drone and the obstacle is dangerous, only the first red line segment will broadcast the alarm sound to remind the user that the drone is within the obstacle avoidance parking range. There is a greater risk of collision with obstacles, which is convenient for users to control drones to fly to avoid obstacles in time.
  • the drone when the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the first preset distance is greater than the second preset distance, and the second preset The distance is greater than the third preset distance, the third preset distance is greater than the fourth preset distance, and the first preset distance, the second preset distance, the third preset distance, and the fourth preset distance can be set by the user.
  • This application does not specifically limit this, for example, the first preset distance is 16 meters, the second preset distance is 12 meters, the third preset distance is 8 meters, and the fourth preset distance is 5 meters.
  • the first preset distance, the second preset distance, the third preset distance, and the fourth preset distance can be set by the user, which is not specifically limited in this application.
  • the first preset distance is 16 meters.
  • the second preset distance is 12 meters
  • the third preset distance is 8 meters
  • the fourth preset distance is 5 meters.
  • the displayed obstacle indicator bar includes a red line segment, a yellow line segment and a green line segment.
  • the green line segment of the obstacle indicator bar keeps getting shorter.
  • the green line segment of the obstacle indicator bar disappears, and only the red line segment and yellow line segment are displayed.
  • the yellow line segment of the obstacle indicator bar will gradually shorten. When the distance between the obstacle and the drone is less than or equal to 8 meters, the yellow line segment of the obstacle indicator bar disappears and only the red line segment is displayed. If the drone continues to approach the obstacle, the red line segment of the obstacle indicator bar gradually Shorten it and control the drone to stop when the distance between the obstacle and the drone is less than or equal to 5 meters.
  • the flight guidance page when an obstacle is sensed above the drone, the flight guidance page also displays an obstacle indicator bar for indicating the distance between the obstacle above and the drone, and the obstacle
  • the object indicator bar is located in the right display area of the flight guidance compass, and the obstacle indicator is displayed on the upper end of the obstacle indicator bar
  • the distance between the obstacle displayed near the upper end and the drone is 20.8m.
  • the flight guidance page when an obstacle is sensed below the drone, the flight guidance page also displays an obstacle indicator bar for indicating the distance between the obstacle below and the drone, and the obstacle
  • the object indicator bar is located in the right display area of the flight guidance compass, and the obstacle indicator is displayed at the lower end of the obstacle indicator bar
  • the distance between the obstacle displayed near the lower end and the drone is 18.5m.
  • the flight guidance page when obstacles are sensed above and below the drone, the flight guidance page also displays obstacles for indicating the distance between the upper obstacle and the lower obstacle and the drone.
  • Indicator bar the obstacle indicator bar is located in the right display area of the flight guidance compass, the upper and lower ends of the obstacle indicator bar are displayed with obstacle marks The distance between the upper obstacle and the drone displayed near the upper end is 20.8m, and the distance between the lower obstacle and the drone displayed near the lower end is 5m.
  • the obstacle indicator bar consists of the upper obstacle indicator bar and the lower one.
  • the obstacle indicator bar consists of the upper obstacle indicator bar including three line segments, and the lower obstacle indicator bar includes one line segment.
  • the obstacle information is displayed on the flight guidance page and the obstacle icon is displayed on the flight guidance compass.
  • the obstacle indicator bar is used to indicate the distance between the obstacle above and/or below the drone and the drone
  • the obstacle icon is used to indicate the front, rear, left and/or right of the drone. The direction and distance of obstacles relative to the drone.
  • the flight guidance compass displays two obstacle icons.
  • the first obstacle icon is located in a location area 60° away from true north.
  • the first obstacle icon is an arc-shaped line segment
  • the second obstacle icon is located in a location area 180° away from true north
  • the second obstacle icon is a quadrilateral.
  • the right display area of the flight guidance compass is displayed to indicate the top Obstacle indicator strip for the distance between the obstacle and the obstacle below and the drone.
  • the upper and lower ends of the obstacle indicator strip show obstacle signs.
  • the distance between the upper obstacle and the drone displayed near the upper end is 20.8m
  • the distance between the lower obstacle and the drone displayed near the lower end is 5m.
  • the obstacle indicator bar consists of the upper obstacle indicator bar and the lower one.
  • the obstacle indicator bar consists of the upper obstacle indicator bar including three line segments, and the lower obstacle indicator bar includes one line segment.
  • the flight instruction page further includes a flight distance indicator line of the drone, the flight distance indicator line is used to indicate the flight distance of the drone in the vertical direction, and the length of the flight distance indicator line is based on the drone.
  • the vertical speed of the aircraft and the preset time are determined, where the vertical speed includes the climb speed or the descent speed; the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can follow the obstacle indicator bar displayed adjacent to the
  • the flight distance indicator line determines whether the drone is safe.
  • the display position of the flight distance indicator line on the flight guide page and the preset time can be set based on actual conditions, which is not specifically limited in this application, for example, the preset time is 2 seconds.
  • the flight distance indicator line Through the flight distance indicator line, you can know the distance that the drone can fly from the current position at the vertical speed (current vertical speed) for a preset time, so that the user can determine the drone based on the flight distance indicator line and obstacle indicator bar Whether it is safe, it is convenient for the user to control the drone to avoid obstacles in time to ensure the flight safety of the drone.
  • the obstacle indicator bar and the flight distance indicator line have different colors. By displaying the obstacle indicator bar and the flight distance indicator line in different colors, it is convenient for the user to distinguish the obstacle indicator bar from the flight distance indicator line, so that The user can determine whether the drone is safe according to the flight distance indicator line and the obstacle indicator bar, which is convenient for the user to control the drone to avoid obstacles in time and ensure the flight safety of the drone.
  • the flight guide page further includes a speed indicator bar and an altitude indicator bar.
  • the speed indicator bar is used to indicate the flight speed of the drone
  • the altitude indicator bar is used to indicate the altitude of the drone
  • the speed indicator bar is displayed on the There is the current flight speed of the drone.
  • the altitude indicator bar shows the altitude of the drone relative to the home point.
  • the speed indicator bar displays multiple speed scale lines and the corresponding flight speed of each speed scale line.
  • the indicator bar displays multiple height scale lines and the corresponding relative height of each height scale line.
  • the relative height can be the height of the drone relative to the home point or the height of the drone relative to other positions. Wherein, the number of speed scale lines and height scale lines can be set based on actual conditions, which is not specifically limited in this application.
  • the display position of the speed indicator bar and the altitude indicator bar on the flight guide page can be set according to the actual situation, and this application does not specifically limit this.
  • the speed indicator bar is displayed in the left display area of the flight guide page .
  • the right display area of the flight guidance page displays the altitude indicator bar, or the right display area of the flight guidance page displays the speed indicator bar, and the left display area of the flight guidance page displays the altitude indicator bar.
  • the flight guidance page further includes the vertical speed of the drone, the wind speed and direction of the environment in which the drone is located, where the vertical speed includes the climb speed or the descent speed of the drone, and the speed of the drone.
  • the display position of the vertical speed, wind speed and wind direction of the environment where the drone is located on the flight guidance page can be set according to the actual situation, and this application does not specifically limit this, for example, the wind speed and wind direction of the environment where the drone is located.
  • the wind direction is displayed in the lower display area of the speed indicator bar, and the vertical speed of the drone is displayed in the lower display area of the altitude indicator bar.
  • the left display area of the flight guidance page displays a speed indicator bar
  • the right display area displays an altitude indicator bar
  • the speed indicator bar displays 4 speed scale lines, from top to bottom.
  • the corresponding flight speeds of the speed scale are 07m/s, 06m/s, 05.2m/s and 04m/s, and 05.2m/s is the current flight speed of the drone.
  • the display area issued by the speed indicator bar is displayed
  • the wind speed of the drone's environment is 04.0m/s
  • the height indicator bar shows 4 height scale lines, and the corresponding relative heights of the height scale lines from top to bottom are 160m, 140m, 120m and 100m, respectively , 120 meters is the current relative altitude of the drone, the vertical speed displayed in the display area below the height indicator bar is 2.5m/s, and the current absolute altitude is 1234.5m.
  • an obstacle indicator bar and a flight distance indicator line are displayed on the height indicator bar.
  • the flight guide page when an obstacle is sensed above the drone, the flight guide page also displays There is an obstacle indicator bar for indicating the distance between the obstacle above and the drone, and the obstacle indicator bar is located in the left display area of the height indicator bar, and the obstacle indicator is displayed on the upper end of the obstacle indicator bar
  • the distance between the obstacle displayed near the upper end and the drone is 20.8m
  • the right side of the obstacle indicator bar shows the flight distance indicator line "
  • the flight guidance page further includes a drone's nose icon, which is used to represent the drone's nose, and the body icon is always located in the center of the flight guidance page.
  • the guidance page also includes the attitude indicating line of the UAV, which is used to indicate the current attitude of the UAV; the attitude indicating line changes with the attitude of the UAV.
  • the shape and size of the handpiece icon can be set based on actual conditions, and this application does not specifically limit this.
  • the handpiece icon is cross-shaped, circular, square, or other shapes.
  • the displayed nose icon and the attitude indication line can reflect the attitude change of the drone, so that the user can know the attitude change of the drone, and it is convenient for the user to control the flight of the drone.
  • the attitude indication line is sea level or horizon
  • the vertical movement of the attitude indication line in the flight guide page indicates that the pitch angle of the drone has changed
  • the left and right tilt of the attitude indication line indicates the The roll angle of the drone changes.
  • the upward movement of the attitude indication line indicates that the pitch angle of the UAV is the depression angle, and the UAV is tilted downward
  • the downward movement of the attitude indication line indicates that the pitch angle of the UAV is the elevation angle, and the UAV is inclined upward
  • the tilt of the attitude indicator line to the left indicates that the drone's roll angle is the right roll angle, and the drone is tilted to the right
  • the tilt of the attitude indicator line indicates that the drone's roll angle is the left roll angle, and the drone is tilted to the right.
  • the nose icon displayed on the flight guidance page is The display attitude indication line is "——", and the nose icon And the attitude indicator line “——” is displayed between the speed indicator bar and the altitude indicator bar, and the nose icon is located at the midpoint of the attitude indicator line.
  • the screen switching instruction triggered by the user is acquired, and the background screen of the flight guidance page is switched from the current image transmission screen to the screen corresponding to the screen switching instruction, for example, the flight guidance page is changed according to the screen switching instruction.
  • the background picture of FPV FIRST PERSON VIEW
  • the flight guidance page displays the main image transmission screen, which is displayed in the lower right corner of the flight guidance page in a small window.
  • the remote control terminal When the user touches the main image transmission screen displayed in the small window, Trigger the screen switching command, so that the remote control terminal will switch the background screen of the flight guidance page from the FPV image transmission screen to the main image transmission screen, and the FPV image transmission screen is displayed in the lower right corner of the flight guidance page in a small window, which is understandable
  • a screen switching instruction is triggered, so that the remote control terminal switches the background image of the flight guidance page from the main image transmission screen to the FPV image transmission screen.
  • the flight guidance page after switching the background screen does not display the speed indicator bar and the altitude indicator bar.
  • the left display area of the flight guidance compass on the flight guidance page after switching the background screen displays the current flying speed of the drone and the wind speed and direction of the environment where the drone is located
  • the right display area of the flight guidance compass displays There are the altitude of the drone relative to the home point, the current absolute altitude and vertical speed of the drone, and the vertical speed is any one of the climb speed and the descent speed.
  • the display area on both sides of the flight guidance compass displays the flight speed and relative altitude of the drone.
  • the speed indicator bar and altitude indicator bar are not displayed, which can avoid the speed indicator bar and the altitude indicator bar.
  • the height indicator bar blocks the screen, making it inconvenient for the user to control the drone.
  • the right display area of the flight guidance compass when an obstacle is sensed above and/or below the drone, the right display area of the flight guidance compass also displays an obstacle indicator bar, and the obstacle indicator bar is used to indicate the drone The distance to the obstacle, the right display area of the flight guidance compass also shows the flight distance indicator line, the flight distance indicator line is used to indicate the flying distance of the drone in the vertical direction, the length of the flight distance indicator line is Determined according to the vertical speed of the drone and the preset time.
  • the obstacle indicator bar and the flight distance indicator line By displaying the obstacle indicator bar and the flight distance indicator line on the right side of the flight guidance compass, it is convenient for the user to distinguish the obstacle indicator bar and the flight distance indicator line, so that the user can determine whether the drone is based on the flight distance indicator line and the obstacle indicator bar It is safe and convenient for users to control the UAV to avoid obstacles in time to ensure the flight safety of the UAV.
  • the current flight speed of the drone displayed in the left display area of the flight guidance compass is 05.2m/s
  • the displayed wind speed is 04.0m/s
  • the displayed wind direction is
  • the display area on the right side of the flight guidance compass shows that the current relative altitude of the drone is 120m, the current absolute altitude is 1234.5m, and the vertical speed is 2.5m/s.
  • the right display area of the flight guidance compass also displays obstacle indications. Bar, the upper and lower ends of the obstacle indicator bar show obstacle marks The distance between the upper obstacle and the drone displayed near the upper end is 20.8m, and the distance between the lower obstacle and the drone displayed near the lower end is 5m.
  • the obstacle indicator bar consists of the upper obstacle indicator bar and the lower one.
  • the intersection line of the upper obstacle indicator bar and the lower obstacle indicator bar is aligned with the straight line corresponding to the current relative height of the drone.
  • the right side of the obstacle indicator bar shows the flight distance indicator line "
  • an obstacle indicator strip is displayed in the center area of the flight guidance page according to the obstacle information, wherein the obstacle indicator strip is used to indicate that the drone has sensed
  • the position of the obstacle indicator belt in the center area of the flight guidance page is determined according to the position of the obstacle perceived by the drone relative to the drone.
  • the shape of the obstacle indication belt can be set based on actual conditions, which is not specifically limited in this application.
  • the shape of the obstacle indication belt is a fan shape.
  • the obstacle indicator will be displayed on the left side of the center area of the flight guidance page. If there is an obstacle on the right side of the drone, it will be displayed in the center area The obstacle indicator belt is displayed on the right side. If there is an obstacle in front of the drone, the obstacle indicator belt will be displayed on the upper side of the center area of the flight guidance page. If there is an obstacle behind the drone, it will be displayed on the flight guidance page. Obstacle indicator strips are displayed on the lower side of the center area of the.
  • the color and/or size of the obstacle indicator belt is determined according to the distance between the obstacle and the drone as perceived by the drone. It is understandable that the red obstacle indicator strip indicates that the distance between the drone and the obstacle is very close, and the possibility of collision between the drone and the obstacle is high, and the yellow obstacle indicator strip indicates the drone and the obstacle. The distance between the objects is relatively close, and the drone is more likely to collide with the obstacle. The green obstacle indicator strip indicates that the distance between the drone and the obstacle is far, and the drone may collide with the obstacle. The smaller the resistance, the shorter the distance between the obstacle perceived by the drone and the drone, the larger the obstacle indicator band, and the longer the distance between the obstacle perceived by the drone and the drone. Then the obstacle indicator belt is smaller.
  • the number of obstacle indication belts is determined according to the number of obstacles perceived by the drone relative to the direction of the drone, for example, obstacles are perceived on the left and right of the drone.
  • the left and right sides of the center area of the flight instruction page are both displayed with obstacle indicator strips, that is, two obstacle indicator strips are displayed.
  • the flight guidance compass is displayed in the lower left corner of the flight guidance page.
  • two obstacle icons are displayed on the flight guidance compass.
  • the angle range occupied by the first obstacle icon is between 0° and 60° from the true north direction
  • the angle range occupied by the second obstacle icon is located at 210° from the true north direction
  • another obstacle indicator belt is displayed on the right side of the central area of the flight guidance page.
  • the first obstacle indicator belt is larger than the second obstacle indicator belt, that is, the distance between the obstacle on the left of the drone and the drone is smaller than the obstacle on the right of the drone The distance to the drone.
  • the flight guidance page further includes a status indicator bar
  • the status indicator bar displays positioning module identification, image transmission identification, obstacle avoidance module identification, remote control terminal connection identification, network identification and battery identification, positioning module identification It is used to indicate the type of positioning module used by the drone and the working status of the positioning module.
  • the image transmission mark is used to indicate the state of image transmission between the drone and the remote control terminal
  • the obstacle avoidance module mark is used to indicate the avoidance of the drone.
  • the working condition of the obstacle module, the remote control terminal connection identification is used to indicate the communication connection between the drone and the remote control terminal
  • the network identification is used to indicate the network situation of the remote control terminal
  • the battery identification is used to indicate the power and voltage of the drone’s battery.
  • Working conditions, positioning module identification, image transmission identification, obstacle avoidance module identification, remote control terminal connection identification, network identification and battery identification can be set based on actual conditions, and this application does not specifically limit this.
  • the status indicator bar is displayed in the top area of the flight guidance page, and the positioning module identification, image transmission identification, obstacle avoidance module identification, remote control terminal connection identification, network identification, and The battery identification shows that the drone is positioned using the GPS positioning module, the image transmission between the drone and the remote control terminal is normal, the obstacle avoidance module is working normally, the communication connection between the drone and the remote control terminal is normal, and the remote control terminal’s network is good,
  • the power of the two batteries of the drone are 80% and 100% respectively, and the working voltage of the two batteries are 20.7v and 26.1v respectively.
  • the abnormal state of the battery can also be marked with preset different colors. And normal state.
  • the flight guidance method provided by the above embodiment displays a flight guidance page on a remote control terminal, and displays a flight guidance compass on the flight guidance page for simultaneously identifying the position of the drone and the position of the drone's gimbal, and then click
  • the obstacle information in at least one direction of the drone is obtained, the obstacle information is displayed on the flight guidance compass, so that the user can intuitively know the position and distance of the obstacle relative to the drone, so that the user can accurately control the drone.
  • Man-machine flight avoiding obstacles ensures the flight safety of drones.
  • the remote control terminal includes, but is not limited to, a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like.
  • the remote control terminal 300 includes a processor 301, a memory 302, and a display device 303.
  • the processor 301, the memory 302, and the display device 303 are connected by a bus 304, such as an I2C (Inter-integrated Circuit) bus.
  • the display device 303 may be a liquid crystal display, a touch screen, or an external display device, such as a mobile phone and a tablet computer.
  • the remote control terminal 300 includes a carrier platform for carrying a display device.
  • the user can install the display device on the carrier platform and establish a communication connection between the remote control terminal and the display device, so that the display device can The flight guidance page is displayed.
  • the remote control terminal 300 is in communication connection with an unmanned aerial vehicle.
  • a pan/tilt is mounted on the unmanned aerial vehicle.
  • the display device 303 is used to display a flight guidance page.
  • the obstacle sensing device may include at least one sensor for acquiring sensing signals from the drone in at least one direction.
  • the obstacle sensing device may include a sensor for detecting obstacles in front of the drone.
  • the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone, respectively.
  • the obstacle sensing device may include four sensors, which are respectively used to detect obstacles in the front, rear, left, and right of the drone.
  • the obstacle sensing device may include five sensors, which are respectively used to detect obstacles in the front, rear, left, right, and above of the drone.
  • the obstacle sensing device may include six-directional sensors, which are respectively used to detect obstacles in the front, rear, left, right, above, and below of the drone.
  • the sensors in the obstacle sensing device can be implemented separately or integrated.
  • the detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.
  • the processor 301 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk, or the like.
  • ROM Read-Only Memory
  • the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk, or the like.
  • the processor 301 is configured to run a computer program stored in the memory 302, and implement the following steps when the computer program is executed:
  • the flight guide page including a flight guide compass, and the flight guide compass is used to simultaneously identify the position of the drone and the position of the pan/tilt;
  • the obstacle information is displayed on the flight guidance compass.
  • the processor realizes that the obstacle information is displayed on the flight guidance compass, it is used to realize:
  • An obstacle icon is displayed on the flight guidance compass according to the obstacle information, where the obstacle icon is used to indicate an obstacle perceived by the drone.
  • the obstacle information includes the direction of the obstacle perceived by the drone relative to the drone, and the position of the obstacle icon on the flight guidance compass is based on the direction of the drone.
  • the perceived obstacle is determined relative to the direction of the drone.
  • the obstacle information includes the shape of the obstacle perceived by the drone.
  • the obstacle information further includes the distance between the obstacle perceived by the drone and the drone, and the shape of the obstacle icon is based on the obstacle perceived by the drone The distance between the object and the UAV is determined.
  • the color and/or size of the obstacle icon is determined according to the distance between the obstacle perceived by the drone and the drone.
  • the obstacle icon flashes at intervals for a preset duration, and/or, Broadcast a warning tone to remind the user to control the UAV to avoid obstacles.
  • an angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose of the drone, wherein the The angle value is the angle of the drone's nose with respect to the true north, true south, true west, or true east direction.
  • the flight guidance compass rotates with the rotation of the drone.
  • a drone icon is displayed in the center area of the flight guidance compass, the drone icon is used to represent the drone, and the drone icon does not change with the rotation of the drone. Rotation occurs.
  • the drone icon is an arrow icon, the arrow icon points to the top of the flight guidance page, and the direction of the arrow icon is consistent with the nose of the drone;
  • the flight guidance compass rotates.
  • the center area of the flight guidance compass also displays a speed indicator line of the drone, the speed indicator line intersects the drone icon, and the speed indicator line is used to indicate the drone.
  • the flight speed and direction of the man-machine are used to indicate the drone.
  • the direction of the speed indication line changes as the flying direction of the drone changes.
  • the length of the speed indication line changes as the flying speed of the drone changes.
  • the edge area of the flight guidance compass displays respective indication characters corresponding to the true east direction, the true west direction, the true south direction, and the true north direction.
  • a pan/tilt icon is also displayed on the edge area of the flight guidance compass, the pan/tilt icon is used to represent the pan/tilt of the drone, and the position of the pan/tilt icon in the edge area is Determined according to the direction of the Yaw axis of the pan/tilt.
  • the edge area of the flight guidance compass displays a pan-tilt icon corresponding to each pan-tilt, and the color of each pan-tilt icon is different.
  • the position of the pan/tilt icon in the edge area changes with the change of the orientation of the pan/tilt.
  • a plurality of angle scale lines and the angle value corresponding to each of the angle scale lines are also displayed on the edge area of the flight guidance compass.
  • the flight guidance compass displays a home point icon of the drone, the home point icon is used to indicate the home point of the drone, and the home point icon is on the flight guidance compass
  • the position of is determined according to the direction and distance of the UAV's home point relative to the UAV.
  • the flight guidance compass is also used to indicate a space area with a preset distance around the drone, and the distance between the home point of the drone and the drone is less than the preset distance
  • the home point icon is located inside the flight guidance compass, when the distance between the home point of the drone and the drone is greater than or equal to the preset distance, the home point icon is located The inner side of the edge area of the flight guidance compass.
  • the home point icon and the distance of the home point of the drone relative to the drone are also displayed near the flight guidance compass.
  • the flight guidance compass further includes a mark point icon, the mark point icon is used to represent a space point marked by the drone, and the position of the mark point icon on the flight guidance compass is based on The marked spatial point is determined relative to the direction and distance of the drone.
  • the distance of the marked space point relative to the drone and the marked point icon are also displayed near the flight guidance compass.
  • the flight guidance compass further includes a follow icon, the follow icon is used to indicate an object followed by the drone, and the position of the follow icon on the flight guidance compass is based on the drone The following object is determined relative to the direction and distance of the drone.
  • the distance of the object followed by the drone relative to the drone and the follow icon are also displayed near the flight guidance compass.
  • the flight guidance compass includes an obstacle perception blind zone and an obstacle perception zone, and the obstacle perception blind zone and the obstacle perception zone have different colors.
  • the number of obstacle perception blind areas is determined according to the number of rotors of the drone.
  • the at least one direction of the drone includes at least one of the front, rear, left, and right of the drone.
  • the at least one direction of the drone includes at least one of the front, rear, left, right, upper, and lower directions of the drone.
  • the processor implements the acquisition of obstacle information in at least one direction of the drone, it is further used to implement:
  • an obstacle indicator bar is displayed on the flight guidance page according to the obstacle information, wherein the obstacle The indicator bar is used to indicate the distance between the drone and the obstacle.
  • the processor realizes determining whether the obstacle sensed by the drone is located above and/or below the drone, it is further used to realize:
  • the obstacle information is displayed on the flight guidance compass.
  • the obstacle indicator bar when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line The colors of the segment, the second line segment, and the third line segment are different.
  • the obstacle indicator bar when the distance between the drone and the obstacle is less than a first preset distance and greater than or equal to a second preset distance, the obstacle indicator bar includes a first line segment and a second line segment.
  • a first preset alarm sound is broadcast, and the first preset alarm sound is used for Remind the user that the drone is within the obstacle avoidance warning range.
  • the obstacle indicator bar when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, the obstacle indicator bar includes a first line segment.
  • a second preset alarm sound is broadcast, and the second preset alarm sound It is used to remind the user that the drone is within the obstacle avoidance braking range.
  • processor is further configured to implement the following steps:
  • the drone When the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third preset distance is greater than the fourth preset distance.
  • the flight instruction page further includes a flight distance indicating line of the drone, and the flight distance indicating line is used to indicate the flying distance of the drone in a vertical direction.
  • the length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time, wherein the vertical speed includes a climbing speed or a descent speed.
  • the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can determine whether the target position of the drone is based on the obstacle indicator bar displayed adjacently and the flight distance indicator line. Safety.
  • the obstacle indicator bar and the flying distance indicator line have different colors.
  • the flight guide page further includes a speed indicator bar and an altitude indicator bar
  • the speed indicator bar is used to indicate the flight speed of the drone
  • the altitude indicator bar is used to indicate the drone's flight speed.
  • Altitude the current flight speed of the drone is displayed on the speed indicator bar
  • the altitude of the drone relative to the home point is displayed on the altitude indicator bar.
  • the speed indicator bar displays a plurality of speed scale lines and the flight speed corresponding to each of the speed scale lines
  • the altitude indicator bar displays a plurality of altitude scale lines and each of the altitude scales.
  • the relative height corresponding to each line, and the relative height is the height of the drone relative to the home point.
  • the flight guidance page further includes the vertical speed of the drone, and the wind speed and wind direction of the environment in which the drone is located, where the vertical speed includes a climb speed or a descent speed.
  • the wind speed and wind direction of the environment where the drone is located are displayed in a display area below the speed indicator bar, and the vertical speed of the drone is displayed in a display area below the height indicator bar.
  • processor is further configured to implement the following steps:
  • the left display area of the flight guide compass on the flight guide page after switching the background screen displays the current flight speed of the drone and the wind speed and direction of the environment where the drone is located.
  • the right display area of the flight guidance compass displays the altitude of the drone relative to the home point, the current absolute altitude and the vertical speed of the drone, and the vertical speed is any one of the climb speed and the descent speed. item.
  • an obstacle indicator bar is also displayed in the right display area of the flight guidance compass, and the obstacle indicator bar is used to indicate all obstacles. Describe the distance between the drone and the obstacle.
  • the right display area of the flight guidance compass also displays a flight distance indicator line
  • the flight distance indicator line is used to indicate the flying distance of the drone in the vertical direction
  • the flight distance indicator line The length of is determined according to the vertical speed of the UAV and the preset time.
  • processor is further configured to implement the following steps:
  • an obstacle indicator strip is displayed in the central area of the flight guidance page according to the obstacle information, wherein the obstacle indicator strip is used to indicate all the obstacles. State the obstacles perceived by the drone.
  • the color and/or size of the obstacle indication belt is determined according to the distance between the obstacle perceived by the drone and the drone.
  • the position of the obstacle indication belt in the central area of the flight guidance page is determined according to the position of the obstacle perceived by the drone relative to the drone.
  • the number of obstacle indication belts is determined according to the number of obstacles perceived by the drone relative to the direction of the drone.
  • the flight guidance page further includes an attitude indicating line of the drone, and the attitude indicating line is used to indicate the current attitude of the drone.
  • the attitude indication line changes as the attitude of the drone changes.
  • the attitude indication line is a sea level or a horizon line
  • the upward and downward movement of the attitude indication line in the flight guide page indicates that the pitch angle of the drone changes
  • the attitude indication line is The left and right tilt indicates that the roll angle of the drone has changed.
  • the upward movement of the attitude indication line indicates that the pitch angle of the drone is a depression angle, and the drone is tilted downward;
  • the downward movement of the attitude indication line indicates that the pitch angle of the drone is the elevation angle, and the drone is tilted upward;
  • attitude indication line is inclined to the left, it means that the roll angle of the UAV is the right roll angle, and the UAV is inclined to the right;
  • the tilt of the attitude indication line to the right indicates that the roll angle of the drone is the left roll angle, and the drone is tilted to the left.
  • FIG. 17 is a schematic block diagram of a flight guidance device provided by an embodiment of the present application.
  • the flight guidance device 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected by a bus 403, which is, for example, an I2C (Inter-integrated Circuit) bus.
  • the flight guidance device 400 is applied to a remote control terminal, and the remote control terminal is in communication connection with an unmanned aerial vehicle.
  • the remote control terminal includes a display device.
  • the display device may be a liquid crystal display or a touch screen.
  • the remote control terminal includes a carrier platform for carrying a display device. The user can install the display device. On the bearing platform, a communication connection between the remote control terminal and the display device is established.
  • the drone is mounted with a gimbal, and the display device or display device is used to display a flight guidance page.
  • the flight guidance page includes a flight guidance page for simultaneously identifying the position of the drone and the gimbal.
  • the UAV includes an obstacle sensing device, and the obstacle sensing device is used to obtain a sensing signal of at least one direction of the UAV. By analyzing the sensing signal of at least one direction of the UAV, the UAV can be obtained Obstacle information in at least one direction of the flight guidance compass, and the obstacle information is displayed on the flight guidance compass, so that the user can know the obstacles sensed by the drone, and it is convenient for the user to control the drone to avoid the obstacle.
  • the obstacle sensing device may include at least one sensor for acquiring sensing signals from the drone in at least one direction.
  • the obstacle sensing device may include a sensor for detecting obstacles in front of the drone.
  • the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone, respectively.
  • the obstacle sensing device may include four sensors, which are respectively used to detect obstacles in the front, rear, left, and right of the drone.
  • the obstacle sensing device may include five sensors, which are respectively used to detect obstacles in the front, rear, left, right, and above of the drone.
  • the obstacle sensing device may include six-directional sensors, which are respectively used to detect obstacles in the front, rear, left, right, above, and below of the drone.
  • the sensors in the obstacle sensing device can be implemented separately or integrated.
  • the detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.
  • the processor 401 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 401 is configured to run a computer program stored in the memory 402, and when executing the computer program, implement any flight guidance method as provided in the specification of this application.
  • An embodiment of the present application also provides a flight guidance system.
  • the flight guidance system includes an unmanned aerial vehicle and any remote control terminal as provided in the embodiments of the present application, and the unmanned aerial vehicle is communicatively connected with the remote control terminal.
  • the embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the flight guidance method provided in the example.
  • the computer-readable storage medium may be the internal storage unit of the remote control terminal or unmanned aerial vehicle described in any of the foregoing embodiments, such as the hard disk or memory of the remote control terminal.
  • the computer-readable storage medium may also be an external storage device of the remote control terminal, for example, a plug-in hard disk equipped on the remote control terminal, a smart memory card (Smart Media Card, SMC), and Secure Digital (SD) ) Card, Flash Card, etc.

Abstract

L'invention concerne un procédé de guidage de vol, un terminal de commande à distance, et un support de stockage lisible par ordinateur. Le procédé consiste à : afficher une page de guidage de vol, la page de guidage de vol comprenant un compas de guidage de vol (10) pour identifier simultanément l'orientation d'un véhicule aérien sans pilote (200) et l'orientation d'un cardan (S101) ; acquérir des informations d'un obstacle dans au moins une direction du véhicule aérien sans pilote (200) (S102) ; et afficher les informations d'obstacle sur le compas de guidage de vol (10) (S103). La sécurité de vol du véhicule aérien sans pilote peut être assurée.
PCT/CN2020/086869 2020-04-24 2020-04-24 Procédé, appareil et système de guidage de vol, et terminal de commande à distance et support de stockage lisible WO2021212519A1 (fr)

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PCT/CN2020/086869 WO2021212519A1 (fr) 2020-04-24 2020-04-24 Procédé, appareil et système de guidage de vol, et terminal de commande à distance et support de stockage lisible
CN202080005305.5A CN112771350A (zh) 2020-04-24 2020-04-24 飞行指引方法、装置、系统、遥控终端及可读存储介质

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