WO2021217380A1 - 无人机的控制方法、系统、装置及存储介质 - Google Patents
无人机的控制方法、系统、装置及存储介质 Download PDFInfo
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- WO2021217380A1 WO2021217380A1 PCT/CN2020/087338 CN2020087338W WO2021217380A1 WO 2021217380 A1 WO2021217380 A1 WO 2021217380A1 CN 2020087338 W CN2020087338 W CN 2020087338W WO 2021217380 A1 WO2021217380 A1 WO 2021217380A1
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- 238000004590 computer program Methods 0.000 claims description 47
- 238000004891 communication Methods 0.000 claims description 21
- 230000006870 function Effects 0.000 claims description 12
- 238000010187 selection method Methods 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 241001465754 Metazoa Species 0.000 description 3
- 230000024703 flight behavior Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- This application relates to the technical field of unmanned aerial vehicles, and in particular to a control method, system, device and storage medium of an unmanned aerial vehicle.
- the intelligent functions of the existing drones only support basic flying around the target or following, and they are all designed independent functions and cannot be changed according to user requirements.
- flight behaviors such as following, orbiting, orienting have extremely high requirements for the operator's operating level.
- the user needs to achieve the drone's trajectory based on the drone's camera device always lock the target, usually It is difficult to complete the operation manually.
- users are creating aerial photography, they are usually unable to switch between multiple flight modes due to the difficulty of operation.
- the present application provides a control method, control system, control device, and storage medium of an unmanned aerial vehicle.
- this application provides a method for controlling drones, including:
- the screen interface also displays other input modes for the user to select, and the target input operation is performed by the user in the input mode currently selected by the user;
- a control instruction is generated; wherein the screen interface also displays other operation modes for the user to choose, and the control operation is a user operation under the operation mode currently selected by the user of;
- the present application provides a control system for an unmanned aerial vehicle.
- the system includes a memory, a processor, a display circuit, and a communication circuit.
- the memory, the display circuit, and the communication circuit are respectively connected to the Processor connection;
- 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:
- the screen interface of the display circuit also displays other input methods for the user to choose, and the target input operation is a user operation in the input mode currently selected by the user of;
- a control instruction is generated; wherein the screen interface of the display circuit also displays other operation modes for the user to select, and the control operation is currently selected by the user User operated in operation mode;
- the communication circuit is controlled to send the control instruction to the drone, so that the drone can lock the target and fly according to the control requirements of the user.
- the present application provides a control device for an unmanned aerial vehicle, and the control device includes the control system for an unmanned aerial vehicle as described above.
- 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 drone as described above. ⁇ Control methods.
- the embodiments of the application provide a drone control method, system, device, and storage medium.
- the target to be locked is determined according to the detected target input operation of the user.
- the screen interface also displays other input methods for the user to choose.
- the target input operation is performed by the user in the input mode currently selected by the user; according to the detected control operation of the user based on the target to be locked, a control instruction is generated, wherein the screen interface also displays other options for the user
- the control operation is performed by the user in the operation mode currently selected by the user; the control instruction is sent to the drone to make the drone lock the target and fly according to the user's control requirements .
- the screen interface displays a variety of input methods for the user to choose
- the user can operate under the input method of their choice to determine the target to be locked; since the screen interface displays a variety of operation methods for the user to choose, the user can choose
- the control operation based on the target to be locked is carried out in the operation mode of, in this way, a variety of target input methods and multiple control operation methods can be opened, so that the user can flexibly choose, and can choose the corresponding method according to the user’s needs
- the operation is simple and the operation steps are simple, providing technical support for the subsequent de-rocking and reducing the difficulty of operation.
- FIG. 1 is a schematic flowchart of an embodiment of a control method for a drone according to the present application
- FIG. 2 is a schematic diagram of an application scenario of an embodiment of a drone control method according to the present application
- FIG. 3 is a schematic flowchart of another embodiment of the control method of the drone according to the present application.
- FIG. 4 is a schematic flowchart of another embodiment of the control method of the unmanned aerial vehicle according to the present application.
- Fig. 5 is a schematic diagram showing the first screen interface in the control method of the drone according to the present application.
- Fig. 6 is another schematic diagram showing the screen interface in the control method of the drone according to the present application.
- FIG. 7 is another schematic diagram showing the screen interface in the control method of the unmanned aerial vehicle of the present application.
- FIG. 8 is a schematic flowchart of another embodiment of the control method of the drone according to the present application.
- Fig. 9 is another schematic diagram showing the screen interface in the control method of the drone according to the present application.
- FIG. 10 is a schematic flowchart of another embodiment of the control method of the drone according to the present application.
- Fig. 11 is a schematic structural diagram of an embodiment of a control system for an unmanned aerial vehicle according to the present application.
- the intelligent functions of the existing drones only support basic flying around the target or following, and they are all designed independent functions and cannot be changed according to user requirements.
- flight behaviors such as following, circling, orienting have extremely high requirements for the operator's operation level, and the operation is difficult to switch between multiple flight modes.
- the embodiment of the present application determines the target to be locked based on the detected target input operation of the user, wherein the screen interface also displays other input methods for the user to select, and the target input operation is performed by the user in the input mode currently selected by the user ; According to the detected control operation of the user based on the target to be locked, a control instruction is generated, the screen interface also displays other operation modes for the user to choose, the control operation is the user operation in the currently selected operation mode of the user Send the control instructions to the drone, so that the drone locks on the target and flies in accordance with the user's control requirements.
- the screen interface displays a variety of input methods for the user to choose
- the user can operate under the input method of their choice to determine the target to be locked; since the screen interface displays a variety of operation methods for the user to choose, the user can choose
- the control operation based on the target to be locked is carried out in the operation mode of, in this way, multiple target input methods and multiple control operation methods can be opened, so that the user can flexibly choose and choose the corresponding method according to the user’s needs
- the operation is simple and the operation steps are simple, providing technical support for the subsequent de-rocking and reducing the difficulty of operation.
- Fig. 1 is a schematic flowchart of an embodiment of a method for controlling drones according to the present application, and the method includes:
- Step S101 Determine the target to be locked according to the detected target input operation of the user, wherein the screen interface also displays other input modes for the user to select, and the target input operation is performed by the user in the input mode currently selected by the user.
- the input mode may be used to determine the input mode of the target to be locked desired by the user, including but not limited to: inputting the coordinates of the target, displaying the image for the user to directly select the target in the image, and there are multiple definite
- the target is for users to choose, etc.; the method of inputting the target's coordinates includes but is not limited to: directly inputting the target's coordinates, downloading the target's coordinates from the server, selecting the target's coordinates from the map, and obtaining the target's coordinates from the sharing of other users , Obtain the coordinates of the target from the device that the user can locate, and so on.
- the screen interface displays a variety of input methods for the user to choose the input method they want to perform the target input operation to determine the target to be locked. In this way, the target input method can be opened, and multiple input methods are realized for the user to choose .
- Step S102 Generate a control instruction based on the detected control operation of the user based on the target to be locked, wherein the screen interface also displays other operation modes for the user to select, and the control operation is the operation mode currently selected by the user Under user operation.
- the operation mode may be an operation mode used to realize the user's control requirements based on the target to be locked, including but not limited to: joystick mode, slider sliding mode, multiple selection modes corresponding to target control requirements, And so on; the multiple selection methods corresponding to the target control requirements can facilitate the user's selection of various target control requirements in aerial photography, such as follow, surround, route lock, and so on.
- the screen interface displays a variety of operation modes for the user to choose, for the user to choose the operation mode corresponding to the target control requirement he wants, so as to realize the control operation based on the target to be locked, and generate the corresponding control instruction.
- This method can be opened up in the control operation mode, and realize a variety of operation modes for users to choose.
- Step S103 Send the control instruction to the drone to make the drone lock the target and fly according to the user's control requirements.
- the above-mentioned control command generated based on the control operation of the target to be locked can enable the drone to lock the target and fly according to the control requirements of the user, and send the control command to the drone, and the drone After the drone receives the control instruction, the drone locks on the target and flies according to the user's control requirements.
- FIG. 2 is a schematic diagram of an application scenario of an embodiment of a drone control method of the present application.
- the method of the embodiment of the present application can be applied to a remote control 10, which includes a display screen 11 that can be interacted with by humans.
- the user can determine the target to be locked on the display screen 11, perform control operations based on the target to be locked, and generate control instructions.
- the remote control 10 sends the control instructions to the drone 20. After the drone 20 receives the control instructions, nothing
- the man-machine 20 locks on the target and flies according to the user's control requirements.
- the embodiment of the present application determines the target to be locked based on the detected target input operation of the user, wherein the screen interface also displays other input methods for the user to select, and the target input operation is performed by the user in the input mode currently selected by the user According to the detected user's control operation based on the target to be locked, a control instruction is generated, wherein the screen interface also displays other operation modes for the user to select, and the control operation is the user in the user's currently selected operation mode Operational; sending the control instruction to the drone to make the drone lock the target and fly in accordance with the user's control requirements.
- the screen interface displays a variety of input methods for the user to choose
- the user can operate under the input method of their choice to determine the target to be locked; since the screen interface displays a variety of operation methods for the user to choose, the user can choose
- the control operation based on the target to be locked is carried out in the operation mode of, in this way, multiple target input methods and multiple control operation methods can be opened, so that the user can flexibly choose and choose the corresponding method according to the user’s needs
- the operation is simple and the operation steps are simple, providing technical support for the subsequent de-rocking and reducing the difficulty of operation.
- step S101 The content related to step S101 will be described in detail below.
- step S101 when the user first enters or restarts, etc., the step S101 according to the detected user's target input operation, before determining the target to be locked, further includes: step S104.
- Step S104 Display multiple input methods on the screen interface, and the multiple input methods include a target selection method and a target coordinate input method.
- the target selection method and the target coordinate input method are more convenient input methods for determining the target to be locked. In this way, the user experience can be further enhanced.
- step S104 displays multiple input methods on the screen interface, which may specifically include:
- Sub-step S1041 Obtain an image of the camera device of the drone.
- Sub-step S1042 Identify the target matching the preset picture in the image of the camera device of the drone.
- Sub-step S1043 Display the target in the image on the screen interface, and also display the target coordinate input mode at the edge of the screen interface.
- the preset picture may be a target that the user usually wants to select, and the number of preset pictures may be multiple, for example: a person, a specific animal, a specific flower, a specific building, and so on.
- the preset picture may be preset by the system and/or the user, and the preset picture may also be a picture of himself, family, and friends saved by the user in advance. Normally, if the method of this embodiment is used for aerial photography, when it is used to shoot a target in a preset picture, the image of the camera device of the drone can be directly obtained, and the image can be recognized.
- the target matching the preset picture in the image is displayed on the screen interface, such as people, animals, etc.
- multiple targets matching the preset picture such as multiple people, People and animals, etc.
- multiple targets matching the preset pictures are simultaneously displayed on the screen interface for the user to select the target to be locked.
- multiple targets matching the preset picture can be displayed in a relatively prominent manner to facilitate the user's attention, for example, adding a special mark, highlighting, etc. to the displayed target matching the preset picture.
- the user may switch from the current target selection method to other commonly used target coordinate input methods. In order to facilitate the user to switch to the target coordinate input method without affecting the current screen, it can be displayed on the edge of the screen interface at the same time.
- the target coordinate input method is a relatively prominent manner to facilitate the user's attention.
- a quick scan function switch can be specially set.
- the scan function switch can be turned on, that is, the acquisition of the drone as described in sub-step S1041 Before the image of the camera device, it may include: turning on the scan function switch.
- the scan function switch When the scan function switch is turned on, the step of acquiring the image of the drone's camera device and the subsequent steps are directly executed. If the scan function switch is not turned on, you can simply display multiple input methods on the screen interface, or display the target coordinate input method prominently, and display the target selection method inconspicuously, and so on.
- determining the target to be locked according to the detected target input operation of the user in step S101 may include: determining the target to be locked according to the user's target box selection operation or target click operation detected on the screen interface.
- the user box selects or clicks on the target, the operation is simple.
- the step S101 determining the target to be locked according to the detected target input operation of the user may include: selecting the target coordinate input mode according to the user detected on the screen interface Operate to determine the target to be locked.
- step S101 selects the operation according to the user's target coordinate input mode detected on the screen interface to determine the target to be locked, which may specifically include:
- Step S101A1 According to the detected user's target coordinate input mode selection operation, a map interface is displayed on the screen interface.
- Step S101A2 Determine the target to be locked according to the selection operation of the user's target coordinate point detected on the map interface.
- step S101 selects an operation according to the user's target input mode detected on the screen interface to determine the target to be locked, which may specifically include:
- Step S101B1 According to the detected user's target coordinate input mode selection operation, the target coordinate point containing the height information shared by the user is obtained.
- Step S101B2 Use the target coordinate point as the target to be locked.
- step S101 selects the operation according to the user's target coordinate input mode detected on the screen interface to determine the target to be locked, which may specifically include:
- Step S101C1 According to the detected user's target coordinate input mode selection operation, the target locked by the user's global positioning system GPS device is acquired.
- the GPS device can be a mobile phone, a remote control, a portable GPS device, and so on. If the screen interface is the screen interface of the remote control, and the GPS device is a mobile phone or other portable GPS device, the mobile phone or other portable GPS device can send the locked target to the remote control, so that the remote control can obtain the target locked by the user's GPS device.
- Step S101C2 Use the target locked by the GPS device as the target to be locked.
- the user sets the photo of his two children (a boy and a girl) as a preset picture.
- the screen interface will display the child, as shown in the screen interface Display two targets identified from the image of the drone's camera device that match the preset picture: a boy and a girl, and at the same time display target coordinate input method 1, target coordinate input method 2, target on the edge of the screen interface Coordinate input method 3.
- the user clicks on the boy image and determines that the target to be locked is the boy in the figure. Referring to FIG.
- a map interface is displayed on the screen interface, and the user can select the target coordinate point on the map interface to determine the target to be locked.
- the target coordinate point containing the height information shared by the user is obtained.
- the target coordinate input method 3 the target locked by the user's global positioning system GPS device is obtained.
- step S102 The content related to step S102 will be described in detail below.
- step S102 when the user first enters or restarts, etc., step S102 according to the detected control operation of the user based on the target to be locked, before generating a control instruction, further includes: step S105.
- Step S105 Display multiple operation modes on the screen interface, and the multiple operation modes include a joystick operation mode and a target control selection mode.
- the joystick operation mode can still be reserved for this part of the pilots, providing the option of directly controlling the drone; pilots with less experience can directly control the drone.
- the display mode of the target control selection mode includes target control selection items, that is, step S105 displays multiple operation modes on the screen interface, which may include: Multiple operation modes are displayed on the screen interface displaying the target to be locked, and the multiple operation modes include a joystick operation mode directly for the user to operate and multiple target control options for the user to select.
- a variety of target control options for users to choose can be the target control options that users use more and more frequently; or it can enable users to selectively display the target control options they need most, and other target control options can not be displayed for the time being ;and many more.
- step S102 When the user selects the joystick operation mode, step S102 generates the control instruction according to the detected control operation of the user based on the target to be locked, which may include: according to the detected information on the screen interface displaying the target to be locked The user generates the control instruction based on the joystick control operation of the target to be locked; sending the control instruction to the drone in step S103 may include: sending the control instruction to the drone, Make the drone lock the target and fly under the control of the joystick.
- step S102 When the user selects the target control option, step S102 generates the control instruction according to the detected control operation of the user based on the target to be locked, which may include: according to the detected information on the screen interface displaying the target to be locked The user generates the control instruction based on the target control option selection operation of the target to be locked; the step S103 sending the control instruction to the drone may include: sending the control to the drone Instructions to make the UAV lock the target and fly under the control of the target selected by the user.
- Target control option 3 represents three different options for control requirements.
- step S102 generates the control instruction based on the user selection operation detected on the screen interface displaying the target to be locked based on the target control options of the target to be locked, and may also include: according to the display of the target to be locked The user detected on the screen interface of the target generates the control instruction based on the target control option selection operation of the target to be locked and the target control option confirmation operation.
- the multiple target control options include a focus follow option, a surround option, and a route lock option.
- the control instruction corresponding to the focus follow option enables the drone to lock the target and follow the target; that is, according to the user detected on the screen interface displaying the target to be locked based on the to-be-locked target
- the focus of the locked target follows the selection operation to generate the control instruction; the control instruction is sent to the drone to make the drone lock to the target and follow the target to fly.
- the focus follow option includes a path follow option and a parallel follow option.
- the control instruction corresponding to the path following option can make the drone lock the target and automatically follow the flight along the target's motion track; that is, according to the detection on the screen interface displaying the target to be locked.
- the user of the user generates the control instruction based on the selection operation of the path following the option of the target to be locked; sends the control instruction to the drone so that the drone locks the target and automatically follows the The trajectory of the target follows the flight.
- the control instruction corresponding to the parallel follow option can make the drone lock the target and always keep flying parallel to the target; that is, according to the user based on the user detected on the screen interface displaying the target to be locked
- the parallel follow option selection operation of the target to be locked generates the control instruction; the control instruction is sent to the drone so that the drone locks the target and always maintains parallel flight with the target .
- the parallel following options include absolute parallel following options and relative parallel following options.
- the control instruction corresponding to the absolute parallel follow option enables the drone to lock the target and always fly at a fixed angle and distance from the target in the geodetic coordinate system; that is, according to the display that the to-be-locked
- the user detected on the screen interface of the target generates the control instruction based on the absolute parallel follow option selection operation of the target to be locked; sends the control instruction to the drone to lock the drone
- the target is always flying at a fixed angle and distance from the target in the geodetic coordinate system.
- the control instruction corresponding to the relative parallel follow option can enable the drone to lock the target and always fly in parallel with the direction of movement of the target in the geodetic coordinate system; that is, according to the display that the to-be-locked
- the user detected on the screen interface of the target generates the control instruction based on the relative parallel follow option selection operation of the target to be locked; sends the control instruction to the drone to lock the drone.
- the target is always flying in parallel with the direction of movement of the target under the geodetic coordinate system.
- the control instruction corresponding to the surround option can make the drone lock the target and fly around the target; that is, based on the user detected on the screen interface displaying the target to be locked
- the target surround option selection operation generates the control instruction; the control instruction is sent to the UAV to make the UAV lock the target and fly around the target.
- the user can also set the orbiting speed and the orbiting direction, that is, generating the control instruction according to the detected user's target control selection operation based on the target to be locked in step S102 may also include:
- Step S102A1 Display the surround speed input box and the surround direction input box according to the detected user selection operation based on the surround selection item of the target to be locked.
- Step S102A2 Generate the control instruction according to the detected user's orbital speed and orbital direction input operations, and the control instruction causes the drone to lock the target and orbit the drone according to the orbiting speed and direction required by the user. Target flying.
- the control instruction corresponding to the route lock option enables the drone to lock the target and fly according to the locked route required by the user; that is, according to the user detected on the screen interface displaying the target to be locked
- the route lock option selection operation of the target to be locked is generated to generate the control instruction; the control instruction is sent to the drone to make the drone lock the target and fly according to the locked route required by the user.
- the user can also set the flight direction, that is, the step S102 according to the detected user based on the target control selection operation of the target to be locked to generate the control instruction may also include:
- Step S102B1 According to the detected user selection operation based on the route lock option of the target to be locked, the flight direction input box is displayed.
- Step S102B2 Generate the control instruction according to the detected user's flight direction input operation, and the control instruction makes the UAV lock the target and fly according to the locked route and flight direction required by the user.
- step S103 sends the control instruction to the drone, it may further include: step S106 and step S107, as shown in FIG. 10.
- Step S106 Generate another control instruction according to the user's selection operation based on another target control option of the target to be locked detected on the screen interface displaying the target to be locked;
- Step S107 Send the other control instruction to the UAV to make the UAV exit from the flight under the control of the target selected by the user, and change to continue to lock the target and continue to lock on the target selected by the user. Fly under the control of a target.
- the user when the drone is in the current flight mode, the user directly selects another target control option selection operation based on the target to be locked, and generates another control instruction and sends it to the drone, thereby
- the seamless switching of multiple flight modes (flight modes) of the drone is realized, and the operation is simple, and the user does not need to have rich operating experience, and the novice can also implement it, so it can improve the user experience.
- the previous target control option selected by the user is the path following option
- the current flying mode of the drone is: the drone locks on the target and automatically follows the target's movement trajectory
- the user It is hoped that the flying mode of the drone is: the drone locks on the target and flies around the target.
- the user can directly select another target control option as the surround option on the screen interface to generate another control command
- the drone can exit the current flight mode and switch to another flight mode: the drone locks on the target and flies around the target.
- Figure 11 is a schematic structural diagram of an embodiment of the drone control system of the present application. It should be noted that the system of this embodiment can implement the steps in the above drone control method, and a detailed description of the relevant content Please refer to the method section above, and I won’t repeat it here.
- the system 100 includes: a memory 1, a processor 2, a display circuit 3, and a communication circuit 4.
- the memory 1, the display circuit 3, and the communication circuit 4 are respectively connected to the processor 2; the communication circuit 4 is used for communication between the system and the outside world.
- the communication circuit 4 can also be used for communication between the systems.
- the communication circuit 4 can include a bus, the memory 1, the display circuit 3, and the The communication circuit 4 is respectively connected to the processor 2 through a bus.
- the processor 2 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.
- the memory 1 can 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 1 is used to store a computer program; the processor 2 is used to execute the computer program and when the computer program is executed, the following steps are implemented:
- the screen interface of the display circuit also displays other input modes for the user to choose, and the target input operation is a user operation in the input mode currently selected by the user ⁇ ;
- a control instruction is generated, wherein the screen interface of the display circuit also displays other operation modes for the user to choose, and the control operation is in the user's current Operated by the user in the selected operation mode; controlling the communication circuit to send the control instruction to the drone, so that the drone locks on the target and flies according to the user's control requirements.
- the processor implements the following steps when executing the computer program: controlling the display circuit to display multiple input modes on the screen interface, the multiple input modes including a target selection mode and a target coordinate input mode.
- the processor executes the computer program, the following steps are implemented: acquiring an image of the camera device of the drone; identifying a target in the image of the camera device of the drone that matches a preset picture ; Control the display circuit to display the target in the image on the screen interface, while also displaying the target coordinate input mode on the edge of the screen interface.
- the processor executes the computer program, it implements the following steps: according to the user's target coordinate input mode selection operation detected on the screen interface, the target to be locked is determined.
- the processor executes the computer program, the following steps are implemented: according to the user's target coordinate input mode selection operation detected by the screen interface, the display circuit is controlled to display the map interface on the screen interface; The selection operation of the user's target coordinate point detected on the map interface determines the target to be locked.
- the processor when the processor executes the computer program, it implements the following steps: select an operation according to the user's target coordinate input mode detected by the screen interface, and obtain the target coordinate point containing height information shared by the user; The target coordinate point is used as the target to be locked.
- the processor when the processor executes the computer program, it implements the following steps: select operation according to the user's target coordinate input mode detected by the screen interface, and obtain the target locked by the user's global positioning system GPS device; The target locked by the GPS device is used as the target to be locked.
- the processor when the processor executes the computer program, it implements the following steps: controlling to turn on the scan function switch.
- the processor implements the following steps when executing the computer program: controlling the display circuit to display multiple operation modes on the screen interface, the multiple operation modes including a joystick operation mode and a target control selection mode .
- the processor implements the following steps when executing the computer program: controlling the display circuit to display multiple operation modes on the screen interface displaying the target to be locked, and the multiple operation modes include direct supply to the user Joystick operation mode and multiple target control options for users to choose.
- the processor when the processor executes the computer program, it implements the following steps: generating the control based on the joystick control operation of the target to be locked based on the user detected on the screen interface displaying the target to be locked Instruction; controlling the communication circuit to send the control instruction to the drone, so that the drone locks on the target and flies under the control of the joystick.
- the processor executes the computer program, the following steps are implemented: according to the user detected on the screen interface displaying the target to be locked based on the target control option selection operation of the target to be locked, generating all The control instruction; controlling the communication circuit to send the control instruction to the UAV, so that the UAV locks on the target and flies under the control of the target selected by the user.
- the processor executes the computer program, the following steps are implemented: according to the user detected on the screen interface displaying the target to be locked, a selection operation is controlled based on another target of the target to be locked, Generate another control instruction; control the communication circuit to send the other control instruction to the drone, so that the drone exits from the flight under the control of the target selected by the user, and transforms to continue to lock the drone.
- the processor executes the computer program, the following steps are implemented: according to the user detected on the screen interface displaying the target to be locked based on the target control option selection operation of the target to be locked and the The target control option confirms the operation, and generates the control instruction.
- the multiple target control options include a focus follow option, a surround option, and a route lock option;
- the control command corresponding to the focus follow option can enable the drone to lock the target and follow the Target flight;
- the control command corresponding to the surround option can make the drone lock the target and fly around the target;
- the control command corresponding to the route lock option can make the drone lock the Target and fly according to the locked route required by the user.
- the focus following options include path following options and parallel following options;
- the control instructions corresponding to the path following options enable the drone to lock the target and automatically follow the target's movement track follow the flight;
- the control command corresponding to the parallel follow option enables the UAV to lock the target and always maintain parallel flight with the target.
- the parallel follow option includes an absolute parallel follow option and a relative parallel follow option;
- the control command corresponding to the absolute parallel follow option enables the drone to lock the target and always be in the geodetic coordinate system. Fly with the target at a fixed angle and distance; the control command corresponding to the relative parallel follow option can make the drone lock the target and always keep parallel with the direction of movement of the target in the geodetic coordinate system Take the flight.
- the processor executes the computer program, the following steps are implemented: according to the detected user selection operation based on the surround selection items of the target to be locked, the display circuit is controlled to display the surround speed input box and the surround direction input Frame; according to the detected user's orbiting speed and orbiting direction input operation, the control instruction is generated, and the control instruction can make the drone lock the target and orbit the said drone according to the orbiting speed and direction required by the user Target flying.
- the processor executes the computer program, the following steps are implemented: according to the detected user selection operation based on the route lock option of the target to be locked, control the display circuit to display the flight direction input box;
- the received user's flight direction input operation generates the control instruction, and the control instruction makes the UAV lock the target and fly according to the locked route and flight direction required by the user.
- the present application also provides a control device for an unmanned aerial vehicle, which includes the control system for an unmanned aerial vehicle as described in any one of the above items.
- the control device can be a remote control or other control device that can control the drone.
- UAV control system section For a detailed description of the relevant content, please refer to the above-mentioned UAV control system section, which will not be repeated here.
- the present application also 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 unmanned aerial vehicle described in any of the above Control Method.
- the relevant content please refer to the above method content section, which will not be repeated here.
- the computer-readable storage medium may be an internal storage unit of the aforementioned system or device, such as a hard disk or a memory.
- the computer-readable storage medium may also be an external storage device of the aforementioned system or device, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.
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Abstract
一种无人机的控制方法、系统、装置及存储介质，该方法包括：根据检测到的用户的目标输入操作，确定待锁定目标，其中屏幕界面还显示有其他供用户选择的输入方式，目标输入操作是在用户当前选择的输入方式下用户操作的(S101)；根据检测到的用户基于待锁定目标的控制操作，生成控制指令，其中屏幕界面还显示有其他供用户选择的操作方式，控制操作是在用户当前选择的操作方式下用户操作的(S102)；向无人机发送控制指令，使无人机锁定目标并按照用户的控制要求飞行(S103)。
Description
本申请涉及无人机技术领域，尤其涉及一种无人机的控制方法、系统、装置及存储介质。
现有无人机的智能功能仅支持基础的围绕目标飞行或者是跟随，并且都是已经设计好的独立功能，无法根据用户的要求更改。在无人机操作中，跟随、环绕、定向等飞行行为对于操作者的操作水平要求极高，当用户需要在实现无人机轨迹的基础上使无人机的摄像装置始终锁定目标时，通常难以手动完成操作。当用户进行航拍创作时，通常由于操作难度较高而无法进行多种飞行方式的互相切换。
发明内容
基于此，本申请提供一种无人机的控制方法、控制系统、控制装置及存储介质。
第一方面，本申请提供了一种无人机的控制方法，包括：
根据检测到的用户的目标输入操作，确定待锁定目标；其中屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；
根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令；其中所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；
向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。
第二方面，本申请提供了一种无人机的控制系统，所述系统包括：存储器、处理器、显示电路以及通信电路，所述存储器、所述显示电路以及所述通信电路分别与所述处理器连接；
所述存储器用于存储计算机程序；
所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
根据检测到的用户的目标输入操作，确定待锁定目标；其中所述显示电路的屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；
根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令；其中所述显示电路的所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；
控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。
第三方面，本申请提供了一种无人机的控制装置，所述控制装置包括如上所述的无人机的控制系统。
第四方面，本申请提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的无人机的控制方法。
本申请实施例提供了一种无人机的控制方法、系统、装置及存储介质，根据检测到的用户的目标输入操作，确定待锁定目标，其中屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令，其中所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。由于屏幕界面显示有多种供用户选择的输入方式，用户可以在自己选择的输入方式下进行操作而确定待锁定目标；由于屏幕界面显示有多种供用户选择的操作方式，用户可以在自己选择的操作方式下进行基于所述待锁定目标的控制操作，通过这种方式， 能够将多种目标输入方式和多种控制操作方式打通，使用户能够灵活选择，能够根据用户的需求选择对应的方式进行操作，且操作步骤简单，为后续的去摇杆化、降低操作难度提供技术支持。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请无人机的控制方法一实施例的流程示意图；
图2是本申请无人机的控制方法一实施例的应用场景示意图；
图3是本申请无人机的控制方法另一实施例的流程示意图；
图4是本申请无人机的控制方法又一实施例的流程示意图；
图5是本申请无人机的控制方法中屏幕界面一显示示意图；
图6是本申请无人机的控制方法中屏幕界面另一显示示意图；
图7是本申请无人机的控制方法中屏幕界面又一显示示意图；
图8是本申请无人机的控制方法又一实施例的流程示意图；
图9是本申请无人机的控制方法中屏幕界面又一显示示意图；
图10是本申请无人机的控制方法又一实施例的流程示意图；
图11是本申请无人机的控制系统一实施例的结构示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步 骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
现有无人机的智能功能仅支持基础的围绕目标飞行或者是跟随，并且都是已经设计好的独立功能，无法根据用户的要求更改。在无人机操作中，跟随、环绕、定向等飞行行为对于操作者的操作水平要求极高，操作难度较高而无法进行多种飞行方式的互相切换。
本申请实施例根据检测到的用户的目标输入操作，确定待锁定目标，其中屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令，所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。由于屏幕界面显示有多种供用户选择的输入方式，用户可以在自己选择的输入方式下进行操作而确定待锁定目标；由于屏幕界面显示有多种供用户选择的操作方式，用户可以在自己选择的操作方式下进行基于所述待锁定目标的控制操作，通过这种方式，能够将多种目标输入方式和多种控制操作方式打通，使用户能够灵活选择，能够根据用户的需求选择对应的方式进行操作，且操作步骤简单，为后续的去摇杆化、降低操作难度提供技术支持。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
参见图1，图1是本申请无人机的控制方法一实施例的流程示意图，所述方法包括：
步骤S101：根据检测到的用户的目标输入操作，确定待锁定目标，其中屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的。
本实施例中，输入方式可以是用以确定用户希望的待锁定目标的输入方式，包括但不限于：输入目标的坐标方式，显示图像以供用户直接选择图像中的目标，多个以确定的目标供用户选择，等等；其中输入目标的坐标方式包括但不限于：直接输入目标的坐标，从服务器下载目标的坐标，从地图上选择目 标的坐标，从其他用户的分享中获取目标的坐标，从用户能够定位的设备中获取目标的坐标，等等。屏幕界面显示有多种输入方式，供用户选择其中自己希望的输入方式进行目标输入操作，以确定待锁定目标，通过这种方式，能够在目标输入方式上打通，实现多种输入方式供用户选择。
步骤S102：根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令，其中所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的。
本实施例中，操作方式可以是用以实现用户基于所述待锁定目标的控制要求的操作方式，包括但不限于：摇杆方式，滑块滑动方式，多个对应目标控制要求的选择方式，等等；其中多个对应目标控制要求的选择方式可以方便用户航拍的各种目标控制要求的选择方式，如跟随、环绕、航线锁定，等等。
所述屏幕界面显示有多种供用户选择的操作方式，供用户选择其中自己希望的目标控制要求对应的操作方式，以实现基于所述待锁定目标的控制操作，生成对应的控制指令，通过这种方式，能够在控制操作方式上打通，实现多种操作方式供用户选择。
步骤S103：向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。
本实施例中，上述基于所述待锁定目标的控制操作生成的控制指令能够使无人机锁定所述目标并按照用户的控制要求飞行，向所述无人机发送所述控制指令，无人机接收到所述控制指令后，所述无人机锁定所述目标并按照用户的控制要求飞行。
参见图2，图2是本申请无人机的控制方法一实施例的应用场景示意图，本申请实施例的方法可以应用于遥控器10上，遥控器10包括可以人机交互的显示屏幕11，用户可以通过显示屏幕11确定待锁定目标、进行基于所述待锁定目标的控制操作，生成控制指令，遥控器10将控制指令发送给无人机20，无人机20接收到控制指令后，无人机20锁定所述目标并按照用户的控制要求飞行。
本申请实施例根据检测到的用户的目标输入操作，确定待锁定目标，其中屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当 前选择的输入方式下用户操作的；根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令，其中所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。由于屏幕界面显示有多种供用户选择的输入方式，用户可以在自己选择的输入方式下进行操作而确定待锁定目标；由于屏幕界面显示有多种供用户选择的操作方式，用户可以在自己选择的操作方式下进行基于所述待锁定目标的控制操作，通过这种方式，能够将多种目标输入方式和多种控制操作方式打通，使用户能够灵活选择，能够根据用户的需求选择对应的方式进行操作，且操作步骤简单，为后续的去摇杆化、降低操作难度提供技术支持。
下面详细说明与步骤S101有关的内容。
参见图3，当用户初次进入或者重新启动后等等，步骤S101所述根据检测到的用户的目标输入操作，确定待锁定目标之前，还包括：步骤S104。
步骤S104：在所述屏幕界面显示多种输入方式，所述多种输入方式包括目标选择方式和目标坐标输入方式。
目标选择方式和目标坐标输入方式是确定待锁定目标较为方便的输入方式，通过这种方式，能够进一步增加用户体验。
参见图4，步骤S104在所述屏幕界面显示多种输入方式，具体可以包括：
子步骤S1041：获取所述无人机的摄像装置的图像。
子步骤S1042：识别出所述无人机的摄像装置的图像中与预设图片匹配的目标。
子步骤S1043：在所述屏幕界面上显示所述图像中的所述目标，同时还在所述屏幕界面的边缘显示所述目标坐标输入方式。
预设图片可以是用户通常希望选择的目标，预设图片的数量可以是多张，例如：人物、特定动物、特定花草、特定建筑，等等。预设图片可以是系统和/或用户预先设定的，预设图片还可以是用户预先保存的自己、家人以及朋友图片等。通常情况下，如果本实施例的方法用于航拍，用于拍摄预设图片中的目标时，可以直接获取所述无人机的摄像装置的图像，对图像进行识别，是否有与预设图片匹配的目标，如果有，则在屏幕界面上显示所述图像中与预设图 片匹配的目标，例如人物、动物，等等，当与预设图片匹配的目标有多个时，例如多个人，人和动物，等等，多个与预设图片匹配的目标同时显示在屏幕界面上，以供用户选择待锁定目标。在实际应用中，多个与预设图片匹配的目标可以以比较突出的方式显示，方便引起用户注意，例如在显示的与预设图片匹配的目标增加专门的标记、突出显示，等等。与此同时，用户有可能从目前的目标选择方式切换为其他常用的目标坐标输入方式，为了方便用户切换为采用目标坐标输入方式同时不影响当前画面，可以同时还在所述屏幕界面的边缘显示所述目标坐标输入方式。
其中，可以专门设置一个快捷的扫描功能开关，当用户希望通过所述无人机的摄像装置的图像确定待锁定目标时，可以打开扫描功能开关，即子步骤S1041所述获取所述无人机的摄像装置的图像之前，可以包括：开启扫描功能开关。
当打开扫描功能开关时，直接执行获取所述无人机的摄像装置的图像步骤及之后的步骤。如果扫描功能开关没有打开，可以简单在所述屏幕界面显示多种输入方式，或者将目标坐标输入方式显著显示，将目标选择方式非显著显示，等等。
此时，步骤S101所述根据检测到的用户的目标输入操作，确定待锁定目标，可以包括：根据所述屏幕界面上检测到的用户的目标框选操作或目标点击操作，确定待锁定目标。用户框选或者点击目标，操作简单。
当所述屏幕界面显示有目标坐标输入方式时，步骤S101所述根据检测到的用户的目标输入操作，确定待锁定目标，可以包括：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标。下面详细说明目标坐标输入方式中三种方便的、可能的实现方式。
第一种是显示地图，在地图界面操作，即步骤S101根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标，具体可以包括：
步骤S101A1：根据检测到的用户的目标坐标输入方式选择操作，在所述屏幕界面显示地图界面。
步骤S101A2：根据所述地图界面上检测到的用户的目标坐标点的选择操作，确定待锁定目标。
第二种是如果其他用户分享有目标，可以直接获取分享的目标，即步骤S101根据所述屏幕界面检测到的用户的目标输入方式选择操作，确定待锁定目标，具体可以包括：
步骤S101B1：根据检测到的用户的目标坐标输入方式选择操作，获取用户分享的含高度信息的目标坐标点。
步骤S101B2：将所述目标坐标点作为待锁定目标。
第三种是如果用户使用GPS设备定位，可以直接获取GPS设备锁定的目标，即步骤S101根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标，具体可以包括：
步骤S101C1：根据检测到的用户的目标坐标输入方式选择操作，获取用户的全球定位系统GPS设备锁定的目标。其中，GPS设备可以是手机、遥控器、便携式GPS设备，等等。如果屏幕界面为遥控器的屏幕界面，GPS设备为手机或者其他便携式GPS设备，手机或者其他便携式GPS设备可以将锁定的目标发送给遥控器，从而使遥控器获取用户的GPS设备锁定的目标。
步骤S101C2：将所述GPS设备锁定的目标作为待锁定目标。
参见图5，用户将自己两个孩子(一个男孩和一个女孩)的照片设置为预设图片，只要有一个孩子出现在摄像装置的视野范围内，屏幕界面就会显示该孩子，图中屏幕界面显示从无人机的摄像装置的图像中识别出来的与预设图片匹配的两个目标：一个男孩和一个女孩，同时在屏幕界面的边缘显示目标坐标输入方式1、目标坐标输入方式2、目标坐标输入方式3。参见图6，用户点击男孩图像，确定待锁定目标为图中的男孩。参见图7，当用户选择目标坐标输入方式1时，在所述屏幕界面显示地图界面，用户可以在地图界面选择目标坐标点，确定待锁定目标。当用户选择目标坐标输入方式2，获取用户分享的含高度信息的目标坐标点。当用户选择目标坐标输入方式3，获取用户的全球定位系统GPS设备锁定的目标。
下面详细说明与步骤S102有关的内容。
参见图8，当用户初次进入或者重新启动后等等，步骤S102根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令之前，还包括：步骤S105。
步骤S105：在所述屏幕界面显示多种操作方式，所述多种操作方式包括摇杆操作方式和目标控制选择方式。
有些操作经验丰富的飞手比较喜欢自己直接操控无人机的感觉，摇杆操作方式能够依然为这一部分飞手保留，提供直接操控无人机的选择；操作经验不丰富的飞手则可以直接选择自己的控制要求对应的目标控制选择方式。通过这种方式，能够满足不同用户的不同控制操作的需求，能够进一步增加用户体验。
其中，目标控制选择方式的显示方式可以有很多种，在一实施例中，目标控制选择方式的显示方式包括目标控制选择项，即步骤S105在所述屏幕界面显示多种操作方式，可以包括：在显示有所述待锁定目标的屏幕界面显示多种操作方式，所述多种操作方式包括直接供用户操作的摇杆操作方式和多种供用户选择的目标控制选择项。
多种供用户选择的目标控制选择项可以是用户使用较多、较为频繁的目标控制选择项；或者可以使用户选择性显示自己最需要的目标控制选择项，其他目标控制选择项可以暂且不显示；等等。
当用户选择摇杆操作方式时，步骤S102根据检测到的用户基于所述待锁定目标的控制操作，生成所述控制指令，可以包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的摇杆控制操作，生成所述控制指令；步骤S103所述向所述无人机发送所述控制指令，可以包括：向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在所述摇杆的控制下飞行。
当用户选择目标控制选择项时，步骤S102根据检测到的用户基于所述待锁定目标的控制操作，生成所述控制指令，可以包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作，生成所述控制指令；步骤S103所述向所述无人机发送所述控制指令，可以包括：向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在用户选择的目标控制下飞行。
参见图9，当确定男孩为待锁定目标后，在屏幕界面显示摇杆操作和目标控制选择项1、目标控制选择项2、目标控制选择项3，目标控制选择项1、目标控制选择项2、目标控制选择项3分别代表三种不同的控制要求的选择项。
其中，为了防止用户误操作，当用户选择目标控制选择项后，可以进一步请用户确认，如果因为误操作触发选择目标控制选择项时用户可以取消，当确实是用户希望的操作时，才生成控制指令。即步骤S102根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作，生成所述控制指令，还可以包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作和所述目标控制选择项确认操作，生成所述控制指令。
其中，多个所述目标控制选择项包括焦点跟随选择项、环绕选择项以及航线锁定选择项。
所述焦点跟随选择项对应的控制指令能够使所述无人机锁定所述目标并跟随所述目标飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的焦点跟随选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并跟随所述目标飞行。
其中，所述焦点跟随选择项包括路径跟随选择项和平行跟随选择项。所述路径跟随选择项对应的控制指令能够使所述无人机锁定所述目标并自动沿着所述目标的运动轨迹跟随飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的路径跟随选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并自动沿着所述目标的运动轨迹跟随飞行。所述平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并始终与所述目标保持平行飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的平行跟随选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并始终与所述目标保持平行飞行。进一步，所述平行跟随选择项包括绝对平行跟随选择项和相对平行跟随选择项。所述绝对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标保持固定角度和距离进行飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的绝对平行跟随选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定 所述目标并在大地坐标系下始终与所述目标保持固定角度和距离进行飞行。所述相对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标的运动方向保持平行进行飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的相对平行跟随选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在大地坐标系下始终与所述目标的运动方向保持平行进行飞行。
所述环绕选择项对应的控制指令能够使所述无人机锁定所述目标并环绕所述目标飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的环绕选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并环绕所述目标飞行。
其中，用户还可以设置环绕速度和环绕方向，即步骤S102所述根据检测到的用户基于所述待锁定目标的目标控制选择操作，生成所述控制指令，还可以包括：
步骤S102A1：根据检测到的用户基于所述待锁定目标的环绕选择项选择操作，显示环绕速度输入框和环绕方向输入框。
步骤S102A2：根据检测到的用户的环绕速度和环绕方向输入操作，生成所述控制指令，所述控制指令使所述无人机锁定所述目标并按照用户要求的环绕速度和环绕方向环绕所述目标飞行。
所述航线锁定选择项对应的控制指令能够使所述无人机锁定所述目标并按照用户要求的锁定航线飞行；即，根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的航线锁定选择项选择操作，生成所述控制指令；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户要求的锁定航线飞行。
其中，用户还可以设置飞行方向，即步骤S102所述根据检测到的用户基于所述待锁定目标的目标控制选择操作，生成所述控制指令，还可以包括：
步骤S102B1：根据检测到的用户基于所述待锁定目标的航线锁定选择项选择操作，显示飞行方向输入框。
步骤S102B2：根据检测到的用户的飞行方向输入操作，生成所述控制指 令，所述控制指令使所述无人机锁定所述目标并按照用户要求的锁定航线和飞行方向进行飞行。
当用户选择目标控制选择项时，由于多个目标控制选择项同时显示在屏幕界面，当用户希望从一个控制要求切换为另一个控制要求时，可以直接选择另一目标控制选择项，实现飞行方式的切换。即步骤S103向所述无人机发送所述控制指令之后，还可以包括：步骤S106和步骤S107，如图10所示。
步骤S106：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的另一目标控制选择项选择操作，生成另一控制指令；
步骤S107：向所述无人机发送所述另一控制指令，使所述无人机从所述在用户选择的目标控制下飞行退出，而变换为继续锁定所述目标并在用户选择的另一目标控制下进行飞行。
本实施例可以在无人机处于当前飞行方式的情况下，用户直接选择另一个基于所述待锁定目标的另一目标控制选择项选择操作，生成另一个控制指令并发送给无人机，从而实现无人机多种飞行方式(飞行模式)的无缝切换，操作简单，不需要用户具有丰富的操作经验，新手也可以实施，因此能够提高用户体验。
例如：用户选择的前一个目标控制选择项为路径跟随选择项，当前无人机的飞行方式是：无人机锁定所述目标并自动沿着所述目标的运动轨迹跟随飞行；一段时间后用户希望无人机的飞行方式是：无人机锁定所述目标并环绕所述目标飞行，此时用户可以直接在屏幕界面选择另一个目标控制选择项为环绕选择项，即可生成另一控制指令，将所述另一控制指令发送给无人机后，无人机即可退出当前的飞行方式，而转换为另一飞行方式：无人机锁定所述目标并环绕所述目标飞行。
参见图11，图11是本申请无人机的控制系统一实施例的结构示意图，需要说明的是，本实施例的系统能够实现上述无人机的控制方法中的步骤，相关内容的详细说明请参见上述方法部分，在此不再赘叙。
所述系统100包括：存储器1、处理器2、显示电路3以及通信电路4，所述存储器1、所述显示电路3以及所述通信电路4分别与所述处理器2连接；所述通信电路4用于所述系统与外界通信，所述通信电路4也可以用于所述系 统内部之间的通信，例如所述通信电路4可以包括总线，所述存储器1、所述显示电路3以及所述通信电路4分别通过总线与所述处理器2连接。
其中，处理器2可以是微控制单元、中央处理单元或数字信号处理器，等等。
其中，存储器1可以是Flash芯片、只读存储器、磁盘、光盘、U盘或者移动硬盘等等。
所述存储器1用于存储计算机程序；所述处理器2用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
根据检测到的用户的目标输入操作，确定待锁定目标，其中所述显示电路的屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令，其中所述显示电路的所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示电路在所述屏幕界面显示多种输入方式，所述多种输入方式包括目标选择方式和目标坐标输入方式。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：获取所述无人机的摄像装置的图像；识别出所述无人机的摄像装置的图像中与预设图片匹配的目标；控制所述显示电路在所述屏幕界面上显示所述图像中的所述目标，同时还在所述屏幕界面的边缘显示所述目标坐标输入方式。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面上检测到的用户的目标框选操作或目标点击操作，确定待锁定目标。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，控制所述显示电路在所述屏幕界面显示地图界面；根据所述地图界面上检测到的用户的目标坐标点的选 择操作，确定待锁定目标。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，获取用户分享的含高度信息的目标坐标点；将所述目标坐标点作为待锁定目标。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，获取用户的全球定位系统GPS设备锁定的目标；将所述GPS设备锁定的目标作为待锁定目标。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：控制开启扫描功能开关。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示电路在所述屏幕界面显示多种操作方式，所述多种操作方式包括摇杆操作方式和目标控制选择方式。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示电路在显示有所述待锁定目标的屏幕界面显示多种操作方式，所述多种操作方式包括直接供用户操作的摇杆操作方式和多种供用户选择的目标控制选择项。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的摇杆控制操作，生成所述控制指令；控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在所述摇杆的控制下飞行。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作，生成所述控制指令；控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在用户选择的目标控制下飞行。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的另一目标控制选择项选择操作，生成另一控制指令；控制所述通信电路向所述无人机发送所述另一控制指令，使所述无人机从所述在用户选择的目标控制下飞行退出，而变换为继续锁定所述目标并在用户选择的另一目标控制下进行飞行。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作和所述目标控制选择项确认操作，生成所述控制指令。
其中，多个所述目标控制选择项包括焦点跟随选择项、环绕选择项以及航线锁定选择项；所述焦点跟随选择项对应的控制指令能够使所述无人机锁定所述目标并跟随所述目标飞行；所述环绕选择项对应的控制指令能够使所述无人机锁定所述目标并环绕所述目标飞行；所述航线锁定选择项对应的控制指令能够使所述无人机锁定所述目标并按照用户要求的锁定航线飞行。
其中，所述焦点跟随选择项包括路径跟随选择项和平行跟随选择项；所述路径跟随选择项对应的控制指令能够使所述无人机锁定所述目标并自动沿着所述目标的运动轨迹跟随飞行；所述平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并始终与所述目标保持平行飞行。
其中，所述平行跟随选择项包括绝对平行跟随选择项和相对平行跟随选择项；所述绝对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标保持固定角度和距离进行飞行；所述相对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标的运动方向保持平行进行飞行。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据检测到的用户基于所述待锁定目标的环绕选择项选择操作，控制所述显示电路显示环绕速度输入框和环绕方向输入框；根据检测到的用户的环绕速度和环绕方向输入操作，生成所述控制指令，所述控制指令能够使所述无人机锁定所述目标并按照用户要求的环绕速度和环绕方向环绕所述目标飞行。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据检测到的用户基于所述待锁定目标的航线锁定选择项选择操作，控制所述显示电路显示飞行方向输入框；根据检测到的用户的飞行方向输入操作，生成所述控制指令，所述控制指令使所述无人机锁定所述目标并按照用户要求的锁定航线和飞行方向进行飞行。
本申请还提供一种无人机的控制装置，所述控制装置包括如上任一项所述的无人机的控制系统。该控制装置可以是遥控器或者其他可以控制无人机的控 制装置。相关内容的详细说明请参见上述无人机的控制系统部分，在此不再赘叙。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上任一项所述的无人机的控制方法。相关内容的详细说明请参见上述方法内容部分，在此不再赘叙。
其中，该计算机可读存储介质可以是上述系统或装置的内部存储单元，例如硬盘或内存。该计算机可读存储介质也可以是上述系统或装置的外部存储设备，例如配备的插接式硬盘、智能存储卡、安全数字卡、闪存卡，等等。
应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施例，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。
Claims (42)
- 一种无人机的控制方法，其特征在于，包括：根据检测到的用户的目标输入操作，确定待锁定目标；其中屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令；其中所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。
- 根据权利要求1所述的方法，其特征在于，所述根据检测到的用户的目标输入操作，确定待锁定目标之前，包括：在所述屏幕界面显示多种输入方式，所述多种输入方式包括目标选择方式和目标坐标输入方式。
- 根据权利要求2所述的方法，其特征在于，所述在所述屏幕界面显示多种输入方式，包括：获取所述无人机的摄像装置的图像；识别出所述无人机的摄像装置的图像中与预设图片匹配的目标；在所述屏幕界面上显示所述图像中的所述目标，同时还在所述屏幕界面的边缘显示所述目标坐标输入方式。
- 根据权利要求3所述的方法，其特征在于，所述根据检测到的用户的目标输入操作，确定待锁定目标，包括：根据所述屏幕界面上检测到的用户的目标框选操作或目标点击操作，确定待锁定目标。
- 根据权利要求2所述的方法，其特征在于，所述根据检测到的用户的目标输入操作，确定待锁定目标，包括：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标。
- 根据权利要求5所述的方法，其特征在于，所述根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标，包括：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，在所述屏幕界面显示地图界面；根据所述地图界面上检测到的用户的目标坐标点的选择操作，确定待锁定目标。
- 根据权利要求5所述的方法，其特征在于，所述根据所述屏幕界面检测到的用户的目标输入方式选择操作，确定待锁定目标，包括：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，获取用户分享的含高度信息的目标坐标点；将所述目标坐标点作为待锁定目标。
- 根据权利要求5所述的方法，其特征在于，所述根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标，包括：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，获取用户的全球定位系统GPS设备锁定的目标；将所述GPS设备锁定的目标作为待锁定目标。
- 根据权利要求3所述的方法，其特征在于，所述获取所述无人机的摄像装置的图像之前，包括：开启扫描功能开关。
- 根据权利要求1所述的方法，其特征在于，根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令之前，包括：在所述屏幕界面显示多种操作方式，所述多种操作方式包括摇杆操作方式和目标控制选择方式。
- 根据权利要求10所述的方法，其特征在于，所述在所述屏幕界面显示多种操作方式，包括：在显示有所述待锁定目标的屏幕界面显示多种操作方式，所述多种操作方式包括直接供用户操作的摇杆操作方式和多种供用户选择的目标控制选择项。
- 根据权利要求11所述的方法，其特征在于，根据检测到的用户基于所述待锁定目标的控制操作，生成所述控制指令，包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的摇杆控制操作，生成所述控制指令；所述向所述无人机发送所述控制指令，包括：向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在所述摇杆的控制下飞行。
- 根据权利要求11所述的方法，其特征在于，所述根据检测到的用户基于所述待锁定目标的控制操作，生成所述控制指令，包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作，生成所述控制指令；所述向所述无人机发送所述控制指令，包括：向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在用户选择的目标控制下飞行。
- 根据权利要求13所述的方法，其特征在于，所述向所述无人机发送所述控制指令之后，还包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的另一目标控制选择项选择操作，生成另一控制指令；向所述无人机发送所述另一控制指令，使所述无人机从所述在用户选择的目标控制下飞行退出，而变换为继续锁定所述目标并在用户选择的另一目标控制下进行飞行。
- 根据权利要求13所述的方法，其特征在于，所述根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作，生成所述控制指令，包括：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作和所述目标控制选择项确认操作，生成所述控制指令。
- 根据权利要求11所述的方法，其特征在于，多个所述目标控制选择项包括焦点跟随选择项、环绕选择项以及航线锁定选择项；所述焦点跟随选择项对应的控制指令能够使所述无人机锁定所述目标并跟随所述目标飞行；所述环绕选择项对应的控制指令能够使所述无人机锁定所述目标并环绕所述目标飞行；所述航线锁定选择项对应的控制指令能够使所述无人机锁定所述目标并按照用户要求的锁定航线飞行。
- 根据权利要求16所述的方法，其特征在于，所述焦点跟随选择项包括路径跟随选择项和平行跟随选择项；所述路径跟随选择项对应的控制指令能够使所述无人机锁定所述目标并自动沿着所述目标的运动轨迹跟随飞行；所述平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并始终与所述目标保持平行飞行。
- 根据权利要求17所述的方法，其特征在于，所述平行跟随选择项包括绝对平行跟随选择项和相对平行跟随选择项；所述绝对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标保持固定角度和距离进行飞行；所述相对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标的运动方向保持平行进行飞行。
- 根据权利要求16所述的方法，其特征在于，所述根据检测到的用户基于所述待锁定目标的目标控制选择操作，生成所述控制指令，包括：根据检测到的用户基于所述待锁定目标的环绕选择项选择操作，显示环绕速度输入框和环绕方向输入框；根据检测到的用户的环绕速度和环绕方向输入操作，生成所述控制指令，所述控制指令使所述无人机锁定所述目标并按照用户要求的环绕速度和环绕方向环绕所述目标飞行。
- 根据权利要求16所述的方法，其特征在于，所述根据检测到的用户基于所述待锁定目标的目标控制选择操作，生成所述控制指令，包括：根据检测到的用户基于所述待锁定目标的航线锁定选择项选择操作，显示飞行方向输入框；根据检测到的用户的飞行方向输入操作，生成所述控制指令，所述控制指令使所述无人机锁定所述目标并按照用户要求的锁定航线和飞行方向进行飞 行。
- 一种无人机的控制系统，其特征在于，所述系统包括：存储器、处理器、显示电路以及通信电路，所述存储器、所述显示电路以及所述通信电路分别与所述处理器连接；所述存储器用于存储计算机程序；所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：根据检测到的用户的目标输入操作，确定待锁定目标；其中所述显示电路的屏幕界面还显示有其他供用户选择的输入方式，所述目标输入操作是在用户当前选择的输入方式下用户操作的；根据检测到的用户基于所述待锁定目标的控制操作，生成控制指令；其中所述显示电路的所述屏幕界面还显示有其他供用户选择的操作方式，所述控制操作是在用户当前选择的操作方式下用户操作的；控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并按照用户的控制要求飞行。
- 根据权利要求21所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示电路在所述屏幕界面显示多种输入方式，所述多种输入方式包括目标选择方式和目标坐标输入方式。
- 根据权利要求22所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：获取所述无人机的摄像装置的图像；识别出所述无人机的摄像装置的图像中与预设图片匹配的目标；控制所述显示电路在所述屏幕界面上显示所述图像中的所述目标，同时还在所述屏幕界面的边缘显示所述目标坐标输入方式。
- 根据权利要求23所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面上检测到的用户的目标框选操作或目标点击操作，确定待锁定目标。
- 根据权利要求22所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，确定待锁定目标。
- 根据权利要求25所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，控制所述显示电路在所述屏幕界面显示地图界面；根据所述地图界面上检测到的用户的目标坐标点的选择操作，确定待锁定目标。
- 根据权利要求25所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，获取用户分享的含高度信息的目标坐标点；将所述目标坐标点作为待锁定目标。
- 根据权利要求25所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述屏幕界面检测到的用户的目标坐标输入方式选择操作，获取用户的全球定位系统GPS设备锁定的目标；将所述GPS设备锁定的目标作为待锁定目标。
- 根据权利要求23所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：控制开启扫描功能开关。
- 根据权利要求21所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示电路在所述屏幕界面显示多种操作方式，所述多种操作方式包括摇杆操作方式和目标控制选择方式。
- 根据权利要求30所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示电路在显示有所述待锁定目标的屏幕界面显示多种操作方式，所述多种操作方式包括直接供用户操作的摇杆操作方式和多种供用户选择的目标控制选择项。
- 根据权利要求31所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的摇杆控制操作，生成所述控制指令；控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在所述摇杆的控制下飞行。
- 根据权利要求31所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作，生成所述控制指令；控制所述通信电路向所述无人机发送所述控制指令，使所述无人机锁定所述目标并在用户选择的目标控制下飞行。
- 根据权利要求33所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的另一目标控制选择项选择操作，生成另一控制指令；控制所述通信电路向所述无人机发送所述另一控制指令，使所述无人机从所述在用户选择的目标控制下飞行退出，而变换为继续锁定所述目标并在用户选择的另一目标控制下进行飞行。
- 根据权利要求33所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据显示有所述待锁定目标的屏幕界面上检测到的用户基于所述待锁定目标的目标控制选择项选择操作和所述目标控制选择项确认操作，生成所述控制指令。
- 根据权利要求31所述的系统，其特征在于，多个所述目标控制选择项包括焦点跟随选择项、环绕选择项以及航线锁定选择项；所述焦点跟随选择项对应的控制指令能够使所述无人机锁定所述目标并跟随所述目标飞行；所述环绕选择项对应的控制指令能够使所述无人机锁定所述目标并环绕所述目标飞行；所述航线锁定选择项对应的控制指令能够使所述无人机锁定所述目标并按照用户要求的锁定航线飞行。
- 根据权利要求36所述的系统，其特征在于，所述焦点跟随选择项包括路径跟随选择项和平行跟随选择项；所述路径跟随选择项对应的控制指令能够使所述无人机锁定所述目标并自动沿着所述目标的运动轨迹跟随飞行；所述平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并始终与所述目标保持平行飞行。
- 根据权利要求37所述的系统，其特征在于，所述平行跟随选择项包括绝对平行跟随选择项和相对平行跟随选择项；所述绝对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标保持固定角度和距离进行飞行；所述相对平行跟随选择项对应的控制指令能够使所述无人机锁定所述目标并在大地坐标系下始终与所述目标的运动方向保持平行进行飞行。
- 根据权利要求36所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据检测到的用户基于所述待锁定目标的环绕选择项选择操作，控制所述显示电路显示环绕速度输入框和环绕方向输入框；根据检测到的用户的环绕速度和环绕方向输入操作，生成所述控制指令，所述控制指令能够使所述无人机锁定所述目标并按照用户要求的环绕速度和环绕方向环绕所述目标飞行。
- 根据权利要求36所述的系统，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：根据检测到的用户基于所述待锁定目标的航线锁定选择项选择操作，控制所述显示电路显示飞行方向输入框；根据检测到的用户的飞行方向输入操作，生成所述控制指令，所述控制指令使所述无人机锁定所述目标并按照用户要求的锁定航线和飞行方向进行飞行。
- 一种无人机的控制装置，其特征在于，所述控制装置包括如权利要求21-40任一项所述的无人机的控制系统。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-20任一项所述的无人机的控制方法。
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