WO2021232273A1 - 无人机及其控制方法和装置、遥控终端、无人机系统 - Google Patents
无人机及其控制方法和装置、遥控终端、无人机系统 Download PDFInfo
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- WO2021232273A1 WO2021232273A1 PCT/CN2020/091219 CN2020091219W WO2021232273A1 WO 2021232273 A1 WO2021232273 A1 WO 2021232273A1 CN 2020091219 W CN2020091219 W CN 2020091219W WO 2021232273 A1 WO2021232273 A1 WO 2021232273A1
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- 230000001960 triggered effect Effects 0.000 claims description 105
- 230000005540 biological transmission Effects 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 12
- 230000010354 integration Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 10
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- 230000003287 optical effect Effects 0.000 description 3
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- 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
-
- 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 field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle, its control method and device, a remote control terminal, and an unmanned aerial vehicle system.
- the working modes of the traversing aircraft include auto-stabilization mode and manual control mode.
- the flight controller of the traversing aircraft will autonomously control the attitude of the traversing aircraft to keep the traversing aircraft in a stable state; in manual control mode
- the user is required to manually operate the joystick of the remote control to control the attitude of the traversing machine, so that the traversing machine is kept in a stable state.
- the attitude of the traversing machine is controlled according to the amount of sticks. Attitude control.
- manual control mode due to lack of control experience, it is difficult to manually control the traversing machine to maintain a stable state. Especially for beginners, it usually takes a long time to practice on the simulator to have a better control perception. If you are not sensitive to the attitude control of the traversing machine, directly controlling the traversing machine will easily cause loss of control and even Bomber.
- This application provides an unmanned aerial vehicle, a control method and device thereof, a remote control terminal, and an unmanned aerial vehicle system.
- an embodiment of the present application provides a method for controlling a drone, the method is suitable for a drone, the drone is in communication connection with a remote control terminal, the remote control terminal includes an auxiliary control unit, and the method include:
- the drone When the drone is in manual control mode, if it receives the first trigger signal sent by the remote control terminal, it enters the auxiliary control mode.
- the first trigger signal indicates that the remote control terminal is controlled by the auxiliary control unit Generated when triggered;
- the auxiliary control mode if the first control signal sent by the remote control terminal is received, the first target attitude of the drone is determined according to the first control signal;
- the drone is controlled to rotate so that the drone is in the preset state.
- an embodiment of the present application provides a control device for a drone.
- the control device is provided on the drone.
- the drone is in communication with a remote control terminal.
- the remote control terminal includes an auxiliary control unit.
- the control device includes:
- Storage device for storing program instructions
- One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:
- the drone When the drone is in manual control mode, if it receives the first trigger signal sent by the remote control terminal, it enters the auxiliary control mode.
- the first trigger signal indicates that the remote control terminal is controlled by the auxiliary control unit Generated when triggered;
- the auxiliary control mode if the first control signal sent by the remote control terminal is received, the first target attitude of the drone is determined according to the first control signal;
- the drone is controlled to rotate so that the drone is in the preset state.
- an embodiment of the present application provides a drone, including:
- a power system connected to the body and used to provide power for the movement of the body;
- the control device of the unmanned aerial vehicle described in the second aspect of the present application is supported by the body.
- an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the drone control method described in the first aspect of the present application is implemented.
- an embodiment of the present application provides a method for controlling a drone, the method is suitable for a remote control terminal, the remote control terminal is communicatively connected with the drone, the remote control terminal includes an auxiliary control unit, so The methods include:
- the first user instruction being used to instruct the auxiliary control unit to switch from a non-triggered state to a triggered state
- the first trigger signal is used to trigger the drone to enter the auxiliary control mode
- the drone can assist in adjusting the attitude of the drone so that the drone is in a preset state.
- an embodiment of the present application provides a control device for a drone, the control device is provided on a remote control terminal, the remote control terminal is communicatively connected with the drone, and the remote control terminal includes an auxiliary control unit,
- the control device includes:
- Storage device for storing program instructions
- One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:
- the first user instruction being used to instruct the auxiliary control unit to switch from a non-triggered state to a triggered state
- the first trigger signal is used to trigger the drone to enter the auxiliary control mode
- the drone can assist in adjusting the attitude of the drone so that the drone is in a preset state.
- an embodiment of the present application provides a remote control terminal for drones, including:
- Auxiliary control part is provided in the main body part;
- the control device of the unmanned aerial vehicle described in the sixth aspect of the present application is electrically connected to the auxiliary control part and supported by the main body part.
- an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the drone control method described in the fifth aspect of the present application is implemented .
- an embodiment of the present application provides an unmanned aerial vehicle system, and the unmanned aerial vehicle system includes:
- the remote control terminal is configured to switch the auxiliary control unit from the non-triggered state to the triggered state when receiving a first user instruction instructing to switch the auxiliary control unit from the non-triggered state to the triggered state, And generate a first trigger signal; send the first trigger signal to the drone;
- the drone is used to enter the auxiliary control mode when the drone is in the manual control mode if it receives the first trigger signal sent by the remote control terminal; in the auxiliary control mode, if the first trigger signal is received
- the first control signal sent by the remote control terminal determines the first target attitude of the drone according to the first control signal; the drone corresponding to the first target attitude and a preset state Determine the auxiliary attitude control amount; according to the first target attitude and the auxiliary attitude control amount, control the rotation of the drone so that the drone is in the preset state.
- the auxiliary control unit can trigger the drone to enter the auxiliary control mode, so that when the user manually controls the attitude of the drone,
- the man-machine attitude is assisted to adjust, so that the drone is in a preset state, helping users to correct the attitude of the drone, improving the flight experience, and reducing the difficulty of drone control. It is suitable for beginners in drone control.
- Fig. 1A is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application
- FIG. 1B is a schematic structural diagram of a remote control terminal in an embodiment of the present application.
- FIG. 2 is a schematic diagram of the method flow of the drone control method on the drone side in an embodiment of the present application
- Fig. 3 is a schematic structural diagram of a control device for a drone in an embodiment of the present application
- FIG. 4 is a schematic diagram of the structure of the unmanned aerial vehicle in an embodiment of the present application.
- FIG. 5 is a schematic flowchart of a method for controlling a drone in an embodiment of the present application on the side of a remote control terminal;
- Fig. 6 is a schematic structural diagram of a control device for a drone in another embodiment of the present application.
- Fig. 7 is a schematic structural diagram of a remote control terminal in another embodiment of the present application.
- the auxiliary control unit can trigger the drone to enter the auxiliary control mode, so that when the user manually controls the attitude of the drone, the attitude of the drone can be assisted to adjust , Makes the drone in a preset state, helps users correct the attitude of the drone, improves the flight experience, and reduces the difficulty of drone control. It is suitable for beginners in drone control.
- the working mode of the drone can include self-stabilization mode and manual control mode.
- the drone's flight controller will autonomously control the attitude of the drone to keep the drone in a stable state. For example, after the user releases the joystick, the drone will return to the horizontal position; in manual control mode (also known as acro mode), the user is required to manually operate the joystick of the remote control or other remote control terminals to control the attitude of the drone , To keep the drone in a stable state, specifically to control the attitude of the drone according to the amount of the stick, the flight controller will not autonomously participate in the attitude control of the drone.
- the body of the stick starts to tilt, and the greater the amount of stick, the faster the tilt speed.
- the unmanned aerial vehicle system may include an unmanned aerial vehicle 100 and a remote control terminal 200.
- the unmanned aerial vehicle 100 is in communication connection with the remote control terminal 200.
- Different communication connection modes can be adopted between the terminals 200, such as Bluetooth, wifi or other wireless communication connection modes.
- the unmanned aerial vehicle 100 in the embodiment of the present application may be a traversing machine or other types of unmanned aerial vehicles.
- the working mode of the drone 100 in the embodiment of the present application includes a manual control mode.
- the drone 100 of the embodiment of the present application may also include other working modes, such as a self-stabilization mode or others.
- the UAV 100 is a traversing machine, and the traversing machine includes a self-stabilization mode and a manual control mode.
- control method of the drone in the embodiment of the present application is executed in the manual control mode of the drone.
- the remote control terminal 200 in the embodiment of the present application may be a remote control, or other terminals capable of remotely controlling the drone 100, such as smart terminals such as mobile phones and tablet computers.
- the remote control terminal 200 of the embodiment of the present application may include an auxiliary control part.
- the drone 100 can enter the auxiliary control mode.
- the drone 100 can assist in adjusting the attitude of the drone 100 so that the drone 100 is in a preset state.
- the preset state may include one or more states of the drone 100.
- the preset state includes a state of the drone 100, for example, the preset state is a horizontal state, wherein, in the horizontal state, the plane of the drone 100 is parallel to the horizontal plane. When the UAV 100 is placed horizontally, the plane of the fuselage is parallel to the horizontal plane. It should be understood that the preset state may also be other.
- the auxiliary control unit may be a physical button or a virtual button.
- the remote control terminal 200 is a remote control
- the remote control may include a main body 210
- the auxiliary control part 220 is a physical button provided on the main body 210.
- the auxiliary control part 220 may be arranged on the side of the main body 210 to facilitate user operations; it should be understood that the auxiliary control part 220 may also be arranged in other positions of the main body 210.
- the remote controller may also include a joystick 230 provided on the main body 210. The user can control the attitude of the drone 100 by operating the joystick 230, such as pitch attitude, roll attitude, and yaw attitude. At least one of the flight attitudes.
- the auxiliary control part may be a virtual key on the operation interface displayed on the display screen, and the joystick may be a virtual joystick on the operation interface.
- the remote control terminal 200 is a smart terminal
- the auxiliary control unit may be a virtual button on an operation interface displayed on the smart terminal
- the joystick may be a virtual joystick on the operation interface.
- the execution subject of the drone control method of this embodiment may be the flight controller of the drone, or It can be other controllers installed on the drone. In this embodiment, it is taken as an example that the execution subject of the drone control method is a flight controller.
- the control method of the unmanned aerial vehicle in this embodiment may include S201 to S204.
- the drone when the drone is in the manual control mode, if the first trigger signal sent by the remote control terminal is received, it enters the auxiliary control mode.
- the first trigger signal is generated by the remote control terminal when the auxiliary control part is triggered.
- the user can operate the auxiliary control unit by clicking, double-clicking, or long-pressing, etc., so that the auxiliary control unit is in a trigger state.
- the drone When the drone is in the manual control mode, when the auxiliary control unit switches from the non-triggered state to the triggered state, the remote control terminal generates a first trigger signal and sends the first trigger signal to the drone.
- the auxiliary control part when the drone is in the manual control mode, the auxiliary control part is in an effective state; when the drone is in the non-manual control mode, the auxiliary control part can be in an effective state or an ineffective state.
- the auxiliary control part when the auxiliary control part is in the active state, the user can operate the auxiliary control part to switch the auxiliary control part between different states. For example, the user operates the auxiliary control part to make the auxiliary control part in the triggered state and the non-triggered state.
- the auxiliary control part When the auxiliary control part is in the invalid state, the auxiliary control part is always in the non-triggered state, even if the user operates the auxiliary control part, the auxiliary control part will not switch from the non-triggered state to other states.
- the first control signal is a control signal for the user to manually control the attitude of the drone.
- the remote control terminal is a remote control, and the first control signal is generated when the user operates the joystick of the remote control;
- the remote control terminal is a mobile phone, and the first control signal is a virtual joggle on the operation interface displayed by the user operating the mobile phone. Produced when the rod.
- the first control signal carries a stick amount generated when the user operates the joystick, and the first target posture is determined according to the stick amount.
- the auxiliary attitude control amount is determined according to the first target attitude and the first attitude of the drone corresponding to the preset state.
- the first posture is a known quantity.
- the preset attitude is a horizontal state
- the first attitude includes the pitch attitude and the roll attitude of the UAV.
- the realization process of determining the auxiliary attitude control amount may include but not limited to steps (1) to (2):
- the attitude deviation is the difference obtained by subtracting the first target attitude from the first attitude
- the auxiliary attitude control amount is the attitude deviation
- the drone is controlled to rotate so that the drone is in a preset state.
- the preset state is the horizontal state.
- the flight controller assists in the leveling of the drone during the manual leveling of the drone by the user , To correct the attitude deviation caused by insufficient control experience when the user manually leveled the drone, improve the flight experience and reduce the difficulty of the drone.
- the drone is first controlled to reach the first target attitude, and then according to the auxiliary attitude control amount, the drone is controlled to rotate so that the drone is in position.
- the preset state that is, the manual control is implemented first, and then the attitude deviation caused by the manual control is corrected.
- the rotation of the drone is directly controlled according to the first target attitude and the auxiliary attitude control amount, so that the drone is in a preset state, that is, the manual control and the correction of the attitude deviation are performed simultaneously.
- the attitude of the drone can be controlled in one step (that is, stepwise) according to the first target attitude and the auxiliary attitude control amount, so that the drone can quickly reach the preset state, or according to the first target attitude and the auxiliary attitude control amount, Gradually control the attitude of the UAV to make the UAV reach the preset state smoothly.
- the attitude of the drone when the attitude of the drone is gradually controlled according to the first target attitude and the auxiliary attitude control amount, so that the drone reaches the preset state smoothly, according to the first target attitude, the auxiliary attitude control amount, and the preset state
- the angular velocity of the drone when it rotates controls the rotation of the drone so that the drone is in a preset state. In this way, the drone can be controlled to reach the preset state more steadily.
- the drone reaches the preset state the drone's attitude changes smoothly, which reduces the difference in attitude changes of the drone at different times, so that no The posture of the man-machine changes more evenly and delicately.
- the realization process may include, but is not limited to, steps I to II. :
- the drone According to the first target attitude, the auxiliary attitude control amount and the attitude adjustment gradient, the drone is controlled to rotate so that the drone is in a preset state.
- the integration frequency of integration processing can be the default value or set by the user.
- the integration frequency of the integration processing is 1 kHz (unit: kilohertz).
- the integration frequency of the integration processing can also be set to other sizes.
- the control method of the drone may further include: outputting an auxiliary attitude control amount for display, achieving teaching effects, and guiding the user to operate such as leveling the drone.
- the remote control terminal has its own display screen, and the auxiliary attitude control amount is displayed through the display screen of the remote control terminal; in other embodiments, the auxiliary attitude control amount is sent to an external display device for display.
- the display device may include video glasses, such as FPV (First Person View) glasses, or others, such as a smart terminal communicating with a drone.
- the remote control terminal is a remote controller, and outputs the amount of the joystick of the remote controller corresponding to the auxiliary attitude control amount for display, and can guide the user to drive the direction and amount of the stick to level the drone.
- the auxiliary control mode is exited.
- the second trigger signal is used to instruct the auxiliary control unit to switch from the triggered state to the non-triggered state.
- the user switches from pressing the auxiliary control unit to release the auxiliary control unit, so that the auxiliary control unit is switched from the triggered state to the non-triggered state.
- the user clicks on the auxiliary control part, so that the auxiliary control part is switched from the triggered state to the non-triggered state.
- the user regains full control of the drone. At this time, the user is completely manually operated to make the drone reach the preset state, and the flight controller will not autonomously participate in the drone's attitude control .
- the second control signal is used to determine the second target attitude of the drone; according to the second target attitude , Control the drone to rotate.
- the second control signal is also a control signal for the user to manually control the attitude of the drone.
- the remote control terminal is a remote control
- the second control signal is generated when the user operates the joystick of the remote control
- the remote control terminal is a mobile phone
- the second control signal is a virtual joggle on the operation interface displayed by the user operating the mobile phone. Produced when the rod.
- the second control signal carries a stick amount generated when the user operates the joystick, and the second target posture is determined according to the stick amount.
- control method of the UAV may further include: sending the image transmission picture obtained by the camera of the UAV and the real-time attitude of the UAV to the outside.
- the display device displays the image transmission screen of the drone through the display device, and superimposes the third-angle view of the drone on the image transmission screen displayed on the display device.
- the third perspective is used to indicate the real-time posture.
- the real-time attitude is the attitude of the drone in the world coordinate system, or the attitude of the drone in other coordinate systems.
- the third perspective view is used to display the virtual model of the UAV in the real-time attitude, so as to display the real-time attitude of the UAV more intuitively, which is helpful for guiding the user to manually adjust the UAV to the preset state.
- the real-time attitude may include at least one of the pitch attitude, roll attitude, and yaw attitude of the UAV.
- the display device can also display the attitude line corresponding to the real-time attitude on the image transmission screen to indicate at least one of the pitch attitude, roll attitude, and yaw attitude of the drone, and the display of the attitude line is relatively simple.
- the display device can also display the numerical value or other parameters corresponding to the real-time attitude on the image transmission screen, such as the voltage of the UAV battery.
- the image transmission picture is the picture obtained by the FPV camera on the drone.
- an embodiment of the present application also provides a control device of the drone, and the control device of the drone of this embodiment is provided on the drone.
- the drone is in communication connection with a remote control terminal, and the remote control terminal includes an auxiliary control unit.
- the control device 110 of the drone of this embodiment may include a first storage device 111 and one or more first processors 112.
- the first storage device 111 is used to store program instructions; the first storage device 111 stores the executable instruction computer program of the control method of the drone, and the first storage device 111 may include at least one type Storage media including flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), Electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc.
- the control device 110 of the drone may cooperate with the network first storage device 111 that performs the storage function of the memory through a network connection.
- the memory may be an internal storage unit of the control device 110 of the drone, such as a hard disk or memory of the control device 110 of the drone.
- the memory can also be an external storage device of the drone control device 110, such as a plug-in hard disk, a smart media card (SMC), and a secure digital (Secure Digital, SD) equipped on the drone control device 110. ) Card, Flash Card, etc.
- the memory may also include both an internal storage unit of the control device 110 of the drone and an external storage device.
- the memory is used to store computer programs and other programs and data required by the device.
- the memory can also be used to temporarily store data that has been output or will be output.
- One or more first processors 112 call program instructions stored in the first storage device 111. When the program instructions are executed, one or more first processors 112 are individually or collectively configured to implement the following Operation: When the drone is in manual control mode, if it receives the first trigger signal sent by the remote control terminal, it will enter the auxiliary control mode.
- the first trigger signal is generated by the remote control terminal when the auxiliary control part is triggered; in the auxiliary control mode
- the first target attitude of the drone is determined according to the first control signal; according to the first target attitude and the first attitude of the drone corresponding to the preset state, Determine the auxiliary attitude control amount; according to the first target attitude and the auxiliary attitude control amount, control the rotation of the drone so that the drone is in a preset state.
- the first processor 112 in this embodiment can implement the control method of the drone in the embodiment shown in FIG. 2 of the present application. For details, see the control method of the drone in the above embodiment and the control device of the drone in this embodiment. 110 for description.
- the first processor 112 may be a flight controller of the UAV, or may be another controller provided on the UAV.
- the first processor 112 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (ASICs). ), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
- the general-purpose processor may be a microprocessor or the first processor 112 may also be any conventional processor or the like.
- an embodiment of the present application also provides an unmanned aerial vehicle. Please refer to FIG. 4.
- the unmanned aerial vehicle of the embodiment of the present application may include a body, a power system, and the control device 110 of the unmanned aerial vehicle of the foregoing embodiment. in.
- the power system is connected to the body.
- the power system of this embodiment is used to provide power for the movement of the body, and the control device 110 of the drone is supported by the body.
- an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by the first processor 112, the drone control method described in the foregoing embodiment is implemented.
- the control method of the drone in this embodiment may include S501 to S503.
- the first user instruction is obtained, and the first user instruction is used to instruct the auxiliary control unit to switch from the non-triggered state to the triggered state.
- the first user instruction may include an operation instruction for the user to operate the auxiliary control unit when the auxiliary control device is in a non-triggered state (such as operations such as single-click, double-click, or long-press).
- an operation instruction for the user to operate the auxiliary control unit when the auxiliary control device is in a non-triggered state such as operations such as single-click, double-click, or long-press.
- the auxiliary control device when the auxiliary control device is in the non-triggered state, the user clicks on the auxiliary control part, and the trigger auxiliary control device is switched from the non-triggered state to the triggered state.
- the auxiliary control unit is switched from the non-triggered state to the triggered state, and the first trigger signal is generated; among them, when the drone is in the manual control mode, the first trigger signal is used to trigger the The man-machine enters the auxiliary control mode.
- the drone In the auxiliary control mode, the drone can assist in adjusting the attitude of the drone so that the drone is in a preset state.
- the two steps of “switching the auxiliary control unit from the non-triggered state to the triggered state” and “generating the first trigger signal” can be performed at the same time, or “switch the auxiliary control unit from the non-triggered state to the triggered state"
- the UAV assists in adjusting the attitude of the UAV so that the UAV is in the preset state can be referred to the description of the corresponding part in the first embodiment, which will not be repeated here.
- the first trigger signal is sent to the drone.
- the preset state includes a horizontal state; wherein, in the horizontal state, the plane of the drone's fuselage is parallel to the horizontal plane.
- control method of the drone further includes: receiving the auxiliary attitude control amount sent by the drone; displaying the auxiliary attitude control amount; wherein the auxiliary attitude control amount is corresponding to the first control signal sent by the remote control terminal The attitude deviation between the first target attitude of the drone and the first attitude of the drone corresponding to the preset state is determined.
- the remote control terminal includes a remote controller to display the auxiliary attitude control amount, including: determining the amount of the joystick of the remote control corresponding to the auxiliary attitude control amount; and the joystick of the remote control corresponding to the auxiliary attitude control amount The amount is displayed.
- the remote control terminal includes a remote control
- the first control signal is generated when the user operates the joystick of the remote control.
- the method further includes: acquiring a second user instruction, and the second user instruction is used to instruct to switch the auxiliary control unit from the triggered state to the triggered state.
- Non-triggered state according to the second user instruction, the auxiliary control unit is switched from the triggered state to the non-triggered state, and a second trigger signal is generated; the second trigger signal is sent to the drone to trigger the drone to exit the auxiliary control mode.
- the second user instruction may include an operation instruction for the user to operate the auxiliary control unit (such as single-click, double-click, or long-press operations) when the auxiliary control device is in the triggered state.
- the auxiliary control device when the auxiliary control device is in the triggered state, the user clicks on the auxiliary control part, and the triggered auxiliary control device is switched from the triggered state to the non-triggered state. After exiting the auxiliary control mode, the user regains full control of the drone. At this time, the user is completely manually operated to make the drone reach the preset state, and the flight controller will not autonomously participate in the drone's attitude control .
- control method of the drone further includes: acquiring the image transmission picture obtained by the camera of the drone and the real-time attitude of the drone; Three-perspective view; among them, the third-perspective view is used to indicate real-time posture.
- the third perspective view is used to display a virtual model of the drone in a real-time attitude.
- the drone includes a traversing machine.
- control method of the drone of the second embodiment can refer to the description of the corresponding part of the control method of the drone of the first embodiment.
- an embodiment of the present application also provides a control device for the drone.
- the control device of the drone in this embodiment is provided on a remote control terminal.
- the remote control terminal includes an auxiliary control unit.
- the control device 240 of the drone of this embodiment may include a second storage device 241 and one or more second processors 242.
- the second storage device 241 is configured to store program instructions; the second storage device 241 stores the executable instruction computer program of the control method of the drone, and the second storage device 241 may include at least one type of storage Media, storage media includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electronic memory Erase Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), magnetic memory, magnetic disks, optical disks, etc.
- the control device 240 of the drone may cooperate with the network second storage device 241 that performs the storage function of the memory through a network connection.
- the memory may be an internal storage unit of the control device 240 of the drone, such as a hard disk or memory of the control device 240 of the drone.
- the memory may also be an external storage device of the drone control device 240, such as a plug-in hard disk, a smart media card (SMC), and a secure digital (Secure Digital, SD) equipped on the drone control device 240. ) Card, Flash Card, etc.
- the memory may also include both the internal storage unit of the drone control device 240 and the external storage device.
- the memory is used to store computer programs and other programs and data required by the device.
- the memory can also be used to temporarily store data that has been output or will be output.
- One or more second processors 242 call program instructions stored in the second storage device 241.
- one or more second processors 242 are individually or collectively configured to implement the following Operation:
- the first user instruction is obtained, and the first user instruction is used to instruct the auxiliary control unit to switch from the non-triggered state to the triggered state; according to the first user instruction, the auxiliary control unit is switched from the non-triggered state to the triggered state, and generate The first trigger signal; sends the first trigger signal to the drone; among them, when the drone is in manual control mode, the first trigger signal is used to trigger the drone to enter the auxiliary control mode; in the auxiliary control mode, no one The drone can assist in adjusting the attitude of the drone so that the drone is in a preset state.
- the second processor 242 of this embodiment can implement the control method of the drone as shown in the embodiment shown in FIG. 240 for description.
- the second processor 242 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (ASICs). ), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
- the general-purpose processor may be a microprocessor or the second processor 242 may also be any conventional processor or the like.
- an embodiment of the present application also provides a remote control terminal for a drone. Please refer to FIG. 1B and FIG.
- the control device 240 of the drone wherein the auxiliary control part 220 is provided in the main body 210, the control device 240 of the drone is electrically connected to the auxiliary control part 220, and the control device 240 of the drone is supported by the main part 210.
- the remote control terminal 200 in the embodiment of the present application may be a remote control, or other terminals capable of remotely controlling drones, such as smart terminals such as mobile phones and tablet computers.
- the remote control terminal 200 is a remote control
- the control device 240 of the drone may also be electrically connected with the joystick of the remote control.
- an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored.
- the program is executed by the second processor 242, the drone control method described in the second embodiment is implemented.
- An embodiment of the present application provides an unmanned aerial vehicle system, please refer to FIG. 1A and FIG. Control unit 220.
- the remote control terminal 200 is used to switch the auxiliary control unit 220 from the non-triggered state to the triggered state when receiving the first user instruction instructing to switch the auxiliary control unit 220 from the non-triggered state to the triggered state, and generate the first trigger Signal; Send the first trigger signal to the drone 100.
- the drone 100 is used when the drone 100 is in the manual control mode, if it receives the first trigger signal sent by the remote control terminal 200, it enters the auxiliary control mode; in the auxiliary control mode, if the remote control terminal 200 receives the signal According to the first control signal, the first target attitude of the drone 100 is determined according to the first control signal; the auxiliary attitude control amount is determined according to the first target attitude and the first attitude of the drone 100 corresponding to the preset state; The first target attitude and the auxiliary attitude control amount control the rotation of the drone 100 so that the drone 100 is in a preset state.
- the preset state includes a horizontal state; wherein, in the horizontal state, the plane of the fuselage of the drone 100 is parallel to the horizontal plane.
- the drone 100 is specifically configured to determine the attitude deviation according to the first target attitude and the first attitude of the drone 100 corresponding to the preset state; and to determine the auxiliary attitude control amount according to the attitude deviation.
- the drone 100 is specifically configured to control the rotation of the drone 100 according to the first target attitude, the auxiliary attitude control amount, and the preset angular velocity when the drone 100 rotates, so that the drone 100 is in a preset state .
- the UAV 100 is specifically used to integrate the angular velocity to determine the attitude adjustment gradient of the UAV 100; according to the first target attitude, the auxiliary attitude control amount, and the attitude adjustment gradient, the UAV 100 is controlled to rotate so that The drone 100 is in a preset state.
- the drone 100 is also used to output the auxiliary attitude control amount for display; the drone 100 is specifically used to output the stick amount of the joystick 230 of the remote controller corresponding to the auxiliary attitude control amount for display.
- the drone 100 is specifically used to send the auxiliary attitude control value to the remote control terminal 200; the remote control terminal 200 is also used to receive the auxiliary attitude control value sent by the drone 100 and display the auxiliary attitude control value.
- the remote control terminal 200 includes a remote control, and the first control signal is generated when the user operates the joystick 230 of the remote control.
- the remote control terminal 200 is further configured to switch the auxiliary control unit 220 from the non-triggered state to the triggered state according to the first user instruction, and if the second user instruction is obtained, switch the auxiliary control unit 220 from the triggered state Into the non-triggered state, and generate a second trigger signal; send the second trigger signal to the drone 100; the drone 100 is also used to receive the first trigger signal sent by the remote control terminal 200 and enter the auxiliary control mode, if After receiving the second trigger signal sent by the remote control terminal 200, the auxiliary control mode is exited.
- the second trigger signal is used to instruct the auxiliary control unit 220 to switch from the triggered state to the non-triggered state.
- the drone 100 after exiting the auxiliary control mode, if the drone 100 receives a second control signal sent by the remote control terminal 200, determine the second target attitude of the drone 100 according to the second control signal; The second target attitude is to control the drone 100 to rotate.
- the drone 100 is also used to send the image transmission picture acquired by the camera of the drone 100 and the real-time attitude of the drone 100 to an external display device; the remote control terminal 200 is also used to obtain the information of the drone 100 The image transmission screen acquired by the camera and the real-time attitude of the drone 100; the image transmission screen is displayed, and the third perspective view of the drone 100 is added to the image transmission screen; the third perspective image is used to indicate the real-time attitude.
- the third perspective view is used to display the virtual model of the drone 100 in a real-time attitude.
- the drone 100 includes a traversing machine.
- the computer-readable storage medium of the embodiment of the present application may be the internal storage unit of the drone or remote control terminal described in any of the foregoing embodiments, such as a hard disk or a memory.
- the computer-readable storage medium may also be an external storage device of a drone or a remote control terminal, such as a plug-in hard disk, a smart media card (SMC), an SD card, or a flash memory card equipped on the device. Flash Card) etc.
- the computer-readable storage medium may also include both an internal storage unit of a drone or a remote control terminal and an external storage device.
- the computer-readable storage medium is used to store the computer program and other programs and data required by the drone or remote control terminal, and can also be used to temporarily store data that has been output or will be output.
- the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
- the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
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Abstract
一种无人机及其控制方法和装置、遥控终端、无人机系统，无人机系统包括无人机（100）和遥控终端（200），遥控终端（200）用于在获取到指示将遥控终端的辅助控制部（220）由非触发状态切换成触发状态的第一用户指令时，将辅助控制部（220）由非触发状态切换成触发状态，并生成第一触发信号；发送第一触发信号至无人机（100）；无人机（100）用于在无人机（100）处于手动控制模式下，若接收到遥控终端（200）发送的第一触发信号，则进入辅助控制模式（S201）；在辅助控制模式下，若接收到遥控终端（200）发送的第一控制信号，则根据第一控制信号，确定无人机（100）的第一目标姿态（S202）；根据第一目标姿态和预设状态对应的无人机（100）的第一姿态，确定辅助姿态控制量(S203)；根据第一目标姿态和辅助姿态控制量，控制无人机（100）转动，使得无人机（100）处于预设状态（S204）。
Description
本申请涉及无人机领域，尤其涉及一种无人机及其控制方法和装置、遥控终端、无人机系统。
目前，一些无人机会提供不同的工作模式供用户选择，从而让用户获得不同的操控体验。例如，穿越机的工作模式包括自稳模式和手动控制模式，在自稳模式下，穿越机的飞行控制器会自主对穿越机的姿态进行控制，使得穿越机保持在平稳状态；在手动控制模式下，需要用户手动操作遥控器的摇杆来控制穿越机的姿态，使得穿越机保持在平稳状态，具体是根据打杆的杆量控制穿越机的姿态，飞行控制器不会自主参与穿越机的姿态控制。然而，对于很多用户，在手动控制模式下，由于操控经验的不足，很难通过手动方式来控制穿越机保持在平稳状态。特别是初学者，一般需要在模拟器上进行长时间的练习才可以有比较好的操控感知，如果在对穿越机的姿态控制比较不敏感的情况下，直接操控穿越机，会容易造成失控乃至炸机。
发明内容
本申请提供一种无人机及其控制方法和装置、遥控终端、无人机系统。
第一方面，本申请实施例提供一种无人机的控制方法，所述方法适用于无人机，所述无人机与遥控终端通信连接，所述遥控终端包括辅助控制部，所述方法包括：
在所述无人机处于手动控制模式下，若接收到所述遥控终端发送的第一触发信号，则进入辅助控制模式，所述第一触发信号为所述遥控终端在所述辅助控制部被触发时产生；
在所述辅助控制模式下，若接收到所述遥控终端发送的第一控制信号，则根据所述第一控制信号，确定所述无人机的第一目标姿态；
根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量；
根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态。
第二方面，本申请实施例提供一种无人机的控制装置，所述控制装置设于无人机上，所述无人机与遥控终端通信连接，所述遥控终端包括辅助控制部，所述控制装置包括：
存储装置，用于存储程序指令；
一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：
在所述无人机处于手动控制模式下，若接收到所述遥控终端发送的第一触发信号，则进入辅助控制模式，所述第一触发信号为所述遥控终端在所述辅助控制部被触发时产生；
在所述辅助控制模式下，若接收到所述遥控终端发送的第一控制信号，则根据所述第一控制信号，确定所述无人机的第一目标姿态；
根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量；
根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态。
第三方面，本申请实施例提供一种无人机，包括：
机体；
动力系统，与所述机体连接，用于给所述机体的移动提供动力；
本申请第二方面所述的无人机的控制装置，由所述机体支撑。
第四方面，本申请实施例提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本申请第一方面所述的无人机的控制方法。
第五方面，本申请实施例提供一种无人机的控制方法，所述方法适用于一遥控终端，所述遥控终端与所述无人机通信连接，所述遥控终端包括辅助控制部，所述方法包括：
获取到第一用户指令，所述第一用户指令用于指示将所述辅助控制部由非触发状态切换成触发状态；
根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态，并生成第一触发信号；
发送所述第一触发信号至所述无人机；
其中，当所述无人机处于手动控制模式下，所述第一触发信号用于触发所述无人机进入辅助控制模式；
在所述辅助控制模式下，所述无人机能够辅助调整所述无人机的姿态，使得所述无人机处于预设状态。
第六方面，本申请实施例提供一种无人机的控制装置，所述控制装置设于遥控终 端上，所述遥控终端与所述无人机通信连接，所述遥控终端包括辅助控制部，所述控制装置包括：
存储装置，用于存储程序指令；
一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：
获取到第一用户指令，所述第一用户指令用于指示将所述辅助控制部由非触发状态切换成触发状态；
根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态，并生成第一触发信号；
发送所述第一触发信号至所述无人机；
其中，当所述无人机处于手动控制模式下，所述第一触发信号用于触发所述无人机进入辅助控制模式；
在所述辅助控制模式下，所述无人机能够辅助调整所述无人机的姿态，使得所述无人机处于预设状态。
第七方面，本申请实施例提供一种无人机的遥控终端，包括：
主体部；
辅助控制部，设于所述主体部；和
本申请第六方面所述的无人机的控制装置，与所述辅助控制部电连接，并由所述主体部支撑。
第八方面，本申请实施例提供一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现本申请第五方面所述的无人机的控制方法。
第九方面，本申请实施例提供一种无人机系统，所述无人机系统包括：
无人机；和
与所述无人机通信连接的遥控终端，所述遥控终端包括辅助控制部；
所述遥控终端用于在获取到指示将所述辅助控制部由非触发状态切换成触发状态的第一用户指令时，将所述辅助控制部由所述非触发状态切换成所述触发状态，并生成第一触发信号；发送所述第一触发信号至所述无人机；
所述无人机用于在所述无人机处于手动控制模式下，若接收到所述遥控终端发送的第一触发信号，则进入辅助控制模式；在所述辅助控制模式下，若接收到所述遥控终端发送的第一控制信号，则根据所述第一控制信号，确定所述无人机的第一目标姿态；根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态 控制量；根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态。
根据本申请实施例提供的技术方案，本申请在无人机处于手动控制模式下，可以通过辅助控制部触发无人机进入辅助控制模式，从而在用户手动控制无人机的姿态时，对无人机的姿态进行辅助调节，使得无人机处于预设状态，帮助用户修正无人机的姿态，提高飞行体验，降低无人机的操控难度，适用于无人机操控的初学者。
为了更清楚地说明本申请实施例中的技术方案，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，下面描述中的附图仅仅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性的前提下，还可以根据这些附图获得其他的附图。
图1A是本申请一实施例中的无人机系统的结构示意图；
图1B是本申请一实施例中的遥控终端的结构示意图；
图2是本申请一实施例中的无人机的控制方法在无人机侧的方法流程示意图；
图3是本申请一实施例中的无人机的控制装置的结构示意图；
图4是本申请一实施例中的无人机的结构示意图；
图5是本申请一实施例中的无人机的控制方法在遥控终端侧的方法流程示意图；
图6是本申请另一实施例中的无人机的控制装置的结构示意图；
图7是本申请另一实施例中的遥控终端的结构示意图。
对于很多用户，在手动控制模式下，由于操控经验的不足，很难通过手动方式来控制穿越机保持在平稳状态。特别是初学者，一般需要在模拟器上进行长时间的练习才可以有比较好的操控感知，如果在对穿越机的姿态控制比较不敏感的情况下，直接操控穿越机，会容易造成失控乃至炸机。
对于此，本申请在无人机处于手动控制模式下，可以通过辅助控制部触发无人机进入辅助控制模式，从而在用户手动控制无人机的姿态时，对无人机的姿态进行辅助调节，使得无人机处于预设状态，帮助用户修正无人机的姿态，提高飞行体验，降低无人机的操控难度，适用于无人机操控的初学者。
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，所描述的实施例仅仅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。
需要说明的是，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
无人机的工作模式可包括自稳模式和手动控制模式，其中，在自稳模式下，无人机的飞行控制器会自主对无人机的姿态进行控制，使得无人机保持在平稳状态，例如，用户松开摇杆后无人机会回到水平位置；在手动控制模式(也称为acro模式)下，需要用户手动操作遥控器的摇杆或其他遥控终端来控制无人机的姿态，使得无人机保持在平稳状态，具体是根据打杆的杆量控制无人机的姿态，飞行控制器不会自主参与无人机的姿态控制。在一实施例中，在手动控制模式下，打杆机身开始倾斜，打杆量越大倾斜速度越快。
本申请实施例提供一种无人机系统，请参见图1A，该无人机系统可包括无人机100和遥控终端200，无人机100与遥控终端200通信连接，无人机100与遥控终端200之间可采用不同的通信连接方式，如蓝牙、wifi或其他无线通信连接方式。
本申请实施例的无人机100可以为穿越机，也可以为其他类型的无人机。
应当理解的是，本申请实施例的无人机100的工作模式包括手动控制模式。另外应当理解的是，除了手动控制模式，本申请实施例的无人机100也可以包括其他工作模式，如自稳模式或其他。示例性的，无人机100为穿越机，穿越机包括自稳模式和手动控制模式。
需要说明的是，本申请实施例的无人机的控制方法为无人机处于手动控制模式下执行的。
本申请实施例的遥控终端200可以为遥控器，也可以为其他能够遥控无人机100的终端，如手机、平板电脑等智能终端。
本申请实施例的遥控终端200可包括辅助控制部，在手动控制模式下，当该辅助控制部被触发时，无人机100能够进入辅助控制模式。其中，在辅助控制模式下，无人机100能够辅助调整无人机100的姿态，使得无人机100处于预设状态。本申请实施例中，预设状态可以包括一种或多种无人机100的状态。示例性的，预设状态包括一种无人机100的状态，如预设状态为水平状态，其中，在水平状态下，无人机100的机身平面平行于水平面。无人机100水平放置时，机身平面平行于水平面。应当理解的，预设状态也可为其他。
辅助控制部可以为实体按键，也可以为虚拟按键。示例性的，请参见图1B，遥控终端200为遥控器，遥控器可包括主体部210，辅助控制部220为设于主体部210上的实体按键。辅助控制部220可设于主体部210的侧部，以方便用户操作；应当理解的是，辅助控制部220也可以设于主体部210的其他位置。进一步的，请再次参见图 1B，遥控器还可包括设于主体部210上的摇杆230，用户可以通过操作摇杆230来控制无人机100的姿态，如俯仰姿态、横滚姿态和偏航姿态中的至少一个。
应当理解的，当遥控器自带显示屏时，辅助控制部可以为显示屏所显示的操作界面上的虚拟按键，摇杆可以为操作界面上的虚拟摇杆。
示例性的，遥控终端200为智能终端，辅助控制部可以为智能终端显示的操作界面上的虚拟按键，摇杆可以为操作界面上的虚拟摇杆。
实施例一和实施例二将分别从无人机侧、遥控终端侧对本申请实施例的无人机的控制方法的实现过程进行详细描述。
实施例一
图2是本申请一实施例中的无人机的控制方法在无人机侧的方法流程示意图；本实施例的无人机的控制方法的执行主体可以为无人机的飞行控制器，也可以为设于无人机上的其他控制器。在本实施例中，以无人机的控制方法的执行主体为飞行控制器为例。请参见图2，本实施例的无人机的控制方法可包括S201～S204。
其中，在S201中，在无人机处于手动控制模式下，若接收到遥控终端发送的第一触发信号，则进入辅助控制模式，第一触发信号为遥控终端在辅助控制部被触发时产生。
用户可以通过单击、双击或长按等方式操作辅助控制部，使得辅助控制部处于触发状态。在无人机处于手动控制模式下，当辅助控制部由非触发状态切换成触发状态时，遥控终端生成第一触发信号，并将第一触发信号发送给无人机。
本申请实施例中，在无人机处于手动控制模式下，辅助控制部处于有效状态；在无人机处于非手动控制模式下，辅助控制部可以处于有效状态，也可以处于无效状态。其中，当辅助控制部处于有效状态时，可以通过用户操作辅助控制部，使得辅助控制部在不同状态之间切换，如通过用户操作辅助控制部，使得辅助控制部在触发状态和非触发状态之间切换；当辅助控制部处于无效状态时，辅助控制部始终处于非触发状态，即使用户操作辅助控制部，辅助控制部也不会由非触发状态切换成其他状态。
在S202中，在辅助控制模式下，若接收到遥控终端发送的第一控制信号，则根据第一控制信号，确定无人机的第一目标姿态。
本申请实施例中，第一控制信号为用户手动控制无人机的姿态的控制信号。示例性的，遥控终端为遥控器，第一控制信号为用户操作遥控器的摇杆时产生；示例性的，遥控终端为手机，第一控制信号为用户操作手机显示的操作界面上的虚拟摇杆时产生。
可选的，第一控制信号携带有用户操作摇杆时产生杆量，第一目标姿态根据杆量确定。
在S203中，根据第一目标姿态和预设状态对应的无人机的第一姿态，确定辅助姿态控制量。
其中，预设状态确定后，第一姿态为已知量。
示例性的，预设姿态为水平状态，无人机处于水平状态时，第一姿态包括无人机的俯仰姿态和横滚姿态。
根据第一目标姿态和预设状态对应的无人机的第一姿态，确定辅助姿态控制量的实现过程可包括但不限于步骤(1)～(2)：
(1)、根据第一目标姿态和预设状态对应的无人机的第一姿态，确定姿态偏差；
(2)、根据姿态偏差，确定辅助姿态控制量。
本申请实施例中，姿态偏差为第一姿态减去第一目标姿态获得的差值，辅助姿态控制量为姿态偏差。
在S204中，根据第一目标姿态和辅助姿态控制量，控制无人机转动，使得无人机处于预设状态。
示例性的，预设状态为水平状态，在无人机处于手动控制模式且辅助控制部被触发时，在用户手动调平无人机的过程中，飞行控制器辅助参与无人机的调平，修正用户手动调平无人机时，由于操控经验不足带来的姿态偏差，提高飞行体验并降低无人机的操控难度。
可以采用不同的策略控制无人机转动，示例性的，在一些实施例中，先控制无人机到达第一目标姿态，再根据辅助姿态控制量，控制无人机转动，使得无人机处于预设状态，也即，先实现手动控制，再修正手动控制产生的姿态偏差。
在另外一些实施例中，根据第一目标姿态和辅助姿态控制量，直接控制无人机转动，使得无人机处于预设状态，也即，手动控制和姿态偏差的修正同步执行。
可以根据第一目标姿态和辅助姿态控制量，一步式(即阶跃式)控制无人机的姿态，使得无人机快速到达预设状态，也可以根据第一目标姿态和辅助姿态控制量，逐步控制无人机的姿态，使得无人机平稳地到达预设状态。
示例性的，在根据第一目标姿态和辅助姿态控制量，逐步控制无人机的姿态，使得无人机平缓地到达预设状态时，根据第一目标姿态、辅助姿态控制量以及预设的无人机转动时的角速度，控制无人机转动，使得无人机处于预设状态。如此，能够更加平稳地控制无人机到达预设状态，在无人机到达预设状态过程中，无人机的姿态变化较为平滑，减小了无人机不同时刻的姿态变化差异，使得无人机的姿态变化较为均匀和细腻。
其中，根据第一目标姿态、辅助姿态控制量以及预设的无人机转动时的角速度， 控制无人机转动，使得无人机处于预设状态的实现过程可包括但不限于步骤I～II：
I、对角速度进行积分处理，确定无人机的姿态调节梯度；
II、根据第一目标姿态、辅助姿态控制量以及姿态调节梯度，控制无人机转动，使得无人机处于预设状态。
本申请实施例中，积分处理的积分区间对应的积分时长△t＝1/积分频率。积分处理的积分频率可以为默认数值，也可以由用户设定。可选的，积分处理的积分频率为1kHz(单位：千赫兹)，当然，积分处理的积分频率也可以设置为其他大小。
进一步的，在一些实施例中，无人机的控制方法还可包括：输出辅助姿态控制量以显示，实现教学效果，引导用户操作如调平无人机。示例性的，在一些实施例中，遥控终端自带显示屏，通过遥控终端的显示屏显示辅助姿态控制量；在另外一些实施例中，发送辅助姿态控制量至外部的显示装置以显示。显示装置可包括视频眼镜，如第一人称主视角FPV(First Person View)眼镜，也可以为其他，如与无人机通信连接的智能终端。
示例性的，遥控终端为遥控器，输出辅助姿态控制量对应的遥控器的摇杆的杆量以显示，可引导用户打杆的方向和杆量以调平无人机。
另外，在一些实施例中，在接收到遥控终端发送的第一触发信号，进入辅助控制模式之后，若接收到遥控终端发送的第二触发信号，则退出辅助控制模式。其中，第二触发信号用于指示辅助控制部由触发状态切换成非触发状态，示例性的，用户由按压辅助控制部切换成松开辅助控制部，使得辅助控制部由触发状态切换成非触发状态；示例性的，当辅助控制部处于触发状态时，用户单击辅助控制部，使得辅助控制部由触发状态切换成非触发状态。在退出辅助控制模式之后，用户重新掌握完全的无人机的控制权，此时，完全由用户手动操作以使得无人机到达预设状态，飞行控制器不会自主参与无人机的姿态控制。
示例性的，在一些实施例中，退出辅助控制模式之后，若接收到遥控终端发送的第二控制信号，则根据第二控制信号，确定无人机的第二目标姿态；根据第二目标姿态，控制无人机转动。本申请实施例中，第二控制信号也为用户手动控制无人机的姿态的控制信号。示例性的，遥控终端为遥控器，第二控制信号为用户操作遥控器的摇杆时产生；示例性的，遥控终端为手机，第二控制信号为用户操作手机显示的操作界面上的虚拟摇杆时产生。可选的，第二控制信号携带有用户操作摇杆时产生杆量，第二目标姿态根据杆量确定。
为进一步提高无人机系统的普适性，在一些实施例中，无人机的控制方法还可包括：发送无人机的拍摄装置获取的图传画面以及无人机的实时姿态至外部的显示装置，以通过显示装置显示无人机的图传画面，并在显示装置显示的图传画面上叠加无人机的第三视角视图。其中，第三视角图用于指示实时姿态。可选地，实时姿态为无人机 在世界坐标系下的姿态，也可以为无人机在其他坐标系下的姿态。示例性的，第三视角视图用于显示处于实时姿态下的无人机的虚拟模型，从而更加直观地显示无人机的实时姿态，有利于指导用户手动调节无人机到达预设状态。其中，实时姿态可以包括无人机的俯仰姿态、横滚姿态和偏航姿态中的至少一个。进一步的，显示装置还可以在图传画面上显示实时姿态对应的姿态线，以指示无人机的俯仰姿态、横滚姿态和偏航姿态中的至少一个，姿态线的显示较为简单。当然，显示装置还可以在图传画面上显示实时姿态对应的数值大小或其他参数，如无人机的电池的电压大小等。其中，当显示装置为第一人称主视角FPV眼镜时，图传画面为无人机上的FPV拍摄装置拍摄获得的画面。
对应于上述实施例的无人机的控制方法，本申请实施例还提供一种无人机的控制装置，本实施例的无人机的控制装置设于无人机上。无人机与遥控终端通信连接，遥控终端包括辅助控制部。请参见图3，本实施例的无人机的控制装置110可包括第一存储装置111和一个或多个第一处理器112。
其中，第一存储装置111，用于存储程序指令；所述第一存储装置111存储所述无人机的控制方法的可执行指令计算机程序，所述第一存储装置111可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，所述无人机的控制装置110可以与通过网络连接执行存储器的存储功能的网络第一存储装置111协作。存储器可以是无人机的控制装置110的内部存储单元，例如无人机的控制装置110的硬盘或内存。存储器也可以是无人机的控制装置110的外部存储设备，例如无人机的控制装置110上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步的，存储器还可以既包括无人机的控制装置110的内部存储单元也包括外部存储设备。存储器用于存储计算机程序以及设备所需的其他程序和数据。存储器还可以用于暂时地存储已经输出或者将要输出的数据。
一个或多个第一处理器112，调用第一存储装置111中存储的程序指令，当程序指令被执行时，一个或多个第一处理器112单独地或共同地被配置成用于实施如下操作：在无人机处于手动控制模式下，若接收到遥控终端发送的第一触发信号，则进入辅助控制模式，第一触发信号为遥控终端在辅助控制部被触发时产生；在辅助控制模式下，若接收到遥控终端发送的第一控制信号，则根据第一控制信号，确定无人机的第一目标姿态；根据第一目标姿态和预设状态对应的无人机的第一姿态，确定辅助姿态控制量；根据第一目标姿态和辅助姿态控制量，控制无人机转动，使得无人机处于预设状态。
本实施例的第一处理器112可以实现如本申请图2所示实施例的无人机的控制方 法，可参见上述实施例的无人机的控制方法对本实施例的无人机的控制装置110进行说明。
第一处理器112可以为无人机的飞行控制器，也可以为设于无人机上的其他控制器。
所述第一处理器112可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该第一处理器112也可以是任何常规的处理器等。
进一步的，本申请实施例还提供一种无人机，请参见图4，本申请实施例的无人机可包括机体、动力系统和上述实施例的无人机的控制装置110。其中。动力系统与机体连接，本实施例的动力系统用于给机体的移动提供动力，无人机的控制装置110由机体支撑。
此外，本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被第一处理器112执行时实现上述实施例所述的无人机的控制方法。
实施例二
图5是本申请一实施例中的无人机的控制方法在遥控终端侧的方法流程示意图；本实施例的无人机的控制方法的执行主体为遥控终端的主控器，也可以为设于遥控终端上的其他控制器。请参见图5，本实施例的无人机的控制方法可包括S501～S503。
其中，在S501中，获取到第一用户指令，第一用户指令用于指示将辅助控制部由非触发状态切换成触发状态。
第一用户指令可包括辅助控制装置处于非触发状态时，用户操作(如单击、双击或长按等操作)辅助控制部的操作指令。示例性的，当辅助控制装置处于非触发状态时，用户单击辅助控制部，触发辅助控制装置由非触发状态切换成触发状态。
在S502中，根据第一用户指令，将辅助控制部由非触发状态切换成触发状态，并生成第一触发信号；其中，当无人机处于手动控制模式下，第一触发信号用于触发无人机进入辅助控制模式，在辅助控制模式下，无人机能够辅助调整无人机的姿态，使得无人机处于预设状态。
本申请实施例中，“将辅助控制部由非触发状态切换成触发状态”与“生成第一触发信号”这两个步骤可以同时执行，或者“将辅助控制部由非触发状态切换成触发状态”的步骤在“生成第一触发信号”的步骤之前执行。
其中，辅助控制模式下，无人机辅助调整无人机的姿态，使得无人机处于预设状 态的实现过程可以参见实施例一中相应部分的描述，此处不再赘述。
在S503中，发送第一触发信号至无人机。
可选的，预设状态包括水平状态；其中，在水平状态下，无人机的机身平面平行于水平面。
可选的，无人机的控制方法还包括：接收无人机发送的辅助姿态控制量；对辅助姿态控制量进行显示；其中，辅助姿态控制量为根据遥控终端发送的第一控制信号对应的无人机的第一目标姿态和预设状态对应的无人机的第一姿态之间的姿态偏差确定。
可选的，遥控终端包括遥控器，对辅助姿态控制量进行显示，包括：确定辅助姿态控制量对应的遥控器的摇杆的杆量；对辅助姿态控制量对应的遥控器的摇杆的杆量进行显示。
可选的，遥控终端包括遥控器，第一控制信号为用户操作遥控器的摇杆时产生。
可选的，根据第一用户指令，将辅助控制部由非触发状态切换成触发状态之后，还包括：获取到第二用户指令，第二用户指令用于指示将辅助控制部由触发状态切换成非触发状态；根据第二用户指令，将辅助控制部由触发状态切换成非触发状态，并生成第二触发信号；发送第二触发信号至无人机，以触发无人机退出辅助控制模式。第二用户指令可包括辅助控制装置处于触发状态时，用户操作(如单击、双击或长按等操作)辅助控制部的操作指令。示例性的，当辅助控制装置处于触发状态时，用户单击辅助控制部，触发辅助控制装置由触发状态切换成非触发状态。在退出辅助控制模式之后，用户重新掌握完全的无人机的控制权，此时，完全由用户手动操作以使得无人机到达预设状态，飞行控制器不会自主参与无人机的姿态控制。
可选的，无人机的控制方法还包括：获取无人机的拍摄装置获取的图传画面以及无人机的实时姿态；显示图传画面，并在图传画面上加无人机的第三视角视图；其中，第三视角图用于指示实时姿态。
可选的，第三视角视图用于显示处于实时姿态下的无人机的虚拟模型。
可选的，无人机包括穿越机。
应当理解的，实施例二的无人机的控制方法中未展开的部分可以参见实施例一的无人机的控制方法中相应部分的描述。
对应于上述实施例的无人机的控制方法，本申请实施例还提供一种无人机的控制装置，本实施例的无人机的控制装置设于遥控终端上，遥控终端与无人机通信连接，遥控终端包括辅助控制部。请参见图6，本实施例的无人机的控制装置240可包括第二存储装置241和一个或多个第二处理器242。
第二存储装置241，用于存储程序指令；所述第二存储装置241存储所述无人机的控制方法的可执行指令计算机程序，所述第二存储装置241可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，所述无人机的控制装置240可以与通过网络连接执行存储器的存储功能的网络第二存储装置241协作。存储器可以是无人机的控制装置240的内部存储单元，例如无人机的控制装置240的硬盘或内存。存储器也可以是无人机的控制装置240的外部存储设备，例如无人机的控制装置240上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步的，存储器还可以既包括无人机的控制装置240的内部存储单元也包括外部存储设备。存储器用于存储计算机程序以及设备所需的其他程序和数据。存储器还可以用于暂时地存储已经输出或者将要输出的数据。
一个或多个第二处理器242，调用第二存储装置241中存储的程序指令，当程序指令被执行时，一个或多个第二处理器242单独地或共同地被配置成用于实施如下操作：获取到第一用户指令，第一用户指令用于指示将辅助控制部由非触发状态切换成触发状态；根据第一用户指令，将辅助控制部由非触发状态切换成触发状态，并生成第一触发信号；发送第一触发信号至无人机；其中，当无人机处于手动控制模式下，第一触发信号用于触发无人机进入辅助控制模式；在辅助控制模式下，无人机能够辅助调整无人机的姿态，使得无人机处于预设状态。
本实施例的第二处理器242可以实现如本申请图5所示实施例的无人机的控制方法，可参见实施例二的无人机的控制方法对本实施例的无人机的控制装置240进行说明。
所述第二处理器242可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该第二处理器242也可以是任何常规的处理器等。
进一步的，本申请实施例还提供一种无人机的遥控终端，请参见图1B和图7，本申请实施例的遥控终端200可包括主体部210、辅助控制部220和上述实施例二的无人机的控制装置240，其中，辅助控制部220设于主体部210，无人机的控制装置240与辅助控制部220电连接，并且无人机的控制装置240由主体部210支撑。
本申请实施例的遥控终端200可以为遥控器，也可以为其他能够遥控无人机的终 端，如手机、平板电脑等智能终端。
示例性的，遥控终端200为遥控器，无人机的控制装置240还可与遥控器的摇杆电连接。
此外，本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被第二处理器242执行时实现实施例二所述的无人机的控制方法。
实施例三
本申请实施例提供一种无人机系统，请参见图1A和图1B，该无人机系统可包括无人机100和与无人机100通信连接的遥控终端200，遥控终端200可包括辅助控制部220。
其中，遥控终端200用于在获取到指示将辅助控制部220由非触发状态切换成触发状态的第一用户指令时，将辅助控制部220由非触发状态切换成触发状态，并生成第一触发信号；发送第一触发信号至无人机100。
无人机100用于在无人机100处于手动控制模式下，若接收到遥控终端200发送的第一触发信号，则进入辅助控制模式；在辅助控制模式下，若接收到遥控终端200发送的第一控制信号，则根据第一控制信号，确定无人机100的第一目标姿态；根据第一目标姿态和预设状态对应的无人机100的第一姿态，确定辅助姿态控制量；根据第一目标姿态和辅助姿态控制量，控制无人机100转动，使得无人机100处于预设状态。
可选的，预设状态包括水平状态；其中，在水平状态下，无人机100的机身平面平行于水平面。
可选的，无人机100具体用于根据第一目标姿态和预设状态对应的无人机100的第一姿态，确定姿态偏差；根据姿态偏差，确定辅助姿态控制量。
可选的，无人机100具体用于根据第一目标姿态、辅助姿态控制量以及预设的无人机100转动时的角速度，控制无人机100转动，使得无人机100处于预设状态。
可选的，无人机100具体用于对角速度进行积分处理，确定无人机100的姿态调节梯度；根据第一目标姿态、辅助姿态控制量以及姿态调节梯度，控制无人机100转动，使得无人机100处于预设状态。
可选的，无人机100还用于输出辅助姿态控制量以显示；无人机100具体用于输出辅助姿态控制量对应的遥控器的摇杆230的杆量以显示。
可选的，无人机100具体用于发送辅助姿态控制量至遥控终端200；遥控终端200还用于接收无人机100发送的辅助姿态控制量，并对辅助姿态控制量进行显示。
可选的，遥控终端200包括遥控器，第一控制信号为用户操作遥控器的摇杆230 时产生。
可选的，遥控终端200还用于在根据第一用户指令，将辅助控制部220由非触发状态切换成触发状态之后，若获取到第二用户指令，则将辅助控制部220由触发状态切换成非触发状态，并生成第二触发信号；发送第二触发信号至无人机100；无人机100还用于在接收到遥控终端200发送的第一触发信号，进入辅助控制模式之后，若接收到遥控终端200发送的第二触发信号，则退出辅助控制模式，第二触发信号用于指示辅助控制部220由触发状态切换成非触发状态。
可选的，无人机100还用于在退出辅助控制模式之后，若接收到遥控终端200发送的第二控制信号，则根据第二控制信号，确定无人机100的第二目标姿态；根据第二目标姿态，控制无人机100转动。
可选的，无人机100还用于发送无人机100的拍摄装置获取的图传画面以及无人机100的实时姿态至外部的显示装置；遥控终端200还用于获取无人机100的拍摄装置获取的图传画面以及无人机100的实时姿态；显示图传画面，并在图传画面上加无人机100的第三视角视图；其中，第三视角图用于指示实时姿态。
可选的，第三视角视图用于显示处于实时姿态下的无人机100的虚拟模型。
可选的，无人机100包括穿越机。
其余未展开的部分可以参见实施例一和实施例二中相应部分的描述，此处不再赘述。
本申请实施例的计算机可读存储介质可以是前述任一实施例所述的无人机或遥控终端的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是无人机或遥控终端的外部存储设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括无人机或遥控终端的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述无人机或遥控终端所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本申请部分实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。
Claims (64)
- 一种无人机的控制方法，其特征在于，所述方法适用于无人机，所述无人机与遥控终端通信连接，所述遥控终端包括辅助控制部，所述方法包括：在所述无人机处于手动控制模式下，若接收到所述遥控终端发送的第一触发信号，则进入辅助控制模式，所述第一触发信号为所述遥控终端在所述辅助控制部被触发时产生；在所述辅助控制模式下，若接收到所述遥控终端发送的第一控制信号，则根据所述第一控制信号，确定所述无人机的第一目标姿态；根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量；根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求1所述的方法，其特征在于，所述预设状态包括水平状态；其中，在所述水平状态下，所述无人机的机身平面平行于水平面。
- 根据权利要求1或2所述的方法，其特征在于，所述根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量，包括：根据所述第一目标姿态和所述预设状态对应的所述无人机的第一姿态，确定姿态偏差；根据所述姿态偏差，确定所述辅助姿态控制量。
- 根据权利要求1或2所述的方法，其特征在于，所述根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态，包括：根据所述第一目标姿态、所述辅助姿态控制量以及预设的所述无人机转动时的角速度，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求4所述的方法，其特征在于，所述根据所述第一目标姿态、所述辅助姿态控制量以及预设的所述无人机转动时的角速度，控制所述无人机转动，使得所述无人机处于所述预设状态，包括：对所述角速度进行积分处理，确定所述无人机的姿态调节梯度；根据所述第一目标姿态、所述辅助姿态控制量以及所述姿态调节梯度，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：输出所述辅助姿态控制量以显示。
- 根据权利要求6所述的方法，其特征在于，所述遥控终端包括遥控器，所述输出所述辅助姿态控制量以显示，包括：输出所述辅助姿态控制量对应的所述遥控器的摇杆的杆量以显示。
- 根据权利要求6所述的方法，其特征在于，所述输出所述辅助姿态控制量以显 示，包括：发送所述辅助姿态控制量至外部的显示装置以显示。
- 根据权利要求1所述的方法，其特征在于，所述遥控终端包括遥控器，所述第一控制信号为用户操作所述遥控器的摇杆时产生。
- 根据权利要求1所述的方法，其特征在于，所述接收到所述遥控终端发送的第一触发信号，进入辅助控制模式之后，还包括：若接收到所述遥控终端发送的第二触发信号，则退出所述辅助控制模式，所述第二触发信号用于指示所述辅助控制部由触发状态切换成非触发状态。
- 根据权利要求10所述的方法，其特征在于，所述退出所述辅助控制模式之后，还包括：若接收到所述遥控终端发送的第二控制信号，则根据所述第二控制信号，确定所述无人机的第二目标姿态；根据所述第二目标姿态，控制所述无人机转动。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：发送所述无人机的拍摄装置获取的图传画面以及所述无人机的实时姿态至外部的显示装置，以通过所述显示装置显示所述无人机的图传画面，并在所述显示装置显示的图传画面上叠加所述无人机的第三视角视图；其中，所述第三视角图用于指示所述实时姿态。
- 根据权利要求12所述的方法，其特征在于，所述第三视角视图用于显示处于所述实时姿态下的所述无人机的虚拟模型。
- 根据权利要求1所述的方法，其特征在于，所述无人机包括穿越机。
- 一种无人机的控制装置，其特征在于，所述控制装置设于无人机上，所述无人机与遥控终端通信连接，所述遥控终端包括辅助控制部，所述控制装置包括：存储装置，用于存储程序指令；一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：在所述无人机处于手动控制模式下，若接收到所述遥控终端发送的第一触发信号，则进入辅助控制模式，所述第一触发信号为所述遥控终端在所述辅助控制部被触发时产生；在所述辅助控制模式下，若接收到所述遥控终端发送的第一控制信号，则根据所述第一控制信号，确定所述无人机的第一目标姿态；根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量；根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求15所述的装置，其特征在于，所述预设状态包括水平状态；其中，在所述水平状态下，所述无人机的机身平面平行于水平面。
- 根据权利要求15或16所述的装置，其特征在于，所述一个或多个处理器在根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量时，单独地或共同地被进一步配置成用于实施如下操作：根据所述第一目标姿态和所述预设状态对应的所述无人机的第一姿态，确定姿态偏差；根据所述姿态偏差，确定所述辅助姿态控制量。
- 根据权利要求15或16所述的装置，其特征在于，所述一个或多个处理器在根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态时，单独地或共同地被进一步配置成用于实施如下操作：根据所述第一目标姿态、所述辅助姿态控制量以及预设的所述无人机转动时的角速度，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求18所述的装置，其特征在于，所述一个或多个处理器在根据所述第一目标姿态、所述辅助姿态控制量以及预设的所述无人机转动时的角速度，控制所述无人机转动，使得所述无人机处于所述预设状态时，单独地或共同地被进一步配置成用于实施如下操作：对所述角速度进行积分处理，确定所述无人机的姿态调节梯度；根据所述第一目标姿态、所述辅助姿态控制量以及所述姿态调节梯度，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求15所述的装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：输出所述辅助姿态控制量以显示。
- 根据权利要求20所述的装置，其特征在于，所述遥控终端包括遥控器，所述一个或多个处理器在输出所述辅助姿态控制量以显示时，单独地或共同地被进一步配置成用于实施如下操作：输出所述辅助姿态控制量对应的所述遥控器的摇杆的杆量以显示。
- 根据权利要求20所述的装置，其特征在于，所述一个或多个处理器在输出所述辅助姿态控制量以显示时，单独地或共同地被进一步配置成用于实施如下操作：发送所述辅助姿态控制量至外部的显示装置以显示。
- 根据权利要求15所述的装置，其特征在于，所述遥控终端包括遥控器，所述第一控制信号为用户操作所述遥控器的摇杆时产生。
- 根据权利要求15所述的装置，其特征在于，所述一个或多个处理器在接收到所述遥控终端发送的第一触发信号，进入辅助控制模式之后，单独地或共同地还被配置成用于实施如下操作：若接收到所述遥控终端发送的第二触发信号，则退出所述辅助控制模式，所述第二触发信号用于指示所述辅助控制部由触发状态切换成非触发状态。
- 根据权利要求24所述的装置，其特征在于，所述一个或多个处理器在退出所述辅助控制模式之后，单独地或共同地还被配置成用于实施如下操作：若接收到所述遥控终端发送的第二控制信号，则根据所述第二控制信号，确定所述无人机的第二目标姿态；根据所述第二目标姿态，控制所述无人机转动。
- 根据权利要求15所述的装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：发送所述无人机的拍摄装置获取的图传画面以及所述无人机的实时姿态至外部的显示装置，以通过所述显示装置显示所述无人机的图传画面，并在所述显示装置显示的图传画面上叠加所述无人机的第三视角视图；其中，所述第三视角图用于指示所述实时姿态。
- 根据权利要求26所述的装置，其特征在于，所述第三视角视图用于显示处于所述实时姿态下的所述无人机的虚拟模型。
- 根据权利要求15所述的装置，其特征在于，所述无人机包括穿越机。
- 一种无人机，其特征在于，包括：机体；动力系统，与所述机体连接，用于给所述机体的移动提供动力；权利要求15至28任一项所述的无人机的控制装置，由所述机体支撑。
- 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1至14任一项所述的无人机的控制方法。
- 一种无人机的控制方法，其特征在于，所述方法适用于一遥控终端，所述遥控终端与所述无人机通信连接，所述遥控终端包括辅助控制部，所述方法包括：获取到第一用户指令，所述第一用户指令用于指示将所述辅助控制部由非触发状态切换成触发状态；根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态，并生成第一触发信号；发送所述第一触发信号至所述无人机；其中，当所述无人机处于手动控制模式下，所述第一触发信号用于触发所述无人机进入辅助控制模式；在所述辅助控制模式下，所述无人机能够辅助调整所述无人机的姿态，使得所述无人机处于预设状态。
- 根据权利要求31所述的方法，其特征在于，所述预设状态包括水平状态；其中，在所述水平状态下，所述无人机的机身平面平行于水平面。
- 根据权利要求31所述的方法，其特征在于，所述方法还包括：接收所述无人机发送的辅助姿态控制量；对所述辅助姿态控制量进行显示；其中，所述辅助姿态控制量为根据所述遥控终端发送的第一控制信号对应的所述无人机的第一目标姿态和所述预设状态对应的所述无人机的第一姿态之间的姿态偏差确定。
- 根据权利要求33所述的方法，其特征在于，所述遥控终端包括遥控器，所述对所述辅助姿态控制量进行显示，包括：确定所述辅助姿态控制量对应的所述遥控器的摇杆的杆量；对所述辅助姿态控制量对应的所述遥控器的摇杆的杆量进行显示。
- 根据权利要求33所述的方法，其特征在于，所述遥控终端包括遥控器，所述第一控制信号为用户操作所述遥控器的摇杆时产生。
- 根据权利要求31所述的方法，其特征在于，所述根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态之后，还包括：获取到第二用户指令，所述第二用户指令用于指示将所述辅助控制部由所述触发状态切换成所述非触发状态；根据所述第二用户指令，将所述辅助控制部由所述触发状态切换成所述非触发状态，并生成第二触发信号；发送所述第二触发信号至所述无人机，以触发所述无人机退出所述辅助控制模式。
- 根据权利要求31所述的方法，其特征在于，所述方法还包括：获取所述无人机的拍摄装置获取的图传画面以及所述无人机的实时姿态；显示所述图传画面，并在所述图传画面上加所述无人机的第三视角视图；其中，所述第三视角图用于指示所述实时姿态。
- 根据权利要求37所述的方法，其特征在于，所述第三视角视图用于显示处于所述实时姿态下的所述无人机的虚拟模型。
- 根据权利要求31所述的方法，其特征在于，所述无人机包括穿越机。
- 一种无人机的控制装置，其特征在于，所述控制装置设于遥控终端上，所述遥控终端与所述无人机通信连接，所述遥控终端包括辅助控制部，所述控制装置包括：存储装置，用于存储程序指令；一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：获取到第一用户指令，所述第一用户指令用于指示将所述辅助控制部由非触发状态切换成触发状态；根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态，并生成第一触发信号；发送所述第一触发信号至所述无人机；其中，当所述无人机处于手动控制模式下，所述第一触发信号用于触发所述无人机进入辅助控制模式；在所述辅助控制模式下，所述无人机能够辅助调整所述无人机的姿态，使得所述 无人机处于预设状态。
- 根据权利要求40所述的装置，其特征在于，所述预设状态包括水平状态；其中，在所述水平状态下，所述无人机的机身平面平行于水平面。
- 根据权利要求40所述的装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：接收所述无人机发送的辅助姿态控制量；对所述辅助姿态控制量进行显示；其中，所述辅助姿态控制量为根据所述遥控终端发送的第一控制信号对应的所述无人机的第一目标姿态和所述预设状态对应的所述无人机的第一姿态之间的姿态偏差确定。
- 根据权利要求42所述的装置，其特征在于，所述遥控终端包括遥控器，所述一个或多个处理器在对所述辅助姿态控制量进行显示时，单独地或共同地被进一步配置成用于实施如下操作：确定所述辅助姿态控制量对应的所述遥控器的摇杆的杆量；对所述辅助姿态控制量对应的所述遥控器的摇杆的杆量进行显示。
- 根据权利要求42所述的装置，其特征在于，所述遥控终端包括遥控器，所述第一控制信号为用户操作所述遥控器的摇杆时产生。
- 根据权利要求40所述的装置，其特征在于，所述一个或多个处理器在根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态之后，单独地或共同地还被配置成用于实施如下操作：获取到第二用户指令，所述第二用户指令用于指示将所述辅助控制部由所述触发状态切换成所述非触发状态；根据所述第二用户指令，将所述辅助控制部由所述触发状态切换成所述非触发状态，并生成第二触发信号；发送所述第二触发信号至所述无人机，以触发所述无人机退出所述辅助控制模式。
- 根据权利要求40所述的装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：获取所述无人机的拍摄装置获取的图传画面以及所述无人机的实时姿态；显示所述图传画面，并在所述图传画面上加所述无人机的第三视角视图；其中，所述第三视角图用于指示所述实时姿态。
- 根据权利要求46所述的装置，其特征在于，所述第三视角视图用于显示处于所述实时姿态下的所述无人机的虚拟模型。
- 根据权利要求40所述的装置，其特征在于，所述无人机包括穿越机。
- 一种无人机的遥控终端，其特征在于，包括：主体部；辅助控制部，设于所述主体部；和权利要求40至48任一项所述的无人机的控制装置，与所述辅助控制部电连接，并由所述主体部支撑。
- 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求31至39任一项所述的无人机的控制方法。
- 一种无人机系统，其特征在于，所述无人机系统包括：无人机；和与所述无人机通信连接的遥控终端，所述遥控终端包括辅助控制部；所述遥控终端用于在获取到指示将所述辅助控制部由非触发状态切换成触发状态的第一用户指令时，将所述辅助控制部由所述非触发状态切换成所述触发状态，并生成第一触发信号；发送所述第一触发信号至所述无人机；所述无人机用于在所述无人机处于手动控制模式下，若接收到所述遥控终端发送的第一触发信号，则进入辅助控制模式；在所述辅助控制模式下，若接收到所述遥控终端发送的第一控制信号，则根据所述第一控制信号，确定所述无人机的第一目标姿态；根据所述第一目标姿态和预设状态对应的所述无人机的第一姿态，确定辅助姿态控制量；根据所述第一目标姿态和所述辅助姿态控制量，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求51所述的系统，其特征在于，所述预设状态包括水平状态；其中，在所述水平状态下，所述无人机的机身平面平行于水平面。
- 根据权利要求51或52所述的系统，其特征在于，所述无人机具体用于根据所述第一目标姿态和所述预设状态对应的所述无人机的第一姿态，确定姿态偏差；根据所述姿态偏差，确定所述辅助姿态控制量。
- 根据权利要求51或52所述的系统，其特征在于，所述无人机具体用于根据所述第一目标姿态、所述辅助姿态控制量以及预设的所述无人机转动时的角速度，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求54所述的系统，其特征在于，所述无人机具体用于对所述角速度进行积分处理，确定所述无人机的姿态调节梯度；根据所述第一目标姿态、所述辅助姿态控制量以及所述姿态调节梯度，控制所述无人机转动，使得所述无人机处于所述预设状态。
- 根据权利要求51所述的系统，其特征在于，所述无人机还用于输出所述辅助姿态控制量以显示。
- 根据权利要求56所述的系统，其特征在于，所述无人机具体用于输出所述辅助姿态控制量对应的所述遥控器的摇杆的杆量以显示。
- 根据权利要求56所述的系统，其特征在于，所述无人机具体用于发送所述辅助姿态控制量至所述遥控终端；所述遥控终端还用于接收所述无人机发送的辅助姿态控制量，并对所述辅助姿态控制量进行显示。
- 根据权利要求51所述的系统，其特征在于，所述遥控终端包括遥控器，所述第一控制信号为用户操作所述遥控器的摇杆时产生。
- 根据权利要求51所述的系统，其特征在于，所述遥控终端还用于在根据所述第一用户指令，将所述辅助控制部由所述非触发状态切换成所述触发状态之后，若获取到第二用户指令，则将所述辅助控制部由所述触发状态切换成所述非触发状态，并生成第二触发信号；发送所述第二触发信号至所述无人机；所述无人机还用于在接收到所述遥控终端发送的第一触发信号，进入辅助控制模式之后，若接收到所述遥控终端发送的第二触发信号，则退出所述辅助控制模式，所述第二触发信号用于指示所述辅助控制部由触发状态切换成非触发状态。
- 根据权利要求60所述的系统，其特征在于，所述无人机还用于在退出所述辅助控制模式之后，若接收到所述遥控终端发送的第二控制信号，则根据所述第二控制信号，确定所述无人机的第二目标姿态；根据所述第二目标姿态，控制所述无人机转动。
- 根据权利要求51所述的系统，其特征在于，所述无人机还用于发送所述无人机的拍摄装置获取的图传画面以及所述无人机的实时姿态至外部的显示装置；所述遥控终端还用于获取所述无人机的拍摄装置获取的图传画面以及所述无人机的实时姿态；显示所述图传画面，并在所述图传画面上加所述无人机的第三视角视图；其中，所述第三视角图用于指示所述实时姿态。
- 根据权利要求62所述的系统，其特征在于，所述第三视角视图用于显示处于所述实时姿态下的所述无人机的虚拟模型。
- 根据权利要求51所述的系统，其特征在于，所述无人机包括穿越机。
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