Flight guidance method, device, system, remote control terminal and readable storage medium

Abstract

A flight guidance method, a remote control terminal (100), and a computer-readable storage medium, wherein the method includes: displaying a flight guidance page, the flight guidance page including a flight guidance compass (10) for simultaneously identifying the orientation of a drone (200) and the orientation of a gimbal (S101); obtaining obstacle information in at least one direction of the drone (200) (S102); and displaying the obstacle information on the flight guidance compass (10) (S103). This can ensure the flight safety of the drone.

Description

Technical Field

[0001] The present application relates to the technical field of information display, and particularly to a flight guidance method, device, system, remote control terminal and readable storage medium. Background Art

[0002] With the increasing expansion of the application fields of unmanned aerial vehicles (UAVs), the occasions of using UAVs have become more and more diverse. Users can control the UAV to fly towards the destination through a remote control terminal. It is extremely important to control the safe flight of the UAV. During the process of controlling the UAV to fly towards the destination, it is necessary to sense whether there are obstacles around the UAV. When there are obstacles around the UAV, a reminder is sent to the user so that the user can control the UAV to bypass the obstacles and continue to fly towards the destination to ensure the flight safety of the UAV. Currently, when there are obstacles around the UAV, usually a reminder message is displayed or an alarm sound is broadcast, so that the user knows that there are obstacles around the UAV, but the azimuth and distance of the obstacles are not intuitively and accurately shown to the user who controls the UAV, which is not convenient for the user to control the UAV to bypass the obstacles. Summary of the Invention

[0003] Based on this, the present application provides a flight guidance method, device, system, remote control terminal and readable storage medium, aiming to intuitively and accurately show the azimuth and distance of the obstacles to the user who controls the UAV and ensure the flight safety of the UAV.

[0004] In a first aspect, the present application provides a flight guidance method, which is applied to a remote control terminal. The remote control terminal is used to communicate with a UAV, and a gimbal is mounted on the UAV. The method includes:

[0005] Display a flight guidance page on the remote control terminal. The flight guidance page includes a flight guidance compass, and the flight guidance compass is used to simultaneously identify the azimuth of the UAV and the azimuth of the gimbal;

[0006] Obtain obstacle information in at least one direction of the UAV;

[0007] Display the obstacle information on the flight guidance compass.

[0008] In a second aspect, the present application further provides a remote control terminal. The remote control terminal includes a display device, a memory and a processor. The remote control terminal communicates with a UAV, and a gimbal is mounted on the UAV;

[0009] The memory is used to store a computer program;

[0010] The processor is used to execute the computer program and, when executing the computer program, implement the following steps:

[0011] The display device is used to display a flight guidance page, and the flight guidance page includes a flight guidance compass which is used to simultaneously identify the orientation of the drone and the orientation of the gimbal.

[0012] Obtain obstacle information in at least one direction of the drone.

[0013] Display the obstacle information on the flight guidance compass.

[0014] In a third aspect, the present application further provides a flight guidance device applied to a remote control terminal which is communicatively connected to a drone, and a gimbal is mounted on the drone. The flight guidance device includes a processor and a memory.

[0015] The memory is used to store a computer program.

[0016] The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

[0017] Control the remote control terminal to display a flight guidance page, where the flight guidance page includes a flight guidance compass which is used to simultaneously identify the orientation of the drone and the orientation of the gimbal.

[0018] Obtain obstacle information in at least one direction of the drone.

[0019] Display the obstacle information on the flight guidance compass.

[0020] In a fourth aspect, the present application further provides a flight guidance system which includes a drone and the remote control terminal provided in any one of the present application specifications, and the remote control terminal is communicatively connected to the drone.

[0021] In a fifth aspect, the present application further provides a computer-readable storage medium which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the flight guidance method provided in any one of the present application specifications.

[0022] The embodiments of the present application provide a flight guidance method, device, system, remote control terminal and readable storage medium. By displaying a flight guidance page on the remote control terminal, and displaying a flight guidance compass on the flight guidance page which is used to simultaneously identify the orientation of the drone and the gimbal of the drone, and then when obtaining obstacle information in at least one direction of the drone, displaying the obstacle information on the flight guidance compass, it enables the user to intuitively know the orientation and distance of the obstacle relative to the drone, facilitating the user to accurately control the drone to avoid obstacles during flight and ensuring the flight safety of the drone.

[0023] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present application. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is a schematic diagram of a scenario for implementing the flight guidance method provided by the embodiments of the present application;

[0026] Figure 2 is a schematic flowchart of the steps of a flight guidance method provided by the embodiments of the present application;

[0027] Figure 3 is a schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0028] Figure 4 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0029] Figure 5 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0030] Figure 6 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0031] Figure 7 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0032] Figure 8 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0033] Figure 9 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0034] Figure 10 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0035] Figure 11 is another schematic diagram of a flight guidance page displayed on a remote control terminal in the embodiments of the present application;

[0036] Figure 12It is another schematic diagram of the flight guidance page displayed on the remote control terminal in the embodiment of the present application;

[0037] Figure 13 It is another schematic diagram of the flight guidance page displayed on the remote control terminal in the embodiment of the present application;

[0038] Figure 14 It is another schematic diagram of the flight guidance page displayed on the remote control terminal in the embodiment of the present application;

[0039] Figure 15 It is another schematic diagram of the flight guidance page displayed on the remote control terminal in the embodiment of the present application;

[0040] Figure 16 It is a schematic block diagram of the structure of a remote control terminal provided in the embodiment of the present application;

[0041] Figure 17 It is a schematic block diagram of the structure of a flight guidance device provided in the embodiment of the present application. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0043] The flowcharts shown in the accompanying drawings are only illustrative examples, which do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged. Therefore, the actual execution order may be changed according to the actual situation.

[0044] Next, some embodiments of the present application will be described in detail with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0045] Based on the above problems, the embodiment of the present application provides a flight guidance method, which is applied to a remote control terminal. Please refer to Figure 1 , Figure 1 It is a schematic diagram of a scenario for implementing the flight guidance method provided in the embodiment of the present application. As Figure 1As shown, a remote control terminal 100 is communicatively connected to a drone 200. A gimbal is mounted on the drone 200. The remote control terminal 100 includes a display device 101, which is used to display a flight guidance page. The flight guidance page includes a flight guidance page for simultaneously identifying the orientation of the drone and the orientation of the gimbal. The drone 200 includes an obstacle sensing device 201, which is used to obtain sensing signals in at least one direction of the drone 200. By analyzing the sensing signals in at least one direction of the drone 200, obstacle information in at least one direction of the drone 200 can be obtained and displayed on the flight guidance compass, so that the user can know the obstacles sensed by the drone and facilitate the user to control the drone to avoid obstacles. Among them, the display device 101 can be a liquid crystal display screen or a touch screen. The remote control terminal 100 includes a remote controller, a ground control platform, a mobile phone, a tablet computer, a laptop computer, a PC computer, etc.

[0046] In some embodiments, the obstacle sensing device 201 may include at least one sensor for obtaining sensing signals in at least one direction of the drone 200. For example, the obstacle sensing device 201 may include one sensor for detecting obstacles in front of the drone 200. For example, the obstacle sensing device 201 may include two sensors for detecting obstacles in front of and behind the drone 200, respectively. For example, the obstacle sensing device 201 may include four sensors for detecting obstacles in front of, behind, to the left, and to the right of the drone 200, respectively. For example, the obstacle sensing device 201 may include five sensors for detecting obstacles in front of, behind, to the left, to the right, and above the drone 200, respectively. For example, the obstacle sensing device 201 may include a six-direction sensor for detecting obstacles in front of, behind, to the left, to the right, above, and below the drone 200, respectively. Each sensor in the obstacle sensing device 201 can be implemented separately or integrally. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, not limited to the above forms disclosed in this application.

[0047] The drone 200 may have one or more propulsion units to allow the drone 200 to fly in the air. The one or more propulsion units may enable the drone 200 to move at one or more, two or more, three or more, four or more, five or more, six or more free angles. In some cases, the drone 200 may rotate about one, two, three or more rotation axes. The rotation axes may be perpendicular to each other. The rotation axes may maintain perpendicularity to each other throughout the entire flight of the drone 200. The rotation axes may include a pitch axis, a roll axis and / or a yaw axis. The drone 200 may move along one or more dimensions. For example, the drone 200 can move upward due to the lifting force generated by one or more rotors. In some cases, the drone 200 may move along the Z-axis (which may be upward relative to the direction of the drone 200), the X-axis and / or the Y-axis (which may be lateral). The drone 200 may move along one, two or three axes that are perpendicular to each other.

[0048] The drone 200 may be a rotorcraft. In some cases, the drone 200 may be a multi-rotor aircraft that may include multiple rotors. The multiple rotors may rotate to generate a lifting force for the drone 200. The rotors may be propulsion units that may enable the drone 200 to move freely in the air. The rotors may rotate at the same rate and / or may generate the same amount of lifting force or thrust. The rotors may rotate at different rates at will, generating different amounts of lifting force or thrust and / or allowing the drone 200 to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten or more rotors may be provided on the drone 200. These rotors may be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axes of the rotors may be at any angle relative to each other, thereby affecting the movement of the drone 200.

[0049] The drone 200 may have multiple rotors. The rotors may be connected to the body of the drone 200, and the body may include a control unit, an inertial measuring unit (IMU), a processor, a battery, a power supply and / or other sensors. The rotors may be connected to the body through one or more arms or extensions branching out from the central part of the body. For example, one or more arms may radially extend from the central body of the drone 200, and rotors may be provided at the ends or near the ends of the arms.

[0050] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of the steps of a flight guidance method provided by an embodiment of the present application. Specifically, as Figure 2 shown, the flight guidance method includes steps S101 to S103.

[0051] S101. Display a flight guidance page on the remote control terminal.

[0052] Among them, the remote control terminal includes a display device integrated therein, or the remote control terminal includes a carrying platform for carrying a display device. The user can install the display device on the carrying platform and establish a communication connection between the remote control terminal and the display device. The display device can be a liquid crystal display screen or a touch display screen. The display device includes mobile phones, tablet computers, etc.

[0053] During the process of the user controlling the flight of the drone through the remote control terminal, a flight guidance page is displayed on the display device of the remote control terminal or the display device connected to the remote control terminal, facilitating the user to know the flight situation of the drone. Among them, the flight guidance page includes a flight guidance compass for simultaneously identifying the azimuth of the drone communicatively connected to the remote control terminal and the azimuth of the gimbal of the drone. The current image of the shooting device of the drone is also displayed on the flight guidance page. Among them, the flight guidance compass includes any one of a attitude ball and a Horizontal Situation Indicator (HSI). The display position of the flight guidance compass can be set according to the actual situation, and the present application does not make specific limitations thereon. For example, the flight guidance compass is displayed in the middle area at the lower side of the flight guidance page. By identifying the azimuth of the drone and the azimuth of the gimbal of the drone, it is convenient for the user to control the attitude of the gimbal of the drone and the attitude of the drone, and the user can control the drone to take the photos or videos desired by the user. The flight guidance compass is an azimuth indication identifier indicating the azimuth on the flight guidance page, and it can be square, circular, oval, and other shapes that can represent the azimuth. For example, when the flight guidance compass is square, the four corners of the square are set as the four azimuths of east, west, south, and north, and the azimuths of the current drone and gimbal can be indicated within the square compass. Hereinafter, an example will be given with the flight guidance compass being circular.

[0054] In some embodiments, the flight guidance compass rotates as the UAV rotates. An unmanned aerial vehicle (UAV) icon is displayed in the central area of the flight guidance compass. The UAV icon is used to represent the UAV and does not rotate as the UAV rotates. Indicator characters corresponding to the due east direction, due west direction, due south direction, and due north direction are displayed in the edge area of the flight guidance compass. A gimbal icon is also displayed in the edge area of the flight guidance compass. The gimbal icon is used to represent the gimbal of the UAV. The position of the gimbal icon in the edge area is determined according to the orientation of the Yaw axis of the gimbal, and the position of the gimbal icon in the edge area changes as the azimuth of the gimbal changes. By displaying the UAV icon, gimbal icon, and indicator characters corresponding to the due east direction, due west direction, due south direction, and due north direction on the flight guidance compass, the user can know the azimuth of the gimbal and the azimuth of the UAV based on the displayed flight guidance compass, which facilitates the user to control the attitude of the gimbal of the UAV and the attitude of the UAV.

[0055] Among them, the UAV icon, gimbal icon, and indicator characters can be set according to actual situations, and the present application does not make specific limitations thereon. For example, the indicator characters corresponding to the due east direction, due west direction, due south direction, and due north direction are E, W, S, and N respectively. The UAV icon is an arrow, a circle, a triangle, or other shapes, etc. The gimbal icon is a triangle, a quadrilateral, a pentagon, or other shapes, etc.

[0056] In some embodiments, an angle value corresponding to the nose orientation of the UAV is displayed near the flight guidance compass. The displayed angle value is used to indicate the nose orientation of the UAV. Among them, the angle value is the angle of the nose orientation of the UAV relative to the due north direction, due south direction, due west direction, or due east direction. By displaying the angle value corresponding to the nose orientation of the UAV on the flight guidance compass, the user can know the angle of the nose orientation of the UAV relative to the due north direction, due south direction, due west direction, or due east direction based on the displayed angle value, which facilitates the user to control the UAV.

[0057] In some embodiments, the UAV icon is an arrow icon, which is fixedly pointed upward on the flight guidance page, and the orientation of the arrow icon is consistent with the nose orientation of the UAV; when the orientation of the UAV changes, the flight guidance compass rotates. When the UAV includes multiple gimbals, gimbal icons corresponding to each gimbal are displayed in the edge area of the flight guidance compass, and the colors of each gimbal icon are different. Multiple angle scale lines and the angle values corresponding to each angle scale line are also displayed in the edge area of the flight guidance compass. Among them, the angle value is the angle deviating from the due north direction. By displaying the gimbal icons corresponding to each gimbal, multiple angle scale lines, and the angle values corresponding to each angle scale line in different colors on the flight guidance compass, the user can accurately and clearly know the orientation of the gimbal and the UAV based on the displayed flight guidance compass, which is convenient for the user to control the attitude of the UAV gimbal and the attitude of the UAV.

[0058] In some embodiments, a speed indication line of the UAV is also displayed in the central area of the flight guidance compass. The speed indication line intersects with the UAV icon and is used to indicate the flight speed and flight direction of the UAV. The orientation of the speed indication line changes with the change of the flight direction of the UAV, and the length of the speed indication line changes with the change of the flight speed of the UAV. Among them, the speed indication line can also be used to represent dynamic parameters such as acceleration. The greater the flight speed of the UAV, the longer the length of the speed indication line, and the slower the flight speed of the UAV, the shorter the length of the speed indication line. By displaying the speed indication line of the UAV in the central area of the flight guidance compass, it is convenient for the user to know the flight direction and flight speed of the UAV and accurately control the flight of the UAV.

[0059] Exemplarily, as Figure 3 shown, the flight guidance compass 10 is displayed in the middle area at the lower side of the flight guidance page. The UAV icon 20 displayed in the central area of the flight guidance compass is The speed indication line 30 intersects with the UAV icon 20. The angle value corresponding to the nose orientation of the UAV displayed near the upper side of the flight guidance compass 10 is 300°. The indication characters corresponding to the due east direction, due west direction, due south direction, and due north direction respectively displayed in the edge area 50 of the flight guidance compass 10 are E, W, S, and N. 6 angle scale lines are displayed in the edge area 50 of the flight guidance compass 10. In the clockwise direction, the angle values corresponding to each scale line are 33, 3, 6, 12, 15, and 24 respectively. The displayed 33, 3, 6, 12, 15, and 24 are abbreviations of the angles 330°, 30°, 60°, 120°, 150°, and 240°. Three gimbal icons 40 are also displayed in the edge area 50 of the flight guidance compass 10, and the three displayed gimbal icons 40 are respectively and Pan-tilt icon The position on the flight guidance compass 10 is 300° off the due north direction, pan-tilt icon The angle of the position on the flight guidance compass is between 330° off the due north direction and 360° off the due north direction, pan-tilt icon The position on the flight guidance compass is 210° off the due north direction.

[0060] In some embodiments, the flight guidance compass is further used to represent a spatial area within a preset distance around the UAV. The flight guidance compass also displays a home point icon of the UAV, and the home point icon is used to represent the home point of the UAV. The position of the home point icon on the flight guidance compass is determined according to the direction and distance of the home point of the UAV relative to the UAV; when the distance of the home point of the UAV relative to the UAV is less than the preset distance, the home point icon is located inside the flight guidance compass, and when the distance of the home point of the UAV relative to the UAV is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass; the home point icon and the distance of the home point of the UAV relative to the UAV are also displayed near the flight guidance compass. Among them, the preset distance and the home point icon can be set based on actual situations, and the present application does not make specific limitations thereon. For example, the preset distance is 16 m, and the shape of the home point icon is circular, rectangular, triangular or other shapes, etc. By displaying the home point icon of the UAV on the flight guidance compass, the user can know the direction and distance of the UAV relative to the home point, which is convenient for the user to control the UAV to return.

[0061] In some embodiments, the flight guidance compass further includes a marker point icon, which is used to represent the spatial point marked by the UAV. The position of the marker point icon on the flight guidance compass is determined according to the direction and distance of the marked spatial point relative to the UAV. When the distance of the marked spatial point relative to the UAV is less than a preset distance, the marker point icon is located inside the flight guidance compass. When the distance of the marked spatial point relative to the UAV is greater than or equal to the preset distance, the marker point icon is located inside the edge area of the flight guidance compass. The distance between the marker point icon and the marked spatial point relative to the UAV is also displayed near the flight guidance compass. Among them, the marker point icon can be set based on the actual situation, and the present application does not make specific limitations in this regard. For example, the marker point icon is a diamond frame, a circle or a rectangle, etc. The flight guidance page also displays a marking button. When the user touches the marking button, the remote control terminal controls the UAV to mark a spatial point, obtains the three-dimensional coordinates of the spatial point, and displays the marker point icon of the marked spatial point on the flight guidance compass according to the three-dimensional coordinates of the spatial point. By displaying the return point icon of the UAV on the flight guidance compass, the user can know the direction and distance of the UAV relative to the marked spatial point, which is convenient for the user to control the UAV to fly towards the marked spatial point.

[0062] In some embodiments, the flight guidance compass further includes a following icon, which is used to represent the object followed by the UAV. The position of the following icon on the flight guidance compass is determined according to the direction and distance of the object followed by the UAV relative to the UAV. When the distance of the object followed by the UAV relative to the UAV is less than a preset distance, the following icon is located inside the flight guidance compass. When the distance of the object followed by the UAV relative to the UAV is greater than or equal to the preset distance, the following icon is located inside the edge area of the flight guidance compass. The distance between the marker point icon and the marked spatial point relative to the UAV is also displayed near the flight guidance compass. Among them, the following icon can be set based on the actual situation, and the present application does not make specific limitations in this regard. For example, the following icon is The flight guidance page also displays an object following button. When the user touches the object following button, the UAV automatically identifies objects such as people, vehicles, and boats, and adjusts the focal length of the camera so that the objects such as people, vehicles, and boats are located in the center of the screen. When the user selects the object to follow, the following icon is displayed on the flight guidance compass according to the direction and distance of the object followed relative to the UAV.

[0063] Exemplarily, as Figure 4 shown, the return point icon of the UAV is displayed inside the flight guidance compass At the same time, the return point icon is displayed near the lower right side of the flight guidance compass and the distance of the return point of the UAV relative to the UAV is 10 m. The marker point icon is displayed inside the edge area of the flight guidance compass Near the lower left side of the flight guidance compass, a marker point icon is displayed. And the distance between the marked spatial point and the UAV is 45 m; a follow icon is displayed inside the flight guidance compass. Near the upper left side of the flight guidance compass, a follow icon is displayed. And the distance between the followed object and the UAV is 5 m.

[0064] S102. Obtain obstacle information in at least one direction of the UAV.

[0065] Among them, the obstacle information includes the distance between the UAV and the obstacle, the azimuth of the obstacle relative to the UAV, the shape and size of the obstacle, etc. At least one direction of the UAV includes at least one of the front, rear, left, and right directions of the UAV, and at least one of the upper and lower directions of the UAV.

[0066] In some embodiments, the remote control terminal obtains the sensing signal sent by the UAV at preset time intervals, and analyzes the sensing signal to determine whether there is an obstacle in at least one direction of the UAV. If it is determined that there is an obstacle in at least one direction of the UAV, the sensing signal is analyzed to obtain the obstacle information in at least one direction of the UAV, or the UAV obtains the sensing signal collected by the obstacle sensing device at preset time intervals, and analyzes the sensing signal to determine whether there is an obstacle in at least one direction of the UAV. If it is determined that there is an obstacle in at least one direction of the UAV, the sensing signal is analyzed to obtain the obstacle information in at least one direction of the UAV, and the obstacle information is sent to the remote control terminal. Among them, the preset time can be set based on the actual situation, and the present application does not make specific limitations thereon. For example, the preset time is 1 second.

[0067] In some embodiments, the obstacle sensing device may include at least one sensor for obtaining sensing signals from at least one direction of the drone. For example, the obstacle sensing device may include one sensor for detecting obstacles in front of the drone. For example, the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone, respectively. For example, the obstacle sensing device may include a four-way sensor for detecting obstacles in front of, behind, to the left, and to the right of the drone, and each direction sensor includes a binocular vision sensor to obtain the depth information of the obstacle in the corresponding direction, so as to obtain the shape of the obstacle. For example, the obstacle sensing device may include a six-way sensor for detecting obstacles in front of, behind, to the left, to the right, below, and above the drone. Each sensor in the obstacle sensing device may be implemented separately or integrally. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, not limited to the above forms disclosed in this application.

[0068] S103. Display the obstacle information on the flight guidance compass.

[0069] After obtaining the obstacle information, display the obstacle information on the flight guidance compass. Specifically, display an obstacle icon on the flight guidance compass according to the obstacle information. The obstacle icon is used to represent the obstacle sensed by the drone. The obstacle information includes the direction of the obstacle sensed by the drone relative to the drone. The position of the obstacle icon on the flight guidance compass is determined according to the direction of the obstacle sensed by the drone relative to the drone. Among them, the number of obstacle icons is determined according to the number of sensed obstacles. For example, if the number of obstacles sensed by the drone is 2, then 2 obstacle icons are displayed on the flight guidance compass to identify the azimuth of the obstacles relative to the drone. By displaying the obstacle icons on the flight guidance compass, the user can know the azimuth of the obstacles relative to the drone, which is convenient for the user to control the drone to avoid obstacles in time and ensure the flight safety of the drone.

[0070] In some embodiments, the obstacle information further includes the shape of the obstacle sensed by the drone. The shape of the obstacle icon is determined according to the shape of the obstacle sensed by the drone, or the shape of the obstacle icon is determined according to the distance between the obstacle sensed by the drone and the drone. Specifically, when the distance between the sensed obstacle and the drone is greater than or equal to a preset distance, the shape of the obstacle icon is an arc segment; when the distance between the sensed obstacle and the drone is less than the preset distance, the shape of the obstacle icon is a quadrilateral or a pentagon. The color and / or size of the obstacle icon is determined according to the distance between the sensed obstacle and the drone. By displaying obstacle icons of different shapes, colors, and / or sizes, the user can know the change in the distance between the drone and the obstacle, which facilitates the user to control the drone to avoid the obstacle in time and ensures the flight safety of the drone.

[0071] The closer the distance between the sensed obstacle and the drone, the larger the obstacle icon; the farther the distance between the sensed obstacle and the drone, the smaller the obstacle icon. When the distance between the sensed obstacle and the drone is greater than the preset warning distance, the color of the obstacle icon is green; when the distance between the sensed obstacle and the drone is less than or equal to the preset warning distance, the color of the obstacle icon is yellow; when the distance between the sensed obstacle and the drone is less than or equal to the preset stop distance, the color of the obstacle icon is red. Herein, the preset warning distance is greater than the preset stop distance, and the preset warning distance and the preset stop distance can be set by the user themselves, and the present application does not make specific limitations thereon. For example, the preset warning distance is 10 m, and the preset stop distance is 4 m.

[0072] In some embodiments, when the distance between the perceived obstacle and the drone is less than or equal to a preset warning distance, the obstacle icon blinks at intervals of a preset duration, and / or, an alarm prompt sound is broadcast to remind the user to control the drone to avoid the obstacle. Specifically, when the distance between the perceived obstacle and the drone is less than or equal to the preset warning distance, the color of the obstacle icon is yellow, and at the same time, the yellow obstacle icon blinks at intervals of the preset duration, and the first alarm prompt sound is broadcast. When the distance between the perceived obstacle and the drone is less than or equal to the preset braking distance, the color of the obstacle icon is red, and at the same time, the red obstacle icon blinks at intervals of the preset duration, and the second alarm prompt sound is broadcast. The drone can also be controlled to brake automatically. Among them, the first alarm prompt sound is different from the second alarm prompt sound, and the second alarm prompt sound is denser and more urgent than the first alarm prompt sound. The preset duration can be set based on actual situations, and the present application does not make specific limitations in this regard. For example, the preset duration is 1 second. By controlling the obstacle icon to blink at intervals of the preset duration when the distance between the obstacle and the drone is less than or equal to the preset warning distance, and / or, broadcasting the alarm prompt sound, it is convenient to prominently inform that the drone is relatively close to the obstacle, facilitating the user to control the flight of the drone in a timely manner.

[0073] In some embodiments, when an obstacle is perceived in at least one of the front, rear, left, and right directions of the drone, an obstacle icon will be displayed on the flight guidance compass. If the distance between the perceived obstacle and the drone is greater than the preset warning distance, and the preset warning distance is greater than the preset distance, the obstacle icon is a green arc segment. If the distance between the perceived obstacle and the drone is less than or equal to the preset warning distance, the obstacle icon is a yellow arc segment, and the yellow arc segment blinks at intervals of the preset duration, and at the same time, the first alarm prompt sound is broadcast. If the distance between the perceived obstacle and the drone is less than or equal to the preset braking distance, the obstacle icon is a red arc segment, and the red arc segment blinks at intervals of the preset duration, and at the same time, the second alarm prompt sound is broadcast.

[0074] If the distance between the perceived obstacle and the drone is greater than the preset warning distance, and the preset warning distance is less than the preset distance, the obstacle icon is a green square. If the distance between the perceived obstacle and the drone is less than or equal to the preset warning distance, the obstacle icon is a yellow square, and the yellow square blinks at intervals of the preset duration, and at the same time, the first alarm prompt sound is broadcast. If the distance between the perceived obstacle and the drone is less than or equal to the preset braking distance, the obstacle icon is a red square, and the red square blinks at intervals of the preset duration, and at the same time, the second alarm prompt sound is broadcast.

[0075] In some embodiments, the flight guidance compass includes an obstacle perception blind area and an obstacle perception area, the colors of the obstacle perception blind area and the obstacle perception area are different, and the number of the obstacle perception blind areas is determined according to the number of the rotors of the drone. Among them, the obstacle perception blind area is a spatial area where the drone cannot perceive obstacles. The obstacle perception blind areas on the flight guidance compass are symmetrically distributed, the obstacle perception blind areas are fan-shaped with a preset angle, and the area of the obstacle perception area is larger than the area of the obstacle perception blind area. By displaying the obstacle perception blind area and the obstacle perception area on the flight guidance compass, the user can know the obstacle perception blind area, improving the flight safety of the drone.

[0076] Exemplarily, as Figure 5 shown, the flight guidance compass includes 4 obstacle perception blind areas and 4 obstacle perception areas. The color of the obstacle perception blind area is gray, and the color of the obstacle perception area is white. Starting from the nose direction and viewing in the clockwise direction, it can be known that the angular range of the first obstacle perception blind area is between 330° deviating from the due north direction and 360° deviating from the due north direction, the angular range of the second obstacle perception blind area is between 60° deviating from the due north direction and 90° deviating from the due north direction, the angular range of the third obstacle perception blind area is between 150° deviating from the due north direction and 180° deviating from the due north direction, and the angular range of the fourth obstacle perception blind area is between 240° deviating from the due north direction and 270° deviating from the due north direction. The flight guidance compass displays two obstacle icons. Starting from the nose direction and viewing in the clockwise direction, it can be known that the first obstacle icon is located in the position area of 60° deviating from the due north direction, and the first obstacle icon is an arc segment, and the second obstacle icon is located in the position area of 180° deviating from the due north direction, and the second obstacle icon is a quadrilateral.

[0077] In some embodiments, it is determined whether the obstacle sensed by the drone is located above and / or below the drone; if it is determined that the obstacle sensed by the drone is located above and / or below the drone, an obstacle indicator bar is displayed on the flight guidance page according to the obstacle information, where the obstacle indicator bar is used to indicate the distance between the drone and the obstacle, and the length of the obstacle indicator bar changes as the distance between the drone and the obstacle changes. If it is determined that the obstacle sensed by the drone is located in front of, behind, to the left, and / or to the right of the drone, the obstacle information is displayed on the flight guidance compass. Among them, the display position of the obstacle indicator bar on the flight guidance page can be set according to the actual situation, and the present application does not make specific limitations in this regard. For example, the obstacle indicator bar is displayed in the right display area of the flight guidance compass. By displaying the obstacle indicator bar when the obstacle sensed by the drone is located above and / or below the drone, the user can know the distance between the obstacle above and / or below the drone and the drone, which is convenient for the user to control the drone to avoid obstacles in time and ensure the flight safety of the drone.

[0078] In some embodiments, when an obstacle is sensed only above the drone, an obstacle mark is displayed at the upper end of the obstacle indicator bar, and the distance value between the drone and the obstacle is also displayed near the upper end; when an obstacle is sensed only below the drone, an obstacle mark is displayed at the lower end of the obstacle indicator bar, and the distance value between the drone and the obstacle is also displayed near the lower end; when obstacles are sensed both above and below the drone, obstacle marks are displayed at both the upper and lower ends of the obstacle indicator bar, and the distance value between the drone and the obstacle above is displayed near the upper end, and the distance value between the drone and the obstacle below is displayed near the lower end. Among them, the shape of the obstacle mark can be circular, rectangular, triangular or other shapes, etc. When an obstacle is sensed above the drone and the drone approaches the obstacle continuously, the obstacle mark presses down continuously, so that the displayed obstacle indicator bar gradually shortens. When the drone moves away from the obstacle continuously, the obstacle mark rises continuously, so that the displayed obstacle indicator bar elongates continuously.

[0079] In some embodiments, when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indication bar includes a first line segment, a second line segment, and a third line segment, and the colors of the first line segment, the second line segment, and the third line segment are different. The lengths of the first line segment, the second line segment, and the third line segment change as the distance between the drone and the obstacle changes. Among them, the colors of the first line segment, the second line segment, and the third line segment can be set based on the actual situation, and the present application does not make specific limitations thereon. For example, the color of the first line segment is red, the color of the second line segment is yellow, and the color of the third line segment is green. By displaying the three line segments in different colors, it is convenient for the user to know whether the distance between the drone and the obstacle is a safe distance, facilitating the user to control the flight of the drone.

[0080] It can be understood that red indicates that the distance between the drone and the obstacle is very close, and the possibility of the drone colliding with the obstacle is very high. Yellow indicates that the distance between the drone and the obstacle is relatively close, and the possibility of the drone colliding with the obstacle is relatively high. Green indicates that the distance between the drone and the obstacle is relatively far, and the possibility of the drone colliding with the obstacle is relatively low.

[0081] In some embodiments, when the distance between the drone and the obstacle is less than the first preset distance and greater than or equal to a second preset distance, the obstacle indication bar includes a first line segment and a second line segment, and a first preset warning sound is broadcast. The first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range. By displaying the red first line segment and the yellow second line segment and broadcasting the warning sound when the distance between the drone and the obstacle reaches the obstacle avoidance warning distance, the user is reminded that the drone is within the obstacle avoidance warning range and there is a risk of the drone colliding with the obstacle, facilitating the user to control the drone to avoid the obstacle in a timely manner.

[0082] In some embodiments, when the distance between the drone and the obstacle is less than the second preset distance and greater than or equal to a third preset distance, the obstacle indication bar includes a first line segment, and a second preset warning sound is broadcast. The second preset warning sound is used to remind the user that the drone is within the obstacle avoidance braking range. When the drone gradually approaches the obstacle and the distance between the drone and the obstacle is relatively dangerous, only the red first line segment is displayed and the warning sound is broadcast, thereby reminding the user that the drone is within the obstacle avoidance braking range and the risk of the drone colliding with the obstacle is relatively high, facilitating the user to control the drone to avoid the obstacle in a timely manner.

[0083] In some embodiments, when the distance between the drone and the obstacle reaches the fourth preset distance, the drone is controlled to brake. Herein, the first preset distance is greater than the second preset distance, the second preset distance is greater than the third preset distance, the third preset distance is greater than the fourth preset distance, and the first preset distance, the second preset distance, the third preset distance, and the fourth preset distance can be set by the user himself / herself, and this application does not make specific limitations thereon. For example, the first preset distance is 16 meters, the second preset distance is 12 meters, the third preset distance is 8 meters, and the fourth preset distance is 5 meters. When the drone gradually approaches the obstacle and the distance between the drone and the obstacle is very close and the drone is about to collide with the obstacle, the drone is automatically controlled to brake to avoid the collision between the drone and the obstacle and ensure the flight safety of the drone.

[0084] Herein, the first preset distance, the second preset distance, the third preset distance, and the fourth preset distance can be set by the user himself / herself, and this application does not make specific limitations thereon. For example, the first preset distance is 16 meters, the second preset distance is 12 meters, the third preset distance is 8 meters, and the fourth preset distance is 5 meters. When an obstacle is sensed above the drone, if the distance between the obstacle and the drone is 18 meters, the displayed obstacle indication bar includes a red line segment, a yellow line segment, and a green line segment. During the process that the drone continuously approaches the obstacle, the green line segment of the obstacle indication bar continuously shortens. When the distance between the obstacle and the drone is less than or equal to 12 meters, the green line segment of the obstacle indication bar disappears, and only the red line segment and the yellow line segment are displayed. If the drone continues to approach the obstacle, the yellow line segment of the obstacle indication bar gradually shortens. When the distance between the obstacle and the drone is less than or equal to 8 meters, the yellow line segment of the obstacle indication bar disappears, and only the red line segment is displayed. If the drone continues to approach the obstacle, the red line segment of the obstacle indication bar gradually shortens, and when the distance between the obstacle and the drone is less than or equal to 5 meters, the drone is controlled to brake.

[0085] Exemplarily, as Figure 6 shown, when an obstacle is sensed above the drone, the flight guidance page further displays an obstacle indication bar for indicating the distance between the upper obstacle and the drone, and this obstacle indication bar is located in the right display area of the flight guidance compass, and an obstacle identifier is displayed at the upper end of this obstacle indication bar The distance between the obstacle and the drone displayed near the upper end is 20.8 m.

[0086] Exemplarily, as Figure 7 shown, when an obstacle is sensed below the drone, the flight guidance page further displays an obstacle indication bar for indicating the distance between the lower obstacle and the drone, and this obstacle indication bar is located in the right display area of the flight guidance compass, and an obstacle identifier is displayed at the lower end of this obstacle indication bar The distance between the obstacle shown near the bottom and the drone is 18.5m.

[0087] For example, Figure 8 As shown in the figure, when obstacles are detected above and below the drone, the flight guidance page also displays an obstacle indicator bar to indicate the distance between the upper and lower obstacles and the drone. The obstacle indicator bar is located in the display area on the right side of the flight guidance compass, and obstacle marks are displayed on the upper and lower ends of the obstacle indicator bar. The distance between the upper obstacle displayed near the upper end and the drone is 20.8m, and the distance between the lower obstacle displayed near the lower end and the drone is 5m. The obstacle indicator bar consists of an upper obstacle indicator bar and a lower obstacle indicator bar. The upper obstacle indicator bar includes three line segments, and the lower obstacle indicator bar includes one line segment.

[0088] In some embodiments, if an obstacle is detected in at least one direction above and below the drone and in at least one direction in front, rear, left, and right of the drone, an obstacle indicator bar is displayed on the flight guidance page and an obstacle icon is displayed on the flight guidance compass according to the obstacle information. The obstacle indicator bar is used to indicate the distance between the obstacle above and / or below the drone and the drone, and the obstacle icon is used to indicate the position and distance of the obstacle in front, rear, left, and / or right of the drone relative to the drone.

[0089] For example, Figure 9 As shown, the flight guidance compass displays two obstacle icons. Starting from the direction of the nose and reading in a clockwise direction, it can be seen that the first obstacle icon is located in a position area 60° away from the true north direction, and the first obstacle icon is an arc segment. The second obstacle icon is located in a position area 180° away from the true north direction, and the second obstacle icon is a quadrilateral. The right display area of ​​the flight guidance compass displays an obstacle indicator bar for indicating the distance between the upper obstacle and the lower obstacle and the drone, and the upper and lower ends of the obstacle indicator bar are both displayed with obstacle marks. The distance between the upper obstacle displayed near the upper end and the drone is 20.8m, and the distance between the lower obstacle displayed near the lower end and the drone is 5m. The obstacle indicator bar consists of an upper obstacle indicator bar and a lower obstacle indicator bar. The upper obstacle indicator bar includes three line segments, and the lower obstacle indicator bar includes one line segment.

[0090] In some embodiments, the flight indication page further includes a flight distance indication line for the drone, which is used to indicate the flight distance of the drone in the vertical direction. The length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time, where the vertical speed includes the climbing speed or the descending speed. The obstacle indication bar is displayed adjacent to the flight distance indication line, enabling the user to determine whether the drone is safe based on the adjacent obstacle indication bar and the flight distance indication line. Among them, the display position and the preset time of the flight distance indication line on the flight guidance page can be set based on actual situations, and the present application does not make specific limitations thereon. For example, the preset time is 2 seconds. Through the flight distance indication line, it is possible to know the distance that the drone can fly from the current position at the vertical speed (the current vertical speed) for the preset time, enabling the user to determine whether the drone is safe based on the flight distance indication line and the obstacle indication bar, facilitating the user to control the drone in a timely manner to avoid obstacles and ensuring the flight safety of the drone.

[0091] In some embodiments, the obstacle indication bar and the flight distance indication line have different colors. By displaying the obstacle indication bar and the flight distance indication line in different colors, it is convenient for the user to distinguish between the obstacle indication bar and the flight distance indication line, enabling the user to determine whether the drone is safe based on the flight distance indication line and the obstacle indication bar, facilitating the user to control the drone in a timely manner to avoid obstacles and ensuring the flight safety of the drone.

[0092] In some embodiments, the flight guidance page further includes a speed indication bar and an altitude indication bar. The speed indication bar is used to indicate the flight speed of the drone, and the altitude indication bar is used to indicate the altitude of the drone. The current flight speed of the drone is displayed on the speed indication bar, and the altitude of the drone relative to the return point is displayed on the altitude indication bar. The speed indication bar shows multiple speed scale lines and the flight speed corresponding to each speed scale line, and the altitude indication bar shows multiple altitude scale lines and the relative altitude corresponding to each altitude scale line. The relative altitude can be the altitude of the drone relative to the return point or the altitude of the drone relative to other positions. Among them, the number of speed scale lines and altitude scale lines can be set based on actual situations, and the present application does not make specific limitations thereon. By displaying the speed indication bar and the altitude indication bar on the flight guidance page, it is convenient for the user to know the flight speed and flight altitude of the drone.

[0093] It can be understood that the display positions of the speed indicator bar and the altitude indicator bar on the flight guidance page can be set according to the actual situation, and the present application does not make specific limitations thereon. For example, the speed indicator bar is displayed in the left display area of the flight guidance page, and the altitude indicator bar is displayed in the right display area of the flight guidance page, or the speed indicator bar is displayed in the right display area of the flight guidance page, and the altitude indicator bar is displayed in the left display area of the flight guidance page.

[0094] In some embodiments, the flight guidance page further includes the vertical speed of the drone, the wind speed and wind direction of the environment where the drone is located. Among them, the vertical speed includes the climbing speed or the descending speed of the drone. The display positions of the vertical speed of the drone, the wind speed and wind direction of the environment where the drone is located on the flight guidance page can be set according to the actual situation, and the present application does not make specific limitations thereon. For example, the wind speed and wind direction of the environment where the drone is located are displayed in the lower display area of the speed indicator bar, and the vertical speed of the drone is displayed in the lower display area of the altitude indicator bar.

[0095] Exemplarily, as Figure 10 shown, the speed indicator bar is displayed in the left display area of the flight guidance page, and the altitude indicator bar is displayed in the right display area of the flight guidance page. The speed indicator bar shows 4 speed scale lines. The flight speeds corresponding to the speed scale lines from top to bottom are 07m / s, 06m / s, 05.2m / s, and 04m / s respectively, and 05.2m / s is the current flight speed of the drone. The wind speed of the environment where the drone is located displayed in the lower display area of the speed indicator bar is 04.0m / s; the altitude indicator bar shows 4 altitude scale lines. The relative heights corresponding to the altitude scale lines from top to bottom are 160m, 140 meters, 120 meters, and 100 meters respectively. 120 meters is the current relative altitude of the drone. The vertical speed displayed in the lower display area of the altitude indicator bar is 2.5m / s, and the current absolute altitude is 1234.5m.

[0096] In some embodiments, an obstacle indicator bar and a flight distance indicator line are displayed on the altitude indicator bar. Exemplarily, as Figure 11 shown, when an obstacle is sensed above the drone, the flight guidance page further displays an obstacle indicator bar for indicating the distance between the upper obstacle and the drone, and the obstacle indicator bar is located in the left display area of the altitude indicator bar. An obstacle identifier is displayed at the upper end of the obstacle indicator bar The distance between the obstacle and the drone displayed near the upper end is 20.8m. A flight distance indicator line "|" is displayed on the right side of the obstacle indicator bar, and the lower end of the obstacle indicator bar and the lower end of the flight distance indicator line are aligned with the altitude scale line corresponding to the current relative altitude of the drone.

[0097] In some embodiments, the flight guidance page further includes a nose icon of the UAV, which is used to represent the nose of the UAV. The body icon is always located at the exact center of the flight guidance page. The flight guidance page further includes an attitude indication line of the UAV, which is used to represent the current attitude of the UAV; the attitude indication line changes as the attitude of the UAV changes. Among them, the shape and size of the nose icon can be set based on actual situations, and the present application does not make specific limitations thereon. For example, the nose icon is in the shape of a cross, a circle, a square, or other shapes, etc. By displaying the nose icon and the attitude indication line, the change of the attitude of the UAV can be reflected, enabling the user to know the attitude change of the UAV and facilitating the user to control the flight of the UAV.

[0098] In some embodiments, the attitude indication line is a sea level line or a horizon line. The up-and-down movement of the attitude indication line within the flight guidance page indicates a change in the pitch angle of the UAV, and the left-and-right tilt of the attitude indication line indicates a change in the roll angle of the UAV. Specifically, when the attitude indication line moves upward, it indicates that the pitch angle of the UAV is a depression angle and the UAV tilts downward; when the attitude indication line moves downward, it indicates that the pitch angle of the UAV is an elevation angle and the UAV tilts upward; when the attitude indication line tilts to the left, it indicates that the roll angle of the UAV is a right roll angle and the UAV tilts to the right; when the attitude indication line tilts to the right, it indicates that the roll angle of the UAV is a left roll angle and the UAV tilts to the left.

[0099] Exemplarily, as Figure 12 shown, the nose icon displayed on the flight guidance page is "+", and the attitude indication line displayed is "——". The nose icon "+" and the attitude indication line "——" are displayed between the speed indication bar and the altitude indication bar, and the nose icon is located at the midpoint of the attitude indication line.

[0100] In some embodiments, a screen switching instruction triggered by a user is obtained, and the background screen of the flight guidance page is switched from the current video transmission screen to a screen corresponding to the screen switching instruction. For example, according to the screen switching instruction, the background screen of the flight guidance page is switched from the FPV (FIRST PERSON VIEW) video transmission screen to the main camera video transmission screen. Among them, the main camera video transmission screen is displayed on the flight guidance page, and the main camera video transmission screen is displayed in the lower right corner of the flight guidance page in the form of a small window. When the user touches the main camera video transmission screen displayed in the form of a small window, a screen switching instruction is triggered, so that the remote control terminal switches the background screen of the flight guidance page from the FPV video transmission screen to the main camera video transmission screen, and the FPV video transmission screen is displayed in the lower right corner of the flight guidance page in the form of a small window. It can be understood that when the user touches the FPV video transmission screen displayed in the form of a small window, a screen switching instruction is triggered, so that the remote control terminal switches the background screen of the flight guidance page from the main camera video transmission screen to the FPV video transmission screen. Among them, the speed indicator bar and the altitude indicator bar are not displayed on the flight guidance page after the background screen is switched.

[0101] Among them, the current flight speed of the drone, the wind speed and direction of the environment where the drone is located are displayed in the left display area of the flight guidance compass on the flight guidance page after the background screen is switched, and the height of the drone relative to the return point, the current absolute height and vertical speed of the drone are displayed in the right display area of the flight guidance compass. The vertical speed is either the climbing speed or the descending speed. By displaying the flight speed and relative height of the drone in the display areas on both sides of the flight guidance compass after the background screen of the flight guidance page is switched to other screens, and not displaying the speed indicator bar and the altitude indicator bar, it is possible to avoid the speed indicator bar and the altitude indicator bar from blocking the screen and inconvenient for the user to control the drone.

[0102] In some embodiments, when an obstacle is sensed above and / or below the drone, an obstacle indicator bar is also displayed in the right display area of the flight guidance compass. The obstacle indicator bar is used to indicate the distance between the drone and the obstacle. A flight distance indicator line is also displayed in the right display area of the flight guidance compass. The flight distance indicator line is used to indicate the flight distance of the drone in the vertical direction. The length of the flight distance indicator line is determined according to the vertical speed of the drone and a preset time. By displaying the obstacle indicator bar and the flight distance indicator line on the right side of the flight guidance compass, it is convenient for the user to distinguish the obstacle indicator bar and the flight distance indicator line, so that the user can determine whether the drone is safe according to the flight distance indicator line and the obstacle indicator bar, and it is convenient for the user to control the drone to avoid obstacles in time and ensure the flight safety of the drone.

[0103] Exemplarily, such as Figure 13As shown, the current flight speed of the drone displayed in the left display area of the flight guidance compass is 05.2 m / s, the displayed wind speed is 04.0 m / s, and the displayed wind direction is The current relative altitude of the drone displayed in the right display area of the flight guidance compass is 120 m, the current absolute altitude is 1234.5 m, and the vertical speed is 2.5 m / s. The right display area of the flight guidance compass also displays an obstacle indication bar, and obstacle identifiers are displayed at both the upper and lower ends of the obstacle indication bar. The distance between the upper obstacle and the drone displayed near the upper end is 20.8 m, and the distance between the lower obstacle and the drone displayed near the lower end is 5 m. The obstacle indication bar consists of an upper obstacle indication bar and a lower obstacle indication bar. The intersection line of the upper obstacle indication bar and the lower obstacle indication bar is aligned with the straight line corresponding to the current relative altitude of the drone. A flight distance indication line "|" is displayed on the right side of the obstacle indication bar, and the lower end of the flight distance indication line is aligned with the straight line corresponding to the current relative altitude of the drone.

[0104] In some embodiments, while displaying obstacle information on the flight guidance compass, an obstacle indication band is displayed in the central area of the flight guidance page according to the obstacle information. The obstacle indication band is used to represent the obstacles sensed by the drone, and the position of the obstacle indication band in the central area of the flight guidance page is determined according to the azimuth of the obstacles sensed by the drone relative to the drone. The shape of the obstacle indication band can be set based on the actual situation, and the present application does not make specific limitations. For example, the shape of the obstacle indication band is a sector. By displaying the obstacle indication band, the user can know the azimuth of the obstacles relative to the drone, which is convenient for the user to control the drone to avoid obstacles and ensure the flight safety of the drone.

[0105] For example, if there is an obstacle on the left side of the drone, an obstacle indication band is displayed on the left side of the central area of the flight guidance page; if there is an obstacle on the right side of the drone, an obstacle indication band is displayed on the right side of the central area of the flight guidance page; if there is an obstacle in front of the drone, an obstacle indication band is displayed on the upper side of the central area of the flight guidance page; if there is an obstacle behind the drone, an obstacle indication band is displayed on the lower side of the central area of the flight guidance page.

[0106] In some embodiments, the color and / or size of the obstacle indication strip is determined according to the distance between the obstacle sensed by the drone and the drone. It can be understood that a red obstacle indication strip indicates that the distance between the drone and the obstacle is very close and the possibility of the drone colliding with the obstacle is very high; a yellow obstacle indication strip indicates that the distance between the drone and the obstacle is relatively close and the possibility of the drone colliding with the obstacle is relatively high; a green obstacle indication strip indicates that the distance between the drone and the obstacle is relatively far and the possibility of the drone colliding with the obstacle is relatively low. The shorter the distance between the obstacle sensed by the drone and the drone, the larger the obstacle indication strip; the longer the distance between the obstacle sensed by the drone and the drone, the smaller the obstacle indication strip.

[0107] In some embodiments, the number of the obstacle indication strips is determined according to the number of directions of the obstacles sensed by the drone relative to the drone. For example, when obstacles are sensed on the left and right sides of the drone, obstacle indication strips are displayed on both the left and right sides of the central area of the flight indication page, that is, two obstacle indication strips are displayed.

[0108] Exemplarily, as Figure 14 shown, the flight guidance compass is displayed in the lower left corner of the flight guidance page. When obstacles are sensed on the left and right sides of the drone, two obstacle icons are displayed on the flight guidance compass. Starting from the due north direction and counting clockwise, the angular range occupied by the first obstacle icon is between 0° and 60° deviating from the due north direction, and the angular range occupied by the second obstacle icon is between 210° and 240° deviating from the due north direction. An obstacle indication strip, denoted as the first obstacle indication strip, is displayed on the left side of the central area of the flight guidance page, and another obstacle indication strip, denoted as the second obstacle indication strip, is displayed on the right side of the central area of the flight guidance page. The first obstacle indication strip is larger than the second obstacle indication strip, that is, the distance between the obstacle on the left side of the drone and the drone is less than the distance between the obstacle on the right side of the drone and the drone.

[0109] In some embodiments, the flight guidance page further includes a status indicator bar, which displays a positioning module identifier, a video transmission identifier, an obstacle avoidance module identifier, a remote control terminal connection identifier, a network identifier, and a battery identifier. The positioning module identifier is used to indicate the type of the positioning module used by the drone and the working condition of the positioning module. The video transmission identifier is used to indicate the video transmission condition between the drone and the remote control terminal. The obstacle avoidance module identifier is used to indicate the working condition of the obstacle avoidance module of the drone. The remote control terminal connection identifier is used to indicate the communication connection condition between the drone and the remote control terminal. The network identifier is used to indicate the network condition of the remote control terminal. The battery identifier is used to indicate the power, voltage, and working condition of the battery of the drone. The positioning module identifier, the video transmission identifier, the obstacle avoidance module identifier, the remote control terminal connection identifier, the network identifier, and the battery identifier can be set based on actual situations, and the present application does not make specific limitations thereto.

[0110] Exemplarily, as Figure 15 shown, the status indicator bar is displayed in the top area of the flight guidance page. From the positioning module identifier, the video transmission identifier, the obstacle avoidance module identifier, the remote control terminal connection identifier, the network identifier, and the battery identifier displayed in the status indicator bar, it can be known that the drone is positioned using the GPS positioning module, the video transmission between the drone and the remote control terminal is normal, the obstacle avoidance module is working properly, the communication connection between the drone and the remote control terminal is normal, the network of the remote control terminal is good, the power levels of the two batteries of the drone are 80% and 100% respectively, and the working voltages of the two batteries are 20.7v and 26.1v respectively. Additionally, different preset color identifiers can be used to identify the abnormal and normal states of the battery.

[0111] The flight guidance method provided by the above embodiment displays a flight guidance page on the remote control terminal and displays a flight guidance compass on the flight guidance page for simultaneously identifying the orientation of the drone and the orientation of the gimbal of the drone. Then, when obtaining obstacle information in at least one direction of the drone, the obstacle information is displayed on the flight guidance compass, enabling the user to intuitively know the orientation and distance of the obstacle relative to the drone, facilitating the user to accurately control the drone to avoid obstacles during flight and ensuring the flight safety of the drone.

[0112] Please refer to Figure 16 , Figure 16It is a schematic block diagram of the structure of a remote control terminal provided by an embodiment of the present application. In one implementation, the remote control terminal includes, but is not limited to, a remote controller, a ground control platform, a mobile phone, a tablet computer, a laptop computer, a PC computer, etc. Further, the remote control terminal 300 includes a processor 301, a memory 302, and a display device 303. The processor 301, the memory 302, and the display device 303 are connected through a bus 304, and the bus 304 is, for example, an I2C (Inter-integrated Circuit) bus. The display device 303 can be a liquid crystal display screen, a touch screen, or an external display device, such as a mobile phone and a tablet computer.

[0113] In some implementations, the remote control terminal 300 includes a carrying platform for carrying a display device. A user can install the display device on the carrying platform and establish a communication connection between the remote control terminal and the display device, so that the display device can display a flight guidance page.

[0114] Specifically, the remote control terminal 300 is communicatively connected to a drone. A gimbal is mounted on the drone. The display device 303 is used to display a flight guidance page, and the flight guidance page includes a flight guidance page for simultaneously identifying the orientation of the drone and the orientation of the gimbal. The drone includes an obstacle sensing device for obtaining sensing signals in at least one direction of the drone. By analyzing the sensing signals in at least one direction of the drone, obstacle information in at least one direction of the drone can be obtained and displayed on the flight guidance compass, so that the user can know the obstacles sensed by the drone and facilitate the user to control the drone to avoid obstacles.

[0115] In some implementations, the obstacle sensing device may include at least one sensor for obtaining sensing signals in at least one direction of the drone. For example, the obstacle sensing device may include one sensor for detecting obstacles in front of the drone. For example, the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone respectively. For example, the obstacle sensing device may include four sensors for detecting obstacles in front of, behind, to the left, and to the right of the drone respectively. For example, the obstacle sensing device may include five sensors for detecting obstacles in front of, behind, to the left, to the right, and above the drone respectively. For example, the obstacle sensing device may include a six-direction sensor for detecting obstacles in front of, behind, to the left, to the right, above, and below the drone respectively. Each sensor in the obstacle sensing device can be implemented separately or integrally. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, not limited to the above forms disclosed in the present application.

[0116] Specifically, the processor 301 can be a Micro - controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), etc.

[0117] Specifically, the memory 302 can be a Flash chip, a Read - Only Memory (ROM), a magnetic disk, an optical disc, a USB flash drive, a mobile hard disk, etc.

[0118] Wherein, the processor 301 is configured to run a computer program stored in the memory 302, and when executing the computer program, implement the following steps:

[0119] Display a flight guidance page through the display device, where the flight guidance page includes a flight guidance compass, and the flight guidance compass is used to simultaneously identify the orientation of the drone and the orientation of the gimbal;

[0120] Obtain obstacle information in at least one direction of the drone;

[0121] Display the obstacle information on the flight guidance compass.

[0122] Optionally, when the processor implements displaying the obstacle information on the flight guidance compass, it is configured to:

[0123] Display an obstacle icon on the flight guidance compass according to the obstacle information, where the obstacle icon is used to represent the obstacle sensed by the drone.

[0124] Optionally, the obstacle information includes the direction of the obstacle sensed by the drone relative to the drone, and the position of the obstacle icon on the flight guidance compass is determined according to the direction of the obstacle sensed by the drone relative to the drone.

[0125] Optionally, the obstacle information includes the shape of the obstacle sensed by the drone.

[0126] Optionally, the obstacle information further includes the distance between the obstacle sensed by the drone and the drone, and the shape of the obstacle icon is determined according to the distance between the obstacle sensed by the drone and the drone.

[0127] Optionally, the color and / or size of the obstacle icon is determined according to the distance between the obstacle sensed by the drone and the drone.

[0128] Optionally, when the distance between the obstacle sensed by the drone and the drone is less than or equal to a preset warning distance, the obstacle icon blinks at intervals of a preset duration, and / or an alarm prompt sound is played to remind the user to control the drone to avoid the obstacle.

[0129] Optionally, an angle value corresponding to the nose orientation of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose orientation of the drone, where the angle value is the angle of the nose orientation of the drone relative to the due north direction, due south direction, due west direction or due east direction.

[0130] Optionally, the flight guidance compass rotates as the drone rotates.

[0131] Optionally, a drone icon is displayed in the central area of the flight guidance compass, and the drone icon is used to represent the drone, and the drone icon does not rotate as the drone rotates.

[0132] Optionally, the drone icon is an arrow icon, the arrow icon points upward on the flight guidance page, and the orientation of the arrow icon is consistent with the nose orientation of the drone; when the orientation of the drone changes, the flight guidance compass rotates.

[0133] Optionally, a speed indication line of the drone is also displayed in the central area of the flight guidance compass, the speed indication line intersects with the drone icon, and the speed indication line is used to indicate the flight speed and flight direction of the drone.

[0134] Optionally, the orientation of the speed indication line changes as the flight direction of the drone changes.

[0135] Optionally, the length of the speed indication line changes as the flight speed of the drone changes.

[0136] Optionally, indication characters corresponding to the due east direction, due west direction, due south direction and due north direction are displayed in the edge area of the flight guidance compass.

[0137] Optionally, a gimbal icon is also displayed in the edge area of the flight guidance compass, the gimbal icon is used to represent the gimbal of the drone, and the position of the gimbal icon in the edge area is determined according to the orientation of the Yaw axis of the gimbal.

[0138] Optionally, when the drone includes multiple gimbals, gimbal icons corresponding to each gimbal are displayed in the edge area of the flight guidance compass, and the colors of each gimbal icon are different.

[0139] Optionally, the position of the pan-tilt icon in the edge area changes as the orientation of the pan-tilt changes.

[0140] Optionally, multiple angular scale lines and the angular values corresponding to each of the angular scale lines are also displayed in the edge area of the flight guidance compass.

[0141] Optionally, the flight guidance compass displays a return point icon of the drone, and the return point icon is used to represent the return point of the drone. The position of the return point icon on the flight guidance compass is determined according to the direction and distance of the return point of the drone relative to the drone.

[0142] Optionally, the flight guidance compass is also used to represent a spatial area within a preset distance around the drone. When the distance of the return point of the drone relative to the drone is less than the preset distance, the return point icon is located inside the flight guidance compass. When the distance of the return point of the drone relative to the drone is greater than or equal to the preset distance, the return point icon is located inside the edge area of the flight guidance compass.

[0143] Optionally, the return point icon and the distance of the return point of the drone relative to the drone are also displayed near the flight guidance compass.

[0144] Optionally, the flight guidance compass further includes a marker point icon, and the marker point icon is used to represent a spatial point marked by the drone. The position of the marker point icon on the flight guidance compass is determined according to the direction and distance of the marked spatial point relative to the drone.

[0145] Optionally, the distance of the marked spatial point relative to the drone and the marker point icon are also displayed near the flight guidance compass.

[0146] Optionally, the flight guidance compass further includes a following icon, and the following icon is used to represent the object followed by the drone. The position of the following icon on the flight guidance compass is determined according to the direction and distance of the object followed by the drone relative to the drone.

[0147] Optionally, the distance of the object followed by the drone relative to the drone and the following icon are also displayed near the flight guidance compass.

[0148] Optionally, the flight guidance compass includes an obstacle perception blind area and an obstacle perception area, and the colors of the obstacle perception blind area and the obstacle perception area are different.

[0149] Optionally, the number of the obstacle perception blind areas is determined according to the number of the rotors of the drone.

[0150] Optionally, at least one direction of the drone includes at least one of the front, rear, left, and right directions of the drone.

[0151] Optionally, at least one direction of the drone includes at least one of the front, rear, left, right, up, and down directions of the drone.

[0152] Optionally, after the processor obtains the obstacle information of at least one direction of the drone, it is further configured to:

[0153] Determine whether the obstacle sensed by the drone is located above and / or below the drone;

[0154] If it is determined that the obstacle sensed by the drone is located above and / or below the drone, an obstacle indication bar is displayed on the flight guidance page according to the obstacle information, where the obstacle indication bar is used to indicate the distance between the drone and the obstacle.

[0155] Optionally, after the processor determines whether the obstacle sensed by the drone is located above and / or below the drone, it is further configured to:

[0156] If it is determined that the obstacle sensed by the drone is located in the front, rear, left, and / or right of the drone, the obstacle information is displayed on the flight guidance compass.

[0157] Optionally, when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indication bar includes a first line segment, a second line segment, and a third line segment, and the colors of the first line segment, the second line segment, and the third line segment are different.

[0158] Optionally, when the distance between the drone and the obstacle is less than the first preset distance and greater than or equal to a second preset distance, the obstacle indication bar includes a first line segment and a second line segment.

[0159] Optionally, when the distance between the drone and the obstacle is less than the first preset distance and greater than the second preset distance, a first preset warning sound is broadcast, and the first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range.

[0160] Optionally, when the distance between the drone and the obstacle is less than the second preset distance and greater than or equal to a third preset distance, the obstacle indication bar includes a first line segment.

[0161] Optionally, when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, a second preset warning sound is broadcast, and the second preset warning sound is used to remind the user that the drone is within the obstacle avoidance braking range.

[0162] Optionally, the processor is further configured to implement the following steps:

[0163] When the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to brake, where the third preset distance is greater than the fourth preset distance.

[0164] Optionally, the flight indication page further includes a flight distance indication line of the drone, and the flight distance indication line is used to indicate the flight distance of the drone in the vertical direction.

[0165] Optionally, the length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time, where the vertical speed includes a climbing speed or a descending speed.

[0166] Optionally, the obstacle indication bar and the flight distance indication line are displayed adjacent to each other, so that the user can determine whether the target position of the drone is safe according to the adjacent obstacle indication bar and the flight distance indication line.

[0167] Optionally, the obstacle indication bar and the flight distance indication line have different colors.

[0168] Optionally, the flight guidance page further includes a speed indication bar and a height indication bar. The speed indication bar is used to indicate the flight speed of the drone, and the height indication bar is used to indicate the height of the drone. The current flight speed of the drone is displayed on the speed indication bar, and the height of the drone relative to the return point is displayed on the height indication bar.

[0169] Optionally, the speed indication bar displays multiple speed scale lines and the flight speed corresponding to each speed scale line, and the height indication bar displays multiple height scale lines and the relative height corresponding to each height scale line. The relative height is the height of the drone relative to the return point.

[0170] Optionally, the flight guidance page further includes the vertical speed of the drone, the wind speed and wind direction of the environment where the drone is located, where the vertical speed includes a climbing speed or a descending speed.

[0171] Optionally, the wind speed and wind direction of the environment where the drone is located are displayed in the lower display area of the speed indication bar, and the vertical speed of the drone is displayed in the lower display area of the height indication bar.

[0172] Optionally, the processor is further configured to implement the following steps:

[0173] Obtain a screen switching instruction triggered by the user, and switch the background screen of the flight guidance page from the current video transmission screen to the screen corresponding to the screen switching instruction. After switching the background screen, the speed indicator bar and the altitude indicator bar are not displayed on the flight guidance page.

[0174] Optionally, in the left display area of the flight guidance compass on the flight guidance page after switching the background screen, the current flight speed of the drone, the wind speed and direction of the environment where the drone is located are displayed. In the right display area of the flight guidance compass, the altitude of the drone relative to the return point, the current absolute altitude of the drone, and the vertical speed are displayed. The vertical speed is either the climbing speed or the descending speed.

[0175] Optionally, when an obstacle is sensed above and / or below the drone, an obstacle indicator bar is also displayed in the right display area of the flight guidance compass. The obstacle indicator bar is used to indicate the distance between the drone and the obstacle.

[0176] Optionally, a flight distance indication line is also displayed in the right display area of the flight guidance compass. The flight distance indication line is used to indicate the flight distance of the drone in the vertical direction. The length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time.

[0177] Optionally, the processor is further configured to implement the following steps:

[0178] While displaying the obstacle information on the flight guidance compass, display an obstacle indication band in the central area of the flight guidance page according to the obstacle information. The obstacle indication band is used to represent the obstacles sensed by the drone.

[0179] Optionally, the color and / or size of the obstacle indication band are determined according to the distance between the obstacle sensed by the drone and the drone.

[0180] Optionally, the position of the obstacle indication band in the central area of the flight guidance page is determined according to the azimuth of the obstacle sensed by the drone relative to the drone.

[0181] Optionally, the number of the obstacle indication bands is determined according to the number of the directions of the obstacles sensed by the drone relative to the drone.

[0182] Optionally, the flight guidance page further includes an attitude indication line of the UAV, and the attitude indication line is used to represent the current attitude of the UAV.

[0183] Optionally, the attitude indication line changes as the attitude of the UAV changes.

[0184] Optionally, the attitude indication line is a sea level line or a horizon line. The up-and-down movement of the attitude indication line within the flight guidance page indicates a change in the pitch angle of the UAV, and the left-and-right tilt of the attitude indication line indicates a change in the roll angle of the UAV.

[0185] Optionally, the upward movement of the attitude indication line indicates that the pitch angle of the UAV is a depression angle, and the UAV tilts downward;

[0186] The downward movement of the attitude indication line indicates that the pitch angle of the UAV is an elevation angle, and the UAV tilts upward;

[0187] The leftward tilt of the attitude indication line indicates that the roll angle of the UAV is a right roll angle, and the UAV tilts to the right;

[0188] The rightward tilt of the attitude indication line indicates that the roll angle of the UAV is a left roll angle, and the UAV tilts to the left.

[0189] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the remote control terminal described above can refer to the corresponding process in the foregoing embodiment of the flight guidance method, and will not be elaborated herein.

[0190] Please refer to Figure 17 , Figure 17 which is a schematic block diagram of a flight guidance device provided by an embodiment of the present application.

[0191] As Figure 17 shown, the flight guidance device 400 includes a processor 401 and a memory 402. The processor 401 and the memory 402 are connected through a bus 403, and the bus 403 is, for example, an I2C (Inter-integrated Circuit) bus. The flight guidance device 400 is applied to a remote control terminal, and the remote control terminal is communicatively connected to a UAV.

[0192] In some embodiments, the remote control terminal includes a display device. The display device can be a liquid crystal display screen or a touch screen. Alternatively, the remote control terminal includes a carrying platform for carrying a display device, and a user can install the display device on the carrying platform and establish a communication connection between the remote control terminal and the display device.

[0193] In some embodiments, a gimbal is mounted on the drone, and a display device or display equipment is used to display a flight guidance page, which includes a flight guidance page for simultaneously identifying the orientation of the drone and the orientation of the gimbal; the drone includes an obstacle sensing device, which is used to obtain sensing signals in at least one direction of the drone. By analyzing the sensing signals in at least one direction of the drone, obstacle information in at least one direction of the drone can be obtained, and the obstacle information is displayed on the flight guidance compass, so that the user can know the obstacles sensed by the drone, which is convenient for the user to control the drone to avoid obstacles.

[0194] In some embodiments, the obstacle sensing device may include at least one sensor for obtaining sensing signals in at least one direction of the drone. For example, the obstacle sensing device may include one sensor for detecting obstacles in front of the drone. For example, the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone respectively. For example, the obstacle sensing device may include four sensors for detecting obstacles in front of, behind, to the left, and to the right of the drone respectively. For example, the obstacle sensing device may include five sensors for detecting obstacles in front of, behind, to the left, to the right, and above the drone respectively. For example, the obstacle sensing device may include a six-direction sensor for detecting obstacles in front of, behind, to the left, to the right, above, and below the drone respectively. Each sensor in the obstacle sensing device can be implemented separately or integrally. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, not limited to the above forms disclosed in this application.

[0195] Specifically, the processor 401 may be a microcontroller unit (MCU), a central processing unit (CPU), a digital signal processor (DSP), etc.

[0196] Specifically, the memory 402 may be a Flash chip, a read-only memory (ROM), a magnetic disk, an optical disc, a USB flash drive, a mobile hard disk, etc.

[0197] Wherein, the processor 401 is used to run the computer program stored in the memory 402 and implement any one of the flight guidance methods provided in the specification of this application when executing the computer program.

[0198] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described flight guidance device can refer to the corresponding process in the foregoing flight guidance method embodiments, and will not be elaborated herein.

[0199] An embodiment of the present application further provides a flight guidance system, where the flight guidance system includes a drone and any one of the remote control terminals provided in the embodiments of the present application, and the drone is communicatively connected to the remote control terminal. It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described flight guidance system can refer to the corresponding process in the foregoing flight guidance method embodiments, and will not be elaborated herein.

[0200] An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the flight guidance method provided in the above embodiments.

[0201] Among them, the computer-readable storage medium may be an internal storage unit of the remote control terminal or the unmanned aerial vehicle described in any of the foregoing embodiments, such as the hard disk or memory of the remote control terminal. The computer-readable storage medium may also be an external storage device of the remote control terminal, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the remote control terminal.

[0202] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0203] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0204] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present application, and these modifications or substitutions should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A flight guidance method, It is characterized in that Applied to a remote control terminal, the remote control terminal is used to communicate with an unmanned aerial vehicle, and the unmanned aerial vehicle is equipped with a gimbal, the method includes: Displaying a flight guidance page on the remote control terminal, the flight guidance page including a flight guidance compass, the flight guidance compass being used to simultaneously identify the orientation of the UAV and the orientation of the gimbal, the flight guidance compass including an obstacle sensing area; Obtaining obstacle information in at least one direction of the drone; Displaying the obstacle information in the obstacle sensing area on the flight guidance compass; The flight guidance compass displays a return point icon of the drone, the return point icon is used to indicate the return point of the drone, and the position of the return point icon on the flight guidance compass is determined according to the direction and distance of the return point of the drone relative to the drone; When the distance of the return point of the drone relative to the drone is less than a preset distance, the return point icon is located inside the flight guidance compass; when the distance of the return point of the drone relative to the drone is greater than or equal to the preset distance, the return point icon is located inside the edge area of ​​the flight guidance compass.

2. The flight guidance method according to claim 1, It is characterized in that The obstacle sensing area on the flight guidance compass displays the obstacle information, including: An obstacle icon is displayed in the obstacle sensing area on the flight guidance compass according to the obstacle information, wherein the obstacle icon is used to represent the obstacle sensed by the drone.

3. The flight guidance method according to claim 2, It is characterized in that The obstacle information includes a direction of the obstacle perceived by the drone relative to the drone, and the position of the obstacle icon in the flight guidance compass is determined according to the direction of the obstacle perceived by the drone relative to the drone.

4. The flight guidance method according to claim 2, It is characterized in that The obstacle information includes the shape of the obstacle perceived by the drone.

5. The flight guidance method according to claim 2, It is characterized in that The obstacle information also includes the distance between the obstacle perceived by the drone and the drone, and the shape of the obstacle icon is determined according to the distance between the obstacle perceived by the drone and the drone.

6. The flight guidance method according to claim 5, It is characterized in that The color and / or size of the obstacle icon is determined according to the distance between the obstacle sensed by the drone and the drone.

7. The flight guidance method according to claim 2, It is characterized in that When the distance between the obstacle sensed by the drone and the drone is less than or equal to a preset warning distance, the obstacle icon flashes at a preset interval, and / or a warning tone is played to remind the user to control the drone to avoid the obstacle.

8. The flight guidance method according to claim 1, It is characterized in that An angle value corresponding to the nose direction of the UAV is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose direction of the UAV, wherein the angle value is the angle of the nose direction of the UAV relative to the due north, due south, due west or due east.

9. The flight guidance method according to claim 1, It is characterized in that The flight guidance compass rotates as the drone rotates.

10. The flight guidance method according to claim 1, It is characterized in that A drone icon is displayed in the central area of ​​the flight guidance compass, and the drone icon is used to represent the drone. The drone icon does not rotate with the rotation of the drone.

11. The flight guidance method according to claim 10, It is characterized in that The drone icon is an arrow icon, the arrow icon points to the top of the flight guidance page, and the direction of the arrow icon is consistent with the direction of the nose of the drone; when the orientation of the drone changes, the flight guidance compass rotates.

12. The flight guidance method according to claim 10, It is characterized in that The central area of ​​the flight guidance compass also displays a speed indication line of the UAV, which intersects with the UAV icon. The speed indication line is used to indicate the flight speed and flight direction of the UAV.

13. The flight guidance method according to claim 12, It is characterized in that The direction of the speed indication line changes as the flight direction of the UAV changes.

14. The flight guidance method according to claim 12, It is characterized in that The length of the speed indication line changes with the change of the flight speed of the UAV.

15. The flight guidance method according to claim 1, It is characterized in that The edge area of ​​the flight guidance compass displays indicating characters corresponding to the due east direction, due west direction, due south direction and due north direction respectively.

16. The flight guidance method according to claim 15, It is characterized in that A gimbal icon is also displayed in the edge area of ​​the flight guidance compass. The gimbal icon is used to represent the gimbal of the drone. The position of the gimbal icon in the edge area is determined according to the orientation of the Yaw axis of the gimbal.

17. The flight guidance method according to claim 16, It is characterized in that When the drone includes multiple gimbals, the edge area of ​​the flight guidance compass displays a gimbal icon corresponding to each gimbal, and each gimbal icon has a different color.

18. The flight guidance method according to claim 16, It is characterized in that The position of the gimbal icon in the edge area changes as the orientation of the gimbal changes.

19. The flight guidance method according to claim 15, It is characterized in that The edge area of ​​the flight guidance compass also displays a plurality of angle scale lines and angle values ​​corresponding to each of the angle scale lines.

20. The flight guidance method according to claim 1, It is characterized in that The flight guidance compass is also used to indicate a spatial area of ​​the preset distance around the UAV.

21. The flight guidance method according to claim 1, It is characterized in that The return point icon and the distance of the return point of the drone relative to the drone are also displayed near the flight guidance compass.

22. The flight guidance method according to claim 1, It is characterized in that The flight guidance compass also includes a marker point icon, which is used to represent the spatial point marked by the drone. The position of the marker point icon on the flight guidance compass is determined based on the direction and distance of the marked spatial point relative to the drone.

23. The flight guidance method according to claim 22, It is characterized in that The distance of the marked spatial point relative to the UAV and the marked point icon are also displayed near the flight guidance compass.

24. The flight guidance method according to claim 1, It is characterized in that The flight guidance compass also includes a follow icon, which is used to indicate the object followed by the drone. The position of the follow icon on the flight guidance compass is determined according to the direction and distance of the object followed by the drone relative to the drone.

25. The flight guidance method according to claim 24, It is characterized in that Also displayed near the flight guidance compass are the distance of the object followed by the drone relative to the drone and the following icon.

26. The flight guidance method according to claim 1, It is characterized in that The flight guidance compass also includes an obstacle perception blind area, and the obstacle perception blind area and the obstacle perception area have different colors.

27. The flight guidance method according to claim 26, It is characterized in that The number of the obstacle perception blind zones is determined according to the number of rotors of the UAV.

28. The flight guidance method according to claim 1, It is characterized in that The at least one direction of the drone includes at least one direction of the front, rear, left and right of the drone.

29. The flight guidance method according to claim 1, It is characterized in that The at least one direction of the drone includes at least one direction of the front, rear, left, right, top and bottom of the drone.

30. The flight directing method according to any one of claims 1 to 29, It is characterized in that After obtaining obstacle information in at least one direction of the drone, the method further includes: Determining whether an obstacle sensed by the drone is located above and / or below the drone; If it is determined that the obstacle sensed by the drone is located above and / or below the drone, an obstacle indicator bar is displayed on the flight guidance page according to the obstacle information, wherein the obstacle indicator bar is used to indicate the distance between the drone and the obstacle.

31. The flight guidance method according to claim 30, It is characterized in that After determining whether the obstacle sensed by the drone is located above and / or below the drone, the method further includes: If it is determined that the obstacle sensed by the drone is located in front of, behind, to the left and / or to the right of the drone, the obstacle information is displayed on the flight guidance compass.

32. The flight guidance method according to claim 30, It is characterized in that When the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line segment, the second line segment, and the third line segment have different colors.

33. The flight guidance method according to claim 32, It is characterized in that When the distance between the UAV and the obstacle is less than the first preset distance and greater than or equal to the second preset distance, the obstacle indicator bar includes a first line segment and a second line segment.

34. The flight guidance method according to claim 33, It is characterized in that When the distance between the drone and the obstacle is less than a first preset distance and greater than a second preset distance, a first preset warning sound is broadcast, and the first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range.

35. The flight guidance method according to claim 33, It is characterized in that When the distance between the drone and the obstacle is less than the second preset distance and greater than or equal to the third preset distance, the obstacle indicator bar includes a first line segment.

36. The flight guidance method according to claim 35, It is characterized in that When the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, a second preset warning sound is broadcast, and the second preset warning sound is used to remind the user that the drone is within the obstacle avoidance braking range.

37. The flight guidance method according to claim 36, It is characterized in that The method further comprises: When the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third preset distance is greater than the fourth preset distance.

38. The flight guidance method according to claim 30, It is characterized in that The flight guidance page also includes a flight distance indicator line of the UAV, and the flight distance indicator line is used to indicate the flight distance of the UAV in the vertical direction.

39. The flight guidance method according to claim 38, It is characterized in that The length of the flight distance indicator line is determined according to the vertical speed of the UAV and a preset time, wherein the vertical speed includes a climbing speed or a descending speed.

40. The flight guidance method according to claim 38, It is characterized in that The obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can determine whether the target position of the drone is safe based on the adjacently displayed obstacle indicator bar and the flight distance indicator line.

41. The flight guidance method according to claim 40, It is characterized in that The obstacle indicator bar and the flight distance indicator line have different colors.

42. The flight guidance method according to claim 30, It is characterized in that The flight guidance page also includes a speed indicator bar and an altitude indicator bar. The speed indicator bar is used to indicate the flight speed of the drone, and the altitude indicator bar is used to indicate the altitude of the drone. The speed indicator bar displays the current flight speed of the drone, and the altitude indicator bar displays the altitude of the drone relative to the return point.

43. The flight guidance method according to claim 42, It is characterized in that The speed indicator bar displays a plurality of speed scale lines and a flight speed corresponding to each speed scale line, and the altitude indicator bar displays a plurality of altitude scale lines and a relative altitude corresponding to each altitude scale line, wherein the relative altitude is the altitude of the drone relative to the return point.

44. The flight guidance method according to claim 42, It is characterized in that The flight guidance page also includes the vertical speed of the UAV, the wind speed and wind direction of the environment in which the UAV is located, wherein the vertical speed includes a climbing speed or a descending speed.

45. The flight guidance method according to claim 44, It is characterized in that The wind speed and wind direction of the environment in which the drone is located are displayed in the display area below the speed indicator bar, and the vertical speed of the drone is displayed in the display area below the altitude indicator bar.

46. ​​A flight directing method according to any one of claims 1 to 29, It is characterized in that The method further comprises: Obtain a screen switching instruction triggered by the user, and switch the background screen of the flight guidance page from the current image transmission screen to the screen corresponding to the screen switching instruction, wherein the flight guidance page after switching the background screen does not display the speed indicator bar and the altitude indicator bar.

47. The flight guidance method according to claim 46, It is characterized in that The left display area of ​​the flight guidance compass in the flight guidance page after switching the background screen displays the current flight speed of the UAV and the wind speed and direction of the environment in which the UAV is located, and the right display area of ​​the flight guidance compass displays the height of the UAV relative to the return point, the current absolute height of the UAV and the vertical speed, and the vertical speed is any one of the climbing speed and the descending speed.

48. The flight guidance method according to claim 47, It is characterized in that When an obstacle is sensed above and / or below the drone, an obstacle indicator bar is also displayed in the right display area of ​​the flight guidance compass, and the obstacle indicator bar is used to indicate the distance between the drone and the obstacle.

49. The flight guidance method according to claim 48, It is characterized in that The right display area of ​​the flight guidance compass also displays a flight distance indicator line, which is used to indicate the flight distance of the UAV in the vertical direction. The length of the flight distance indicator line is determined according to the vertical speed of the UAV and the preset time.

50. The flight directing method according to any one of claims 1 to 29, It is characterized in that The method further comprises: While the obstacle information is displayed on the flight guidance compass, an obstacle indication band is displayed in the central area of ​​the flight guidance page according to the obstacle information, wherein the obstacle indication band is used to indicate obstacles sensed by the drone.

51. The flight guidance method according to claim 50, It is characterized in that The color and / or size of the obstacle indication band is determined according to the distance between the obstacle sensed by the drone and the drone.

52. The flight guidance method according to claim 50, It is characterized in that The position of the obstacle indication band in the central area of ​​the flight guidance page is determined according to the position of the obstacle sensed by the drone relative to the drone.

53. The flight guidance method according to claim 50, It is characterized in that The number of the obstacle indication bands is determined according to the number of obstacles sensed by the drone relative to the direction of the drone.

54. A flight directing method according to any one of claims 1 to 29, It is characterized in that The flight guidance page also includes an attitude indicator line of the drone, and the attitude indicator line is used to indicate the current attitude of the drone.

55. The flight guidance method according to claim 54, It is characterized in that The attitude indicator line changes as the attitude of the UAV changes.

56. The flight guidance method according to claim 55, It is characterized in that The attitude indicator line is a sea level or a horizon line. The movement of the attitude indicator line in the up and down directions in the flight guidance page indicates that the pitch angle of the UAV changes. The left and right tilt of the attitude indicator line indicates that the roll angle of the UAV changes.

57. The flight guidance method according to claim 56, It is characterized in that The upward movement of the attitude indicator line indicates that the pitch angle of the UAV is a depression angle, and the UAV is tilted downward; The downward movement of the attitude indicator line indicates that the pitch angle of the UAV is the elevation angle, and the UAV is tilted upward; The attitude indicator line tilts to the left, indicating that the roll angle of the UAV is a right roll angle, and the UAV tilts to the right; The attitude indication line tilting to the right indicates that the roll angle of the UAV is a left roll angle, and the UAV is tilted to the left.

58. A remote control terminal, It is characterized in that The remote control terminal includes a display device, a memory and a processor, and the remote control terminal communicates with a drone, on which a gimbal is mounted; The memory is used to store computer programs; The processor is used to execute the computer program and implement the following steps when executing the computer program: Displaying a flight guidance page through the display device, the flight guidance page including a flight guidance compass, the flight guidance compass being used to simultaneously identify the orientation of the UAV and the orientation of the gimbal, and the flight guidance compass including an obstacle sensing area; Obtaining obstacle information in at least one direction of the drone; Displaying the obstacle information in the obstacle sensing area on the flight guidance compass; The flight guidance compass displays a return point icon of the drone, the return point icon is used to indicate the return point of the drone, and the position of the return point icon on the flight guidance compass is determined according to the direction and distance of the return point of the drone relative to the drone; When the distance of the return point of the drone relative to the drone is less than a preset distance, the return point icon is located inside the flight guidance compass; when the distance of the return point of the drone relative to the drone is greater than or equal to the preset distance, the return point icon is located inside the edge area of ​​the flight guidance compass.

59. The remote control terminal according to claim 58, It is characterized in that When the obstacle sensing area on the flight guidance compass displays the obstacle information, the processor is used to implement: An obstacle icon is displayed in the obstacle sensing area on the flight guidance compass according to the obstacle information, wherein the obstacle icon is used to represent the obstacle sensed by the drone.

60. The remote control terminal according to claim 59, It is characterized in that The obstacle information includes a direction of the obstacle perceived by the drone relative to the drone, and the position of the obstacle icon in the flight guidance compass is determined according to the direction of the obstacle perceived by the drone relative to the drone.

61. The remote control terminal according to claim 59, It is characterized in that The obstacle information includes the shape of the obstacle perceived by the drone.

62. The remote control terminal according to claim 59, It is characterized in that The obstacle information also includes the distance between the obstacle perceived by the drone and the drone, and the shape of the obstacle icon is determined according to the distance between the obstacle perceived by the drone and the drone.

63. The remote control terminal according to claim 62, It is characterized in that The color and / or size of the obstacle icon is determined according to the distance between the obstacle sensed by the drone and the drone.

64. The remote control terminal according to claim 59, It is characterized in that When the distance between the obstacle sensed by the drone and the drone is less than or equal to a preset warning distance, the obstacle icon flashes at a preset interval, and / or a warning tone is played to remind the user to control the drone to avoid the obstacle.

65. The remote control terminal according to claim 58, It is characterized in that An angle value corresponding to the nose direction of the UAV is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose direction of the UAV, wherein the angle value is the angle of the nose direction of the UAV relative to the due north, due south, due west or due east.

66. The remote control terminal according to claim 58, It is characterized in that The flight guidance compass rotates as the drone rotates.

67. The remote control terminal according to claim 58, It is characterized in that A drone icon is displayed in the central area of ​​the flight guidance compass, and the drone icon is used to represent the drone. The drone icon does not rotate with the rotation of the drone.

68. The remote control terminal according to claim 67, It is characterized in that The drone icon is an arrow icon, the arrow icon points to the top of the flight guidance page, and the direction of the arrow icon is consistent with the direction of the nose of the drone; when the orientation of the drone changes, the flight guidance compass rotates.

69. The remote control terminal according to claim 67, It is characterized in that The central area of ​​the flight guidance compass also displays a speed indication line of the UAV, which intersects with the UAV icon. The speed indication line is used to indicate the flight speed and flight direction of the UAV.

70. The remote control terminal according to claim 69, It is characterized in that The direction of the speed indication line changes as the flight direction of the UAV changes.

71. The remote control terminal according to claim 69, It is characterized in that The length of the speed indication line changes with the change of the flight speed of the UAV.

72. The remote control terminal according to claim 67, It is characterized in that The edge area of ​​the flight guidance compass displays indicating characters corresponding to the due east direction, due west direction, due south direction and due north direction respectively.

73. The remote control terminal according to claim 72, It is characterized in that A gimbal icon is also displayed in the edge area of ​​the flight guidance compass. The gimbal icon is used to represent the gimbal of the drone. The position of the gimbal icon in the edge area is determined according to the orientation of the Yaw axis of the gimbal.

74. The remote control terminal according to claim 73, It is characterized in that When the drone includes multiple gimbals, the edge area of ​​the flight guidance compass displays a gimbal icon corresponding to each gimbal, and each gimbal icon has a different color.

75. The remote control terminal according to claim 73, It is characterized in that The position of the gimbal icon in the edge area changes as the orientation of the gimbal changes.

76. The remote control terminal according to claim 72, It is characterized in that The edge area of ​​the flight guidance compass also displays a plurality of angle scale lines and angle values ​​corresponding to each of the angle scale lines.

77. The remote control terminal according to claim 58, It is characterized in that The flight guidance compass is also used to indicate a spatial area at a preset distance around the drone.

78. The remote control terminal according to claim 58, It is characterized in that The return point icon and the distance of the return point of the drone relative to the drone are also displayed near the flight guidance compass.

79. The remote control terminal according to claim 58, It is characterized in that The flight guidance compass also includes a marker point icon, which is used to represent the spatial point marked by the drone. The position of the marker point icon on the flight guidance compass is determined based on the direction and distance of the marked spatial point relative to the drone.

80. The remote control terminal according to claim 79, It is characterized in that The distance of the marked spatial point relative to the UAV and the marked point icon are also displayed near the flight guidance compass.

81. The remote control terminal according to claim 58, It is characterized in that The flight guidance compass also includes a follow icon, which is used to indicate the object followed by the drone. The position of the follow icon on the flight guidance compass is determined according to the direction and distance of the object followed by the drone relative to the drone.

82. The remote control terminal according to claim 81, It is characterized in that Also displayed near the flight guidance compass are the distance of the object followed by the drone relative to the drone and the following icon.

83. The remote control terminal according to claim 58, It is characterized in that The flight guidance compass also includes an obstacle perception blind area, and the obstacle perception blind area and the obstacle perception area have different colors.

84. The remote control terminal according to claim 83, It is characterized in that The number of the obstacle perception blind zones is determined according to the number of rotors of the UAV.

85. The remote control terminal according to claim 58, It is characterized in that The at least one direction of the drone includes at least one direction of the front, rear, left and right of the drone.

86. The remote control terminal according to claim 58, It is characterized in that The at least one direction of the drone includes at least one direction of the front, rear, left, right, top and bottom of the drone.

87. A remote control terminal according to any one of claims 58 to 86, It is characterized in that After the processor acquires obstacle information in at least one direction of the drone, the processor is further configured to implement: Determining whether an obstacle sensed by the drone is located above and / or below the drone; If it is determined that the obstacle sensed by the drone is located above and / or below the drone, an obstacle indicator bar is displayed on the flight guidance page according to the obstacle information, wherein the obstacle indicator bar is used to indicate the distance between the drone and the obstacle.

88. The remote control terminal according to claim 87, It is characterized in that After the processor determines whether the obstacle sensed by the drone is located above and / or below the drone, it is further configured to: If it is determined that the obstacle sensed by the drone is located in front of, behind, to the left and / or to the right of the drone, the obstacle information is displayed on the flight guidance compass.

89. The remote control terminal according to claim 87, It is characterized in that When the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line segment, the second line segment, and the third line segment have different colors.

90. The remote control terminal according to claim 89, It is characterized in that When the distance between the UAV and the obstacle is less than the first preset distance and greater than or equal to the second preset distance, the obstacle indicator bar includes a first line segment and a second line segment.

91. The remote control terminal according to claim 90, It is characterized in that When the distance between the drone and the obstacle is less than a first preset distance and greater than a second preset distance, a first preset warning sound is broadcast, and the first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range.

92. The remote control terminal according to claim 90, It is characterized in that When the distance between the drone and the obstacle is less than the second preset distance and greater than or equal to the third preset distance, the obstacle indicator bar includes a first line segment.

93. The remote control terminal according to claim 92, It is characterized in that When the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, a second preset warning sound is broadcast, and the second preset warning sound is used to remind the user that the drone is within the obstacle avoidance braking range.

94. The remote control terminal according to claim 93, It is characterized in that The processor is also used to implement the following steps: When the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third preset distance is greater than the fourth preset distance.

95. The remote control terminal according to claim 87, It is characterized in that The flight guidance page also includes a flight distance indicator line of the UAV, and the flight distance indicator line is used to indicate the flight distance of the UAV in the vertical direction.

96. The remote control terminal according to claim 95, It is characterized in that The length of the flight distance indicator line is determined according to the vertical speed of the UAV and a preset time, wherein the vertical speed includes a climbing speed or a descending speed.

97. The remote control terminal according to claim 95, It is characterized in that The obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can determine whether the target position of the drone is safe based on the adjacently displayed obstacle indicator bar and the flight distance indicator line.

98. The remote control terminal according to claim 97, It is characterized in that The obstacle indicator bar and the flight distance indicator line have different colors.

99. The remote control terminal according to claim 87, It is characterized in that The flight guidance page also includes a speed indicator bar and an altitude indicator bar. The speed indicator bar is used to indicate the flight speed of the drone, and the altitude indicator bar is used to indicate the altitude of the drone. The speed indicator bar displays the current flight speed of the drone, and the altitude indicator bar displays the altitude of the drone relative to the return point.

100. The remote control terminal according to claim 99, It is characterized in that The speed indicator bar displays a plurality of speed scale lines and a flight speed corresponding to each speed scale line, and the altitude indicator bar displays a plurality of altitude scale lines and a relative altitude corresponding to each altitude scale line, wherein the relative altitude is the altitude of the drone relative to the return point.

101. The remote control terminal according to claim 99, It is characterized in that The flight guidance page also includes the vertical speed of the UAV, the wind speed and wind direction of the environment in which the UAV is located, wherein the vertical speed includes a climbing speed or a descending speed.

102. The remote control terminal according to claim 101, It is characterized in that The wind speed and wind direction of the environment in which the drone is located are displayed in the display area below the speed indicator bar, and the vertical speed of the drone is displayed in the display area below the altitude indicator bar.

103. A remote control terminal according to any one of claims 58 to 86, It is characterized in that The processor is also used to implement the following steps: Obtain a screen switching instruction triggered by the user, and switch the background screen of the flight guidance page from the current image transmission screen to the screen corresponding to the screen switching instruction, wherein the flight guidance page after switching the background screen does not display the speed indicator bar and the altitude indicator bar.

104. The remote control terminal according to claim 103, It is characterized in that The left display area of ​​the flight guidance compass in the flight guidance page after switching the background screen displays the current flight speed of the UAV and the wind speed and direction of the environment in which the UAV is located, and the right display area of ​​the flight guidance compass displays the height of the UAV relative to the return point, the current absolute height of the UAV and the vertical speed, and the vertical speed is any one of the climbing speed and the descending speed.

105. The remote control terminal according to claim 104, It is characterized in that When an obstacle is sensed above and / or below the drone, an obstacle indicator bar is also displayed in the right display area of ​​the flight guidance compass, and the obstacle indicator bar is used to indicate the distance between the drone and the obstacle.

106. The remote control terminal according to claim 105, It is characterized in that The right display area of ​​the flight guidance compass also displays a flight distance indicator line, which is used to indicate the flight distance of the UAV in the vertical direction. The length of the flight distance indicator line is determined according to the vertical speed of the UAV and the preset time.

107. A remote control terminal according to any one of claims 58 to 86, It is characterized in that The processor is also used to implement the following steps: While the obstacle information is displayed on the flight guidance compass, an obstacle indication band is displayed in the central area of ​​the flight guidance page according to the obstacle information, wherein the obstacle indication band is used to indicate obstacles sensed by the drone.

108. The remote control terminal according to claim 107, It is characterized in that The color and / or size of the obstacle indication band is determined according to the distance between the obstacle sensed by the drone and the drone.

109. The remote control terminal according to claim 107, It is characterized in that The position of the obstacle indication band in the central area of ​​the flight guidance page is determined according to the position of the obstacle sensed by the drone relative to the drone.

110. The remote control terminal according to claim 107, It is characterized in that The number of the obstacle indication bands is determined according to the number of obstacles sensed by the drone relative to the direction of the drone.

111. A remote control terminal according to any one of claims 58 to 86, It is characterized in that The flight guidance page also includes an attitude indicator line of the drone, and the attitude indicator line is used to indicate the current attitude of the drone.

112. The remote control terminal according to claim 111, It is characterized in that The attitude indicator line changes as the attitude of the UAV changes.

113. The remote control terminal according to claim 112, It is characterized in that The attitude indicator line is a sea level or a horizon line. The movement of the attitude indicator line in the up and down directions in the flight guidance page indicates that the pitch angle of the UAV changes. The left and right tilt of the attitude indicator line indicates that the roll angle of the UAV changes.

114. The remote control terminal according to claim 113, It is characterized in that The upward movement of the attitude indicator line indicates that the pitch angle of the UAV is a depression angle, and the UAV is tilted downward; The downward movement of the attitude indicator line indicates that the pitch angle of the UAV is the elevation angle, and the UAV is tilted upward; The attitude indicator line tilts to the left, indicating that the roll angle of the UAV is a right roll angle, and the UAV tilts to the right; The attitude indication line tilting to the right indicates that the roll angle of the UAV is a left roll angle, and the UAV is tilted to the left.

115. A flight guidance device, It is characterized in that Applied to a remote control terminal, the remote control terminal is connected to a UAV for communication, the UAV is equipped with a gimbal, and the flight guidance device includes a processor and a memory; The memory is used to store computer programs; The processor is used to execute the computer program and implement the flight directing method according to any one of claims 1 to 57 when executing the computer program.

116. A flight guidance system, It is characterized in that The flight guidance system includes an unmanned aerial vehicle and a remote control terminal as described in any one of claims 58 to 114, wherein the remote control terminal is communicatively connected to the unmanned aerial vehicle, and a gimbal is mounted on the unmanned aerial vehicle.

117. A computer readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the flight directing method according to any one of claims 1 to 57.

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