UAV control method, system, device and storage medium

Abstract

A method, system, device and storage medium for controlling an unmanned aerial vehicle (UAV). The method comprises: determining a target to be locked based on a detected target input operation of a user, wherein a screen interface also displays other input modes for the user to select, and the target input operation is performed by the user under the input mode currently selected by the user (S101); generating a control instruction based on a detected control operation of the user based on the target to be locked, wherein the screen interface also displays other operation modes for the user to select, and the control operation is performed by the user under the operation mode currently selected by the user (S102); and sending a control instruction to the UAV to cause the UAV to lock on the target and fly according to the user's control requirements (S103).

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a drone control method, system, device, and storage medium. Background Art

[0002] Existing drones only support basic flight around a target or follow a target. These intelligent functions are pre-designed, independent features that cannot be modified based on user requirements. Drone operations, such as following, circling, and directional flight, require extremely high operator skill. When users need to maintain a consistent camera lock on a target while maintaining a trajectory, this is often difficult to accomplish manually. When users create aerial photography, switching between multiple flight modes is often difficult due to the high operational complexity. Summary of the Invention

[0003] Based on this, the present application provides a control method, control system, control device and storage medium for a drone.

[0004] In a first aspect, the present application provides a method for controlling a drone, comprising:

[0005] Determine the target to be locked based on the detected user's target input operation; wherein the screen interface also displays other input methods for the user to select, and the target input operation is performed by the user in the input method currently selected by the user;

[0006] generating a control instruction based on a detected user control operation based on the target to be locked; wherein the screen interface further displays other operation modes for the user to select, and the control operation is performed by the user in the operation mode currently selected by the user;

[0007] The control instruction is sent to the drone, so that the drone locks on the target and flies according to the user's control requirements.

[0008] In a second aspect, the present application provides a control system for a drone, the system comprising: a memory, a processor, a display circuit, and a communication circuit, wherein the memory, the display circuit, and the communication circuit are respectively connected to the processor;

[0009] The memory is used to store computer programs;

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

[0011] Determining a target to be locked based on a detected target input operation of the user; wherein the screen interface of the display circuit also displays other input modes for the user to select, and the target input operation is a user operation under the input mode currently selected by the user;

[0012] generating a control instruction based on a detected user control operation based on the target to be locked; wherein the screen interface of the display circuit further displays other operation modes for the user to select, and the control operation is performed by the user under the operation mode currently selected by the user;

[0013] The communication circuit is controlled to send the control instruction to the drone, so that the drone locks the target and flies according to the control requirements of the user.

[0014] In a third aspect, the present application provides a control device for a drone, which includes the control system of the drone as described above.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the control method of the drone as described above.

[0016] Embodiments of the present application provide a method, system, device, and storage medium for controlling a drone. The method comprises: determining a target to be locked based on a detected user input operation, wherein a screen interface further displays other input modes for the user to select, and the target input operation is performed by the user in the input mode currently selected by the user; generating a control instruction based on the detected user control operation based on the target to be locked, wherein the screen interface further displays other operation modes for the user to select, and the control operation is performed by the user in the operation mode currently selected by the user; and sending the control instruction to the drone, causing the drone to lock onto the target and fly according to the user's control requirements. Because the screen interface displays multiple input modes for the user to select, the user can determine the target to be locked by performing operations in the input mode selected by the user; and because the screen interface displays multiple operation modes for the user to select, the user can perform control operations based on the target to be locked in the operation mode selected by the user. In this way, multiple target input modes and multiple control operation modes are integrated, allowing the user to flexibly select the corresponding operation mode according to the user's needs. The operation steps are simple, providing technical support for subsequent de-joysticking and reduced operational difficulty.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 This is a flow chart of an embodiment of a method for controlling a drone of the present application;

[0020] Figure 2 This is a schematic diagram of an application scenario of an embodiment of the control method of a drone of the present application;

[0021] Figure 3 This is a flow chart of another embodiment of the control method of the drone of the present application;

[0022] Figure 4 This is a flow chart of another embodiment of the control method of the drone of the present application;

[0023] Figure 5 This is a schematic diagram of a screen interface display in the control method of the drone of this application;

[0024] Figure 6 This is another display diagram of the screen interface in the control method of the drone of this application;

[0025] Figure 7 This is another display diagram of the screen interface in the control method of the drone of this application;

[0026] Figure 8 This is a flow chart of another embodiment of the control method of the drone of the present application;

[0027] Figure 9 This is another display diagram of the screen interface in the control method of the drone of this application;

[0028] Figure 10 This is a flow chart of another embodiment of the control method of the drone of the present application;

[0029] Figure 11 It is a structural diagram of an embodiment of the control system of the UAV of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0032] Existing drones only support basic intelligent functions such as orbiting or following a target. These functions are pre-designed, independent functions that cannot be modified based on user requirements. Drone operations such as following, circling, and directional flight require extremely high operator skill and are difficult to operate, making it difficult to switch between multiple flight modes.

[0033] In an embodiment of the present application, a target to be locked is determined based on a detected user input operation, wherein the screen interface also displays other input methods for the user to select, and the target input operation is performed by the user in the input method currently selected by the user; a control instruction is generated based on a detected user control operation based on the target to be locked, wherein the screen interface also displays other operation methods for the user to select, and the control operation is performed by the user in the operation method currently selected by the user; and the control instruction is sent to the drone, causing the drone to lock on the target and fly according to the user's control requirements. Because the screen interface displays multiple input methods for the user to select, the user can determine the target to be locked by operating in the input method of their choice; and because the screen interface displays multiple operation methods for the user to select, the user can perform control operations based on the target to be locked in the operation method of their choice. In this way, multiple target input methods and multiple control operation methods can be connected, allowing users to flexibly choose and select the corresponding operation method according to their needs. The operation steps are simple, providing technical support for subsequent de-joysticking and reduced operational difficulty.

[0034] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0035] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of a method for controlling a drone of the present application, the method comprising:

[0036] Step S101: determining a target to be locked based on a detected target input operation of the user, wherein the screen interface also displays other input modes for the user to select, and the target input operation is performed by the user under the input mode currently selected by the user.

[0037] In this embodiment, the input method can be an input method for determining the target to be locked that the user desires, including but not limited to: inputting the target's coordinates, displaying an image for the user to directly select a target in the image, multiple determined targets for the user to select, etc.; wherein the target coordinate input method includes but is not limited to: directly inputting the target's coordinates, downloading the target's coordinates from a server, selecting the target's coordinates from a map, obtaining the target's coordinates from other users' sharing, obtaining the target's coordinates from a device that the user can locate, etc. The screen interface displays multiple input methods for the user to select the desired input method to perform the target input operation to determine the target to be locked. In this way, the target input method can be connected, and multiple input methods can be provided for the user to select.

[0038] Step S102: Generate a control instruction based on the detected user control operation based on the target to be locked, wherein the screen interface also displays other operation modes for the user to select, and the control operation is performed by the user under the operation mode currently selected by the user.

[0039] In this embodiment, the operation mode can be an operation mode used to realize the user's control requirements based on the target to be locked, including but not limited to: joystick mode, slider sliding mode, multiple selection modes of corresponding target control requirements, etc.; among which the multiple selection modes of corresponding target control requirements can facilitate the user's selection modes of various target control requirements for aerial photography, such as following, circling, route locking, etc.

[0040] The screen interface displays a variety of operating modes for users to choose from, allowing users to select the operating mode corresponding to their desired target control requirements, so as to realize the control operation based on the target to be locked and generate corresponding control instructions. In this way, the control operation mode can be opened up, and a variety of operating modes can be realized for users to choose from.

[0041] Step S103: Sending the control instruction to the drone, so that the drone locks onto the target and flies according to the user's control requirements.

[0042] In this embodiment, the control instruction generated based on the control operation of the target to be locked can enable the drone to lock the target and fly according to the user's control requirements. The control instruction is sent to the drone. After the drone receives the control instruction, the drone locks the target and flies according to the user's control requirements.

[0043] See also Figure 2 , Figure 2This is a schematic diagram of an application scenario of an embodiment of a method for controlling a drone of the present application. The method of the embodiment of the present application can be applied to a remote controller 10. The remote controller 10 includes a display screen 11 capable of human-computer interaction. The user can use the display screen 11 to determine the target to be locked, perform control operations based on the target to be locked, and generate control instructions. The remote controller 10 sends the control instructions to the drone 20. After the drone 20 receives the control instructions, the drone 20 locks the target and flies according to the user's control requirements.

[0044] The embodiment of the present application determines a target to be locked based on a detected user input operation, wherein the screen interface also displays other input methods for the user to select, and the target input operation is performed by the user in the input method currently selected by the user; generates a control instruction based on the detected user control operation based on the target to be locked, wherein the screen interface also displays other operation methods for the user to select, and the control operation is performed by the user in the operation method currently selected by the user; and sends the control instruction to the drone, causing the drone to lock on the target and fly according to the user's control requirements. Because the screen interface displays multiple input methods for the user to select, the user can determine the target to be locked by operating in the input method of their choice; because the screen interface displays multiple operation methods for the user to select, the user can perform control operations based on the target to be locked in the operation method of their choice. In this way, multiple target input methods and multiple control operation methods can be connected, allowing users to flexibly choose and select the corresponding operation method according to their needs. The operation steps are simple, providing technical support for subsequent de-joystick and reduced operational difficulty.

[0045] The following describes in detail the contents related to step S101.

[0046] See also Figure 3 When the user enters for the first time or restarts, etc., before determining the target to be locked according to the detected user target input operation in step S101, it also includes: step S104.

[0047] Step S104: displaying multiple input modes on the screen interface, wherein the multiple input modes include a target selection mode and a target coordinate input mode.

[0048] The target selection method and the target coordinate input method are more convenient input methods for determining the target to be locked, and this method can further enhance the user experience.

[0049] See also Figure 4 In step S104, multiple input methods are displayed on the screen interface, which may include:

[0050] Sub-step S1041: Acquire an image from the camera device of the drone.

[0051] Sub-step S1042: Identify a target in the image of the camera device of the drone that matches a preset picture.

[0052] Sub-step S1043: displaying the target in the image on the screen interface, and also displaying the target coordinate input method on the edge of the screen interface.

[0053] Preset images can be targets that users typically wish to select, and there can be multiple preset images, such as people, specific animals, specific flowers and plants, specific buildings, and so on. Preset images can be pre-set by the system and / or the user, or they can be pre-saved images of the user, family, or friends. Typically, if the method of this embodiment is used for aerial photography, when capturing a target in a preset image, the drone's camera device can directly capture an image, identify the image, and determine whether there is a target that matches the preset image. If so, the target in the image that matches the preset image, such as a person or animal, is displayed on the screen. When there are multiple targets that match the preset image, such as multiple people, a person and an animal, etc., the multiple targets that match the preset image are displayed simultaneously on the screen, allowing the user to select the target to be locked. In actual applications, the multiple targets that match the preset images can be displayed in a more prominent manner to attract the user's attention, such as by adding a special mark or highlighting the displayed target that matches the preset image. At the same time, the user may switch from the current target selection method to other commonly used target coordinate input methods. In order to facilitate the user to switch to the target coordinate input method without affecting the current screen, the target coordinate input method can also be displayed on the edge of the screen interface.

[0054] Among them, a quick scanning function switch can be specially set up. When the user wants to determine the target to be locked through the image of the camera device of the drone, the scanning function switch can be turned on. That is, before obtaining the image of the camera device of the drone in sub-step S1041, it can include: turning on the scanning function switch.

[0055] When the scanning function switch is turned on, the step of acquiring an image from the drone's camera device and subsequent steps are directly executed. If the scanning function switch is not turned on, multiple input methods can be simply displayed on the screen interface, or the target coordinate input method can be prominently displayed, while the target selection method can be non-prominently displayed, etc.

[0056] At this time, the step S101 of determining the target to be locked according to the detected user target input operation may include: determining the target to be locked according to the user's target selection operation or target click operation detected on the screen interface. The user selects or clicks the target, which is a simple operation.

[0057] When the screen interface displays a target coordinate input method, determining the target to be locked based on the detected user target input operation in step S101 may include: determining the target to be locked based on the user's target coordinate input method selection operation detected on the screen interface. The following details three convenient and possible implementations of the target coordinate input method.

[0058] The first method is to display a map and operate on the map interface, that is, step S101 selects an operation based on the user's target coordinate input method detected on the screen interface to determine the target to be locked, which may specifically include:

[0059] Step S101A1: selecting an operation according to the detected target coordinate input mode of the user, and displaying a map interface on the screen interface.

[0060] Step S101A2: determining a target to be locked based on the user's selection operation of the target coordinate point detected on the map interface.

[0061] The second method is to directly obtain the shared target if other users have shared a target. That is, step S101 determines the target to be locked according to the user's target input mode selection operation detected on the screen interface, which may specifically include:

[0062] Step S101B1: selecting an operation according to the detected target coordinate input method of the user to obtain the target coordinate point containing height information shared by the user.

[0063] Step S101B2: taking the target coordinate point as the target to be locked.

[0064] The third method is that if the user uses a GPS device for positioning, the target locked by the GPS device can be directly obtained. That is, step S101 selects an operation according to the target coordinate input mode of the user detected by the screen interface to determine the target to be locked, which may specifically include:

[0065] Step S101C1: The target locked onto by the user's global positioning system (GPS) device is obtained based on the detected user's target coordinate input method selection operation. The GPS device may be a mobile phone, a remote control, a portable GPS device, or the like. If the screen interface is that of a remote control and the GPS device is a mobile phone or other portable GPS device, the mobile phone or other portable GPS device may send the locked target to the remote control, allowing the remote control to obtain the target locked onto by the user's GPS device.

[0066] Step S101C2: The target locked by the GPS device is used as the target to be locked.

[0067] See also Figure 5 The user sets photos of their two children (a boy and a girl) as preset images. As long as one of the children appears in the camera's field of view, the screen interface will display the child. The screen interface in the figure shows two targets that match the preset image: a boy and a girl, identified from the image of the drone's camera. At the same time, the edge of the screen interface displays target coordinate input method 1, target coordinate input method 2, and target coordinate input method 3. Figure 6 , the user clicks on the boy's image and confirms that the target to be locked is the boy in the image. Figure 7 When the user selects target coordinate input method 1, a map interface is displayed on the screen interface, and the user can select the target coordinate point on the map interface to determine the target to be locked. When the user selects target coordinate input method 2, the target coordinate point with altitude information shared by the user is obtained. When the user selects target coordinate input method 3, the target locked by the user's global positioning system (GPS) device is obtained.

[0068] The following describes in detail the contents related to step S102.

[0069] See also Figure 8 When the user enters for the first time or restarts, etc., before step S102 generates a control instruction based on the detected user's control operation based on the target to be locked, it also includes: step S105.

[0070] Step S105: Displaying multiple operation modes on the screen interface, wherein the multiple operation modes include a joystick operation mode and a target control selection mode.

[0071] Some experienced pilots prefer the feeling of direct control of the drone. Joystick control will remain available for these pilots, providing them with an option for direct control. Inexperienced pilots can choose the target control method that matches their specific control requirements. This approach can meet the diverse control needs of different users and further enhance the user experience.

[0072] Among them, there can be many ways to display the target control selection method. In one embodiment, the display method of the target control selection method includes target control selection items, that is, step S105 displays multiple operation methods on the screen interface, which can include: displaying multiple operation methods on the screen interface displaying the target to be locked, and the multiple operation methods include a joystick operation method directly for the user to operate and a variety of target control selection items for the user to select.

[0073] The multiple target control options for users to choose from may be target control options that users use more frequently or more often; or users may be allowed to selectively display the target control options they need most, while other target control options may not be displayed temporarily; and so on.

[0074] When the user selects the joystick operation mode, step S102 generates the control instruction based on the detected user control operation based on the target to be locked, which may include: generating the control instruction based on the joystick control operation of the user based on the target to be locked detected on the screen interface displaying the target to be locked; step S103 sends the control instruction to the drone, which may include: sending the control instruction to the drone so that the drone locks the target and flies under the control of the joystick.

[0075] When the user selects the target control option, step S102 generates the control instruction based on the detected user control operation based on the target to be locked, which may include: generating the control instruction based on the target control option selection operation of the user based on the target to be locked detected on the screen interface displaying the target to be locked; step S103 sends the control instruction to the drone, which may include: sending the control instruction to the drone so that the drone locks the target and flies under the control of the target selected by the user.

[0076] See also Figure 9 After the boy is determined to be the target to be locked, the joystick operation and target control selection item 1, target control selection item 2, and target control selection item 3 are displayed on the screen interface. Target control selection item 1, target control selection item 2, and target control selection item 3 represent three different control requirement options respectively.

[0077] To prevent user error, after the user selects a target control option, the user may be asked to confirm. If the target control option is triggered by an error, the user may cancel the selection. A control instruction is generated only when the user's desired operation is confirmed. That is, step S102 generates the control instruction based on a user's selection operation of the target control option based on the target to be locked detected on the screen interface displaying the target to be locked. This may also include generating the control instruction based on a user's selection operation of the target control option based on the target to be locked and a confirmation operation of the target control option detected on the screen interface displaying the target to be locked.

[0078] Among them, the multiple target control options include a focus follow option, a surround option and a route lock option.

[0079] The control instruction corresponding to the focus follow option can enable the drone to lock onto the target and follow the target; that is, the control instruction is generated based on a user selection operation of the focus follow option based on the target to be locked detected on the screen interface displaying the target to be locked; the control instruction is sent to the drone to enable the drone to lock onto the target and follow the target.

[0080] The focus follow option includes a path follow option and a parallel follow option. The control instruction corresponding to the path follow option enables the drone to lock onto the target and automatically follow the target's trajectory; that is, the control instruction is generated based on a user's selection operation of the path follow option based on the target to be locked on the screen interface displaying the target to be locked onto; the control instruction is sent to the drone, causing the drone to lock onto the target and automatically follow the target's trajectory. The control instruction corresponding to the parallel follow option enables the drone to lock onto the target and always maintain parallel flight with the target; that is, the control instruction is generated based on a user's selection operation of the parallel follow option based on the target to be locked onto the screen interface displaying the target to be locked onto; the control instruction is sent to the drone, causing the drone to lock onto the target and always maintain parallel flight with the target. Further, the parallel follow option includes an absolute parallel follow option and a relative parallel follow option. The control instruction corresponding to the absolute parallel follow option enables the drone to lock onto the target and always fly at a fixed angle and distance from the target in the geodetic coordinate system; that is, the control instruction is generated based on a user's selection operation of the absolute parallel follow option based on the target to be locked on the screen interface displaying the target to be locked on; the control instruction is sent to the drone, causing the drone to lock onto the target and always fly at a fixed angle and distance from the target in the geodetic coordinate system. The control instruction corresponding to the relative parallel follow option enables the drone to lock onto the target and always fly parallel to the target's direction of motion in the geodetic coordinate system; that is, the control instruction is generated based on a user's selection operation of the relative parallel follow option based on the target to be locked on the screen interface displaying the target to be locked on the screen interface displaying the target to be locked on; the control instruction is sent to the drone, causing the drone to lock onto the target and always fly parallel to the target's direction of motion in the geodetic coordinate system.

[0081] The control instruction corresponding to the surround option can enable the drone to lock onto the target and fly around the target; that is, the control instruction is generated based on the user's selection operation of the surround option based on the target to be locked detected on the screen interface displaying the target to be locked; the control instruction is sent to the drone to enable the drone to lock onto the target and fly around the target.

[0082] The user may also set the orbiting speed and the orbiting direction, that is, the step S102 generating the control instruction according to the detected user's target control selection operation based on the target to be locked may also include:

[0083] Step S102A1: displaying a surround speed input box and a surround direction input box according to a detected user's surround selection operation based on the target to be locked.

[0084] Step S102A2: Generate the control instruction based on the detected user's input operation of the circling speed and circling direction, and the control instruction enables the drone to lock the target and fly around the target at the circling speed and circling direction required by the user.

[0085] The control instruction corresponding to the route locking option can enable the drone to lock the target and fly according to the locked route required by the user; that is, the control instruction is generated based on the user's selection operation of the route locking option based on the target to be locked detected on the screen interface displaying the target to be locked; the control instruction is sent to the drone, so that the drone locks the target and flies according to the locked route required by the user.

[0086] The user may also set the flight direction, that is, the step S102 generating the control instruction according to the detected user's target control selection operation based on the target to be locked may also include:

[0087] Step S102B1: Displaying a flight direction input box based on a detected user's selection operation of a route lock option based on the target to be locked.

[0088] Step S102B2: Generate the control instruction according to the detected flight direction input operation of the user, and the control instruction enables the drone to lock the target and fly according to the locked route and flight direction required by the user.

[0089] When the user selects a target control option, since multiple target control options are displayed on the screen at the same time, when the user wants to switch from one control requirement to another, he can directly select another target control option to switch the flight mode. That is, after step S103 sends the control instruction to the drone, the following steps may also be included: step S106 and step S107, such as Figure 10 shown.

[0090] Step S106: generating another control instruction according to a user's selection operation of another target control selection item based on the target to be locked detected on the screen interface displaying the target to be locked;

[0091] Step S107: Sending the other control instruction to the drone, so that the drone exits the flight under the control of the target selected by the user and switches to continue locking the target and flying under the control of another target selected by the user.

[0092] In this embodiment, when the drone is in the current flight mode, the user can directly select another target control selection option based on the target to be locked, generate another control instruction and send it to the drone, thereby realizing seamless switching of multiple flight modes (flight modes) of the drone. The operation is simple and does not require the user to have rich operating experience. Novices can also implement it, thus improving the user experience.

[0093] For example: the previous target control option selected by the user is the path following option, and the current flight mode of the drone is: the drone locks the target and automatically follows the target's motion trajectory; after a period of time, the user hopes that the flight mode of the drone will be: the drone locks the target and flies around the target. At this time, the user can directly select another target control option as the surround option on the screen interface to generate another control instruction. After sending the other control instruction to the drone, the drone can exit the current flight mode and switch to another flight mode: the drone locks the target and flies around the target.

[0094] See also Figure 11 , Figure 11 This is a structural diagram of an embodiment of the control system of the drone of the present application. It should be noted that the system of this embodiment can implement the steps in the control method of the above-mentioned drone. For detailed description of the relevant content, please refer to the above-mentioned method part, which will not be repeated here.

[0095] The system 100 includes: a memory 1, a processor 2, a display circuit 3 and a communication circuit 4, and the memory 1, the display circuit 3 and the communication circuit 4 are respectively connected to the processor 2; the communication circuit 4 is used for the system to communicate with the outside world, and the communication circuit 4 can also be used for communication within the system. For example, the communication circuit 4 may include a bus, and the memory 1, the display circuit 3 and the communication circuit 4 are respectively connected to the processor 2 through the bus.

[0096] The processor 2 may be a micro control unit, a central processing unit or a digital signal processor, etc.

[0097] The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a USB flash drive, or a mobile hard disk, etc.

[0098] The memory 1 is used to store computer programs; the processor 2 is used to execute the computer programs and implement the following steps when executing the computer programs:

[0099] The method comprises the steps of: determining a target to be locked based on a detected target input operation of the user, wherein the screen interface of the display circuit also displays other input modes for the user to select, and the target input operation is performed by the user under the input mode currently selected by the user; generating a control instruction based on a detected control operation of the user based on the target to be locked, wherein the screen interface of the display circuit also displays other operation modes for the user to select, and the control operation is performed by the user under the operation mode currently selected by the user; and controlling the communication circuit to send the control instruction to the drone, so that the drone locks the target and flies according to the control requirements of the user.

[0100] Wherein, when executing the computer program, the processor implements the following steps: controlling the display circuit to display multiple input modes on the screen interface, the multiple input modes including a target selection mode and a target coordinate input mode.

[0101] Among them, when the processor executes the computer program, it implements the following steps: acquiring an image of the camera device of the drone; identifying a target in the image of the camera device of the drone that matches a preset picture; controlling the display circuit to display the target in the image on the screen interface, and also displaying the target coordinate input method on the edge of the screen interface.

[0102] Wherein, when executing the computer program, the processor implements the following steps: determining the target to be locked according to the target selection operation or target click operation of the user detected on the screen interface.

[0103] Wherein, when executing the computer program, the processor implements the following steps: selecting an operation according to the target coordinate input mode of the user detected by the screen interface to determine the target to be locked.

[0104] Among them, when the processor executes the computer program, it implements the following steps: according to the user's target coordinate input method selection operation detected by the screen interface, control the display circuit to display the map interface on the screen interface; according to the user's target coordinate point selection operation detected on the map interface, determine the target to be locked.

[0105] Among them, when the processor executes the computer program, it implements the following steps: according to the user's target coordinate input method selection operation detected by the screen interface, obtain the target coordinate point containing height information shared by the user; and use the target coordinate point as the target to be locked.

[0106] Among them, when the processor executes the computer program, it implements the following steps: according to the user's target coordinate input method selection operation detected by the screen interface, obtain the target locked by the user's global positioning system GPS device; and use the target locked by the GPS device as the target to be locked.

[0107] Wherein, when executing the computer program, the processor implements the following steps: controlling to turn on the scanning function switch.

[0108] Wherein, when executing the computer program, the processor implements the following steps: controlling the display circuit to display multiple operation modes on the screen interface, the multiple operation modes including a joystick operation mode and a target control selection mode.

[0109] Among them, when the processor executes the computer program, it implements the following steps: controlling the display circuit to display multiple operation modes on the screen interface displaying the target to be locked, and the multiple operation modes include a joystick operation mode directly for the user to operate and a plurality of target control options for the user to select.

[0110] Among them, when the processor executes the computer program, it implements the following steps: generating the control instruction based on the user's joystick control operation based on the target to be locked detected on the screen interface displaying the target to be locked; controlling the communication circuit to send the control instruction to the drone, so that the drone locks the target and flies under the control of the joystick.

[0111] Among them, when the processor executes the computer program, it implements the following steps: generating the control instruction based on the user's target control selection operation based on the target to be locked detected on the screen interface displaying the target to be locked; controlling the communication circuit to send the control instruction to the drone, so that the drone locks the target and flies under the control of the target selected by the user.

[0112] Among them, when the processor executes the computer program, it implements the following steps: generating another control instruction based on the user's selection operation of another target control selection item based on the target to be locked detected on the screen interface displaying the target to be locked; controlling the communication circuit to send the other control instruction to the drone, so that the drone exits the flight under the control of the target selected by the user and changes to continue locking the target and flying under the control of another target selected by the user.

[0113] Among them, when the processor executes the computer program, it implements the following steps: generating the control instruction according to the user's target control option selection operation based on the target to be locked and the target control option confirmation operation detected on the screen interface displaying the target to be locked.

[0114] Among them, the multiple target control options include a focus follow option, a surround option and a route lock option; the control instructions corresponding to the focus follow option can enable the drone to lock the target and follow the target; the control instructions corresponding to the surround option can enable the drone to lock the target and fly around the target; the control instructions corresponding to the route lock option can enable the drone to lock the target and fly according to the locked route required by the user.

[0115] Among them, the focus follow option includes a path follow option and a parallel follow option; the control instructions corresponding to the path follow option can enable the drone to lock the target and automatically follow the target's motion trajectory; the control instructions corresponding to the parallel follow option can enable the drone to lock the target and always keep flying parallel to the target.

[0116] Among them, the parallel following options include an absolute parallel following option and a relative parallel following option; the control instructions corresponding to the absolute parallel following option can enable the drone to lock the target and always maintain a fixed angle and distance with the target in the geodetic coordinate system for flight; the control instructions corresponding to the relative parallel following option can enable the drone to lock the target and always maintain a parallel direction of movement with the target in the geodetic coordinate system for flight.

[0117] Among them, when the processor executes the computer program, it implements the following steps: according to the detected user's selection operation of the surround selection option based on the target to be locked, controlling the display circuit to display the surround speed input box and the surround direction input box; according to the detected user's surround speed and surround direction input operation, generating the control instruction, the control instruction can enable the drone to lock the target and fly around the target according to the surround speed and surround direction required by the user.

[0118] Among them, when the processor executes the computer program, it implements the following steps: according to the detected user's selection operation of the route locking option based on the target to be locked, controlling the display circuit to display the flight direction input box; according to the detected user's flight direction input operation, generating the control instruction, the control instruction enables the drone to lock the target and fly according to the locked route and flight direction required by the user.

[0119] This application also provides a drone control device, comprising the drone control system described in any of the above items. The control device may be a remote control or other control device capable of controlling the drone. For a detailed description of the relevant content, please refer to the drone control system section above and will not be repeated here.

[0120] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to implement any of the above methods for controlling a drone. For detailed descriptions of the relevant content, please refer to the above method content section and will not be repeated here.

[0121] The computer-readable storage medium may be an internal storage unit of the above-mentioned system or device, such as a hard disk or memory. The computer-readable storage medium may also be an external storage device of the above-mentioned system or device, such as a plug-in hard disk, smart memory card, secure digital card, flash memory card, etc.

[0122] It should be understood that the terms used in the present specification are only used to describe specific embodiments and are not intended to limit the present application.

[0123] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0124] The above descriptions are merely specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a drone, characterized in that: include: Determine the target to be locked based on the detected user's target input operation; wherein the screen interface provides multiple input modes for the user to select, and the target input operation is performed by the user under the input mode currently selected by the user; Displaying the target to be locked and a plurality of target control options for user selection on the screen interface, wherein the plurality of target control options include a first target control option and a second target control option; generating a first control instruction according to a detected user selection operation on the first target control option; Sending the first control instruction to the drone, causing the drone to lock onto the target to be locked and fly according to the control requirements corresponding to the first target control option selected by the user; generating a second control instruction according to the detected user selection operation on the second target control option; and The second control instruction is sent to the drone, causing the drone to exit from the control requirements corresponding to the first target selection option selected by the user, and switch to continuing to lock on to the target to be locked and flying according to the control requirements corresponding to another target selection option selected by the user; wherein the selection operation of the second target control option is used to enable the drone to switch between different flight modes for the locked target to be locked.

2. The method according to claim 1, characterized in that Before determining the target to be locked according to the detected target input operation of the user, the method includes: Multiple input modes are provided on the screen interface, including a target selection mode and a target coordinate input mode.

3. The method according to claim 2, characterized in that The screen interface displays multiple input methods, including: Acquiring an image from a camera device of the drone; Identifying a target in an image of a camera device of the drone that matches a preset image; The target in the image is displayed on the screen interface, and the target coordinate input method is also displayed on the edge of the screen interface.

4. The method according to claim 3, characterized in that The step of determining a target to be locked based on a detected target input operation of a user includes: The target to be locked is determined according to a target selection operation or a target click operation of the user detected on the screen interface.

5. The method according to claim 2, characterized in that The step of determining a target to be locked based on a detected target input operation of a user includes: The target to be locked is determined by selecting an operation according to the target coordinate input mode of the user detected by the screen interface.

6. The method according to claim 5, characterized in that The step of selecting an input mode of a user's target coordinates detected on the screen interface to determine a target to be locked includes: Displaying a map interface on the screen interface according to the user's target coordinate input mode selection operation detected on the screen interface; The target to be locked is determined according to the selection operation of the user's target coordinate point detected on the map interface.

7. The method according to claim 5, characterized in that The step of determining a target to be locked based on a user's target input mode selection operation detected on the screen interface includes: Select an operation according to the target coordinate input mode of the user detected by the screen interface to obtain the target coordinate point containing height information shared by the user; The target coordinate point is used as the target to be locked.

8. The method according to claim 5, characterized in that The step of selecting an input mode of a user's target coordinates detected on the screen interface to determine a target to be locked includes: According to the user's target coordinate input mode selection operation detected by the screen interface, the target locked by the user's global positioning system GPS device is obtained; The target locked by the GPS device is used as the target to be locked.

9. The method according to claim 3, characterized in that Before acquiring the image of the camera device of the drone, the method includes: Turn on the scanning function.

10. The method according to claim 1, characterized in that Also includes: Multiple operation modes are displayed on the screen interface, and the multiple operation modes include a joystick operation mode and a target control selection mode.

11. The method according to claim 10, characterized in that The screen interface displays multiple operation modes, including: A plurality of operation modes are displayed on a screen interface displaying the target to be locked, and the target control selection mode includes a plurality of target control selection items for the user to select.

12. The method according to claim 11, characterized in that Also includes: generating a third control instruction according to a joystick control operation of a user detected on a screen interface displaying the target to be locked; The third control instruction is sent to the drone, so that the drone locks the target to be locked and flies under the control requirement corresponding to the joystick control operation.

13. The method according to claim 1, wherein The generating of the first control instruction according to the detected user selection operation on the first target control option includes: The first control instruction is generated according to the detected selection operation of the user on the first target control option and the confirmation operation on the first target control option.

14. The method according to claim 1, wherein The plurality of target control options include a focus follow option, a surround option, and a route lock option; The control instruction corresponding to the focus follow option enables the drone to lock onto the target to be locked and follow the locked target to be locked; The control instruction corresponding to the surround option can enable the drone to lock onto the target to be locked and fly around the locked target to be locked; The control instruction corresponding to the route locking option can enable the UAV to lock the target to be locked and fly according to the locked route required by the user.

15. The method according to claim 14, characterized in that The focus following option includes a path following option and a parallel following option; The control instruction corresponding to the path following option enables the drone to lock onto the target to be locked and automatically follow the movement trajectory of the locked target to be locked; The control instruction corresponding to the parallel follow option can enable the drone to lock onto the target to be locked and always maintain parallel flight with the locked target to be locked.

16. The method according to claim 15, characterized in that The parallel following options include an absolute parallel following option and a relative parallel following option; The control instruction corresponding to the absolute parallel follow option enables the UAV to lock onto the target to be locked and always fly at a fixed angle and distance to the locked target in the geodetic coordinate system; The control instruction corresponding to the relative parallel following option enables the UAV to lock onto the target to be locked and always fly parallel to the movement direction of the locked target to be locked in the geodetic coordinate system.

17. The method according to claim 14, characterized in that The generating the first control instruction according to the detected user selection operation on the first target control option includes: Displaying a surround speed input box and a surround direction input box according to a detected user selection operation on the surround option; The first control instruction is generated based on the detected user's input operation of the circling speed and circling direction. The first control instruction causes the drone to lock the target to be locked and fly around the locked target to be locked according to the circling speed and circling direction required by the user.

18. The method according to claim 14, characterized in that The generating the first control instruction according to the detected user selection operation on the first target control option includes: Displaying a flight direction input box based on a detected user selection operation on the route lock option; The first control instruction is generated according to the detected flight direction input operation of the user, and the first control instruction enables the drone to lock the target to be locked and fly according to the locking route and flight direction required by the user.

19. A control system for an unmanned aerial vehicle, characterized in that: The system includes: a memory, a processor, a display circuit, and a communication circuit, wherein the memory, the display circuit, and the communication circuit are respectively connected to the processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the following steps when executing the computer program: Determining a target to be locked based on a detected target input operation of the user; wherein the screen interface of the display circuit provides multiple input modes for the user to select, and the target input operation is performed by the user under the input mode currently selected by the user; Displaying the target to be locked and a plurality of target control options for user selection on the screen interface, wherein the plurality of target control options include a first target control option and a second target control option; generating a first control instruction according to a detected user selection operation on the first target control option; controlling the communication circuit to send the first control instruction to the drone, so that the drone locks onto the target to be locked and flies according to the control requirement corresponding to the first target control option selected by the user; generating a second control instruction according to the detected user selection operation on the second target control option; and Controlling the communication circuit to send the second control instruction to the drone, so that the drone exits from the control requirement corresponding to the first target selection item selected by the user, and switches to continuing to lock the target to be locked and flying according to the control requirement corresponding to another target selection item selected by the user; wherein the selection operation of the second target control selection item is used to enable the drone to switch between different flight modes for the locked target to be locked.

20. The system according to claim 19, wherein: When executing the computer program, the processor implements the following steps: The display circuit is controlled to provide multiple input modes on the screen interface, wherein the multiple input modes include a target selection mode and a target coordinate input mode.

21. The system according to claim 20, wherein: When executing the computer program, the processor implements the following steps: Acquiring an image from a camera device of the drone; Identifying a target in an image of a camera device of the drone that matches a preset image; The display circuit is controlled to display the target in the image on the screen interface, and the target coordinate input mode is also displayed on the edge of the screen interface.

22. The system according to claim 21, wherein: When executing the computer program, the processor implements the following steps: The target to be locked is determined according to a target selection operation or a target click operation of the user detected on the screen interface.

23. The system according to claim 20, wherein: When executing the computer program, the processor implements the following steps: The target to be locked is determined by selecting an operation according to the target coordinate input mode of the user detected by the screen interface.

24. The system according to claim 23, wherein: When executing the computer program, the processor implements the following steps: Controlling the display circuit to display a map interface on the screen interface according to the user's target coordinate input mode selection operation detected by the screen interface; The target to be locked is determined according to the selection operation of the user's target coordinate point detected on the map interface.

25. The system according to claim 23, wherein: When executing the computer program, the processor implements the following steps: Select an operation according to the target coordinate input mode of the user detected by the screen interface to obtain the target coordinate point containing height information shared by the user; The target coordinate point is used as the target to be locked.

26. The system according to claim 23, wherein: When executing the computer program, the processor implements the following steps: According to the user's target coordinate input mode selection operation detected by the screen interface, the target locked by the user's global positioning system GPS device is obtained; The target locked by the GPS device is used as the target to be locked.

27. The system according to claim 21, wherein: When executing the computer program, the processor implements the following steps: Controls the scanning function switch.

28. The system according to claim 19, wherein: When executing the computer program, the processor implements the following steps: The display circuit is controlled to display multiple operation modes on the screen interface, wherein the multiple operation modes include a joystick operation mode and a target control selection mode.

29. The system according to claim 28, wherein When executing the computer program, the processor implements the following steps: The display circuit is controlled to display a plurality of operation modes on a screen interface displaying the target to be locked, wherein the target control selection mode includes a plurality of target control selection items for the user to select.

30. The system according to claim 29, wherein: When executing the computer program, the processor implements the following steps: generating a third control instruction according to a joystick control operation of a user detected on a screen interface displaying the target to be locked; The communication circuit is controlled to send the third control instruction to the drone, so that the drone locks the target to be locked and flies under the control requirements corresponding to the joystick control operation.

31. The system according to claim 19, wherein: When executing the computer program, the processor implements the following steps: The first control instruction is generated according to the detected selection operation of the first target control option and the confirmation operation of the target control option by the user.

32. The system according to claim 19, wherein: The plurality of target control options include a focus follow option, a surround option, and a route lock option; The control instruction corresponding to the focus follow option enables the drone to lock onto the target to be locked and follow the locked target to be locked; The control instruction corresponding to the surround option can enable the drone to lock onto the target to be locked and fly around the locked target to be locked; The control instruction corresponding to the route locking option can enable the UAV to lock the target to be locked and fly according to the locked route required by the user.

33. The system according to claim 32, wherein: The focus following option includes a path following option and a parallel following option; The control instruction corresponding to the path following option enables the drone to lock onto the target to be locked and automatically follow the movement trajectory of the locked target to be locked; The control instruction corresponding to the parallel follow option can enable the drone to lock onto the target to be locked and always maintain parallel flight with the locked target to be locked.

34. The system according to claim 33, wherein: The parallel following options include an absolute parallel following option and a relative parallel following option; The control instruction corresponding to the absolute parallel follow option enables the UAV to lock onto the target to be locked and always fly at a fixed angle and distance to the locked target in the geodetic coordinate system; The control instruction corresponding to the relative parallel following option enables the UAV to lock onto the target to be locked and always fly parallel to the movement direction of the locked target to be locked in the geodetic coordinate system.

35. The system according to claim 32, wherein: When executing the computer program, the processor implements the following steps: Controlling the display circuit to display a surround speed input box and a surround direction input box according to a detected user selection operation on the surround option; The first control instruction is generated based on the detected user's input operation of the circling speed and circling direction. The first control instruction causes the drone to lock the target to be locked and fly around the locked target to be locked according to the circling speed and circling direction required by the user.

36. The system according to claim 32, wherein: When executing the computer program, the processor implements the following steps: controlling the display circuit to display a flight direction input box based on a detected user selection operation on the route lock option; The first control instruction is generated according to the detected flight direction input operation of the user, and the first control instruction enables the drone to lock the target to be locked and fly according to the locking route and flight direction required by the user.

37. A control device for a drone, characterized in that: The control device includes the control system of the drone as described in any one of claims 19-36.

38. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the control method of the drone according to any one of claims 1 to 18.

Images