Control Method and Device for Unmanned Aerial Vehicle

Abstract

A control method and device for an unmanned aerial vehicle, comprising: when receiving a locking instruction sent by a control terminal, controlling the unmanned aerial vehicle to enter a locking mode, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user (S501); in the locking mode: when receiving a pitch control stick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly along a first yaw direction or a second yaw direction indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw direction deviates from the first yaw direction; and not responding to the yaw control stick amount and the roll control stick amount sent by the control terminal (S502). This ensures that the unmanned aerial vehicle keeps flying forward / backward in a straight line in the horizontal direction indicated by the nose, avoids flight deviation caused by misoperation of the control stick, makes the flight of the unmanned aerial vehicle more in line with the user's expectations, and improves the user experience.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular, to a control method and device for an unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicles can fly autonomously according to pre-planned trajectories, or they can be manually controlled by users. Taking the plant protection drone as an example, the plant protection drone can fly and operate automatically according to a pre-planned route, or it can be controlled by the user's manual operation in real time to fly and operate. The operation content may include spraying, sowing, etc. In the process of the plant protection drone being controlled by the user's manual operation, to ensure the accuracy of the control of the plant protection drone, the user needs to operate it skillfully and accurately, otherwise it is easy to have control deviations, causing the plant protection drone to deviate from the user's expectations. Summary of the invention

[0003] The embodiments of the present application provide a control method and device for an unmanned aerial vehicle, which are used to avoid control deviations of the unmanned aerial vehicle and are easy for users to operate.

[0004] In a first aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle, comprising:

[0005] When receiving a locking instruction sent by a control terminal, controlling the unmanned aerial vehicle to enter a locking mode, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user;

[0006] In the lock mode:

[0007] When receiving the pitch control stick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly along a first yaw orientation or a second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation;

[0008] The control terminal does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

[0009] In a second aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle, comprising:

[0010] If the control stick amount sent by the control terminal is continuously received within a preset time period after the first moment, a first target speed of the unmanned aerial vehicle is determined according to at least one control stick amount received within the preset time period;

[0011] The unmanned aerial vehicle is controlled to keep flying at the first target speed.

[0012] In a third aspect, an embodiment of the present application provides a control device for an unmanned aerial vehicle, including:

[0013] A communication device, used for receiving a locking instruction sent by a control terminal;

[0014] Processor for:

[0015] When the communication device receives a locking instruction sent by the control terminal, the communication device controls the unmanned aerial vehicle to enter a locking mode, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user;

[0016] In the lock mode:

[0017] When the communication device receives the pitch control stick amount sent by the control terminal, the unmanned aerial vehicle is controlled to fly along a first yaw orientation or a second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation;

[0018] The communication device does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

[0019] In a fourth aspect, an embodiment of the present application provides a control device for an unmanned aerial vehicle, including:

[0020] A communication device, used for receiving the control lever quantity sent by the control terminal;

[0021] The processor is used to: if the communication device continuously receives the control stick amount sent by the control terminal within a preset time period after the first moment, determine the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period; and control the unmanned aerial vehicle to keep flying at the first target speed.

[0022] In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle, comprising a control device for the unmanned aerial vehicle as described in the embodiment of the present application in the third aspect or the fourth aspect.

[0023] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the control method of the unmanned aerial vehicle as described in the first aspect or the second aspect of the embodiment of the present application is implemented.

[0024] In the seventh aspect, an embodiment of the present application provides a computer program product, which includes a computer program, and the computer program is stored in a readable storage medium. At least one processor can read the computer program from the readable storage medium, and the at least one processor executes the computer program to implement the control method of the unmanned aerial vehicle as described in the first aspect or the second aspect of the embodiment of the present application.

[0025] In summary, the control method and device for an unmanned aerial vehicle provided by the embodiments of the present application can ensure that the unmanned aerial vehicle flies straight forward / backward in the horizontal direction indicated by the nose, avoid flight deviations caused by misoperation of the control stick, make the flight of the unmanned aerial vehicle more in line with the user's expectations, and improve the user experience. Especially when applied to the plant protection industry, it can ensure that the unmanned aerial vehicle flies along the planting direction of agricultural operations, improving the operation accuracy. And it can achieve the purpose of constant-speed flight, without the user having to manipulate the control stick for a long time or continuously push the stick, reducing the flight fatigue and continuous operation of beyond visual line of sight flight, avoiding accidents caused by misoperation, ensuring the flight safety of the unmanned aerial vehicle, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

[0028] Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of a remote controller provided by an embodiment of the present application;

[0030] Figure 4 is a schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

[0031] Figure 5 is a flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present application;

[0032] Figure 6 is a flowchart of a control method for an unmanned aerial vehicle provided by another embodiment of the present application;

[0033] Figure 7 is a flowchart of a control method for an unmanned aerial vehicle provided by another embodiment of the present application;

[0034] Figure 8 is a flowchart of a control method for an unmanned aerial vehicle provided by another embodiment of the present application;

[0035] Figure 9 is a schematic structural diagram of a control device for an unmanned aerial vehicle provided by an embodiment of the present application;

[0036] Figure 10 Schematic structural diagram of an unmanned aerial vehicle provided in another embodiment of the present application;

[0037] Figure 11 Schematic structural diagram of a control system of an unmanned aerial vehicle provided in an embodiment of the present application. Detailed implementation manners

[0038] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0039] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0041] Embodiments of the present application provide a control method and device for an unmanned aerial vehicle. Among them, the embodiments of the present application can be applied to various types of unmanned aerial vehicles. For example, the unmanned aerial vehicle can be a small or large unmanned aerial vehicle. In some embodiments, the unmanned aerial vehicle can be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by multiple propulsion devices through the air. The embodiments of the present application are not limited thereto.

[0042] Figure 1 It is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. This embodiment is described by taking a rotorcraft as an example.

[0043] The unmanned flight system 100 may include an unmanned aerial vehicle 110, a display device 130, and a control terminal 140. Among them, the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a gimbal 120 carried on the frame. The unmanned aerial vehicle 110 can communicate wirelessly with the control terminal 140 and the display device 130. Among them, the unmanned aerial vehicle 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150. The unmanned aerial vehicle 110 can be an agricultural drone or an industrial application drone, and has a demand for cyclic operation. Correspondingly, the battery also has a demand for cyclic operation.

[0044] The frame may include a fuselage and landing gears (also known as undercarriages). The fuselage may include a central frame and one or more arms connected to the central frame, and the one or more arms extend radially from the central frame. The landing gears are connected to the fuselage and are used to support the unmanned aerial vehicle 110 when it lands.

[0045] The power system 150 may include one or more electronic speed controllers (abbreviated as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153. Among them, the motor 152 is connected between the electronic speed controller 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arms of the unmanned aerial vehicle 110; the electronic speed controller 151 is used to receive the drive signal generated by the flight control system 160 and provide a drive current to the motor 152 according to the drive signal to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the unmanned aerial vehicle 110, and this power enables the unmanned aerial vehicle 110 to achieve one or more degrees of freedom of movement. In some embodiments, the unmanned aerial vehicle 110 can rotate around one or more rotation axes. For example, the above rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 152 can be a DC motor or an AC motor. In addition, the motor 152 can be a brushless motor or a brushed motor.

[0046] The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aerial vehicle 110 in space. For example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity, etc. The sensing system 162 may include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a Global Navigation Satellite System, and a barometer. For example, the Global Navigation Satellite System may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110. For example, it can control the flight of the unmanned aerial vehicle 110 according to the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 can control the unmanned aerial vehicle 110 according to pre-programmed instructions, or can control the unmanned aerial vehicle 110 by responding to one or more remote control signals from the control terminal 140.

[0047] The gimbal 120 may include a motor 122. The gimbal is used to carry a load, and the load may be, for example, a photographing device 123. The flight controller 161 can control the movement of the gimbal 120 through the motor 122. Optionally, as another embodiment, the gimbal 120 may further include a controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 can be independent of the unmanned aerial vehicle 110 or can be a part of the unmanned aerial vehicle 110. It should be understood that the motor 122 can be a DC motor or an AC motor. In addition, the motor 122 can be a brushless motor or a brushed motor. It should also be understood that the gimbal can be located on the top of the unmanned aerial vehicle or at the bottom of the unmanned aerial vehicle.

[0048] The photographing device 123 may be, for example, a camera or a video camera and other devices for capturing images. The photographing device 123 can communicate with the flight controller and perform photographing under the control of the flight controller. The photographing device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the photographing device 123 can also be directly fixed on the unmanned aerial vehicle 110, so that the gimbal 120 can be omitted.

[0049] The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 wirelessly, and can be used to display the attitude information of the unmanned aerial vehicle 110. Additionally, the images captured by the photographing device 123 can also be displayed on the display device 130. It should be understood that the display device 130 can be an independent device or integrated in the control terminal 140.

[0050] The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 wirelessly, and is used for remotely controlling the unmanned aerial vehicle 110.

[0051] It should be understood that the naming of each component of the unmanned aerial vehicle system above is only for the purpose of identification and should not be construed as a limitation on the embodiments of the present application.

[0052] Figure 2 The figure is a schematic diagram of the application scenario provided by the embodiments of the present application. As Figure 2 shown, Figure 2 the unmanned aerial vehicle 201 and the control terminal 202 of the unmanned aerial vehicle are shown. The control terminal 202 of the unmanned aerial vehicle 201 can be one or more of a remote controller, a smart phone, a desktop computer, a laptop computer, and wearable devices (watches, bracelets). The embodiments of the present application are schematically described by taking the control terminal 202 as the remote controller 2021 and the terminal device 2022 as an example. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiments of the present application are not limited thereto.

[0053] Among them, the remote controller 2021 can communicate with the unmanned aerial vehicle 201. The user can control the flight state of the unmanned aerial vehicle by manipulating the control levers on the remote controller. The control levers are generally divided into a pitch control lever, a yaw control lever, a roll control lever, and a throttle control lever, which respectively control the forward and backward flight, turning of the heading, left and right flight, and up and down flight of the aircraft, and the lever amounts in each direction are independent of each other, and the control is decoupled. Four physical control levers can be provided on the remote controller 2021, that is, the pitch control lever, the yaw control lever, the roll control lever, and the throttle control lever are respectively four physically independent control levers; or, two physical control levers can be provided on the remote controller 2021, and each physical control lever can implement the functions of two control levers. The specific number of physical control levers provided on the remote controller 2021 is not limited in this embodiment.

[0054] As Figure 3As shown in the figure, taking the example of having two physical joysticks on the remote controller 2021, the two physical joysticks are the left joystick 2021a and the right joystick 2021b respectively. The left joystick 2021a is used to implement the functions of the roll control joystick and the throttle control joystick. When the user pushes the joystick 2021a left and right, the joystick 2021a is the roll control joystick. When the user pushes the joystick 2021a forward and backward, the joystick 2021a is the throttle control joystick. The right joystick 2021b is used to implement the functions of the pitch control joystick and the yaw control joystick. When the user pushes the joystick 2021b left and right, the joystick 2021b is the yaw control joystick. When the user pushes the joystick 2021b forward and backward, the joystick 2021a is the pitch control joystick.

[0055] As Figure 4 shown, taking the example of the unmanned aerial vehicle 201 being a multi-rotor unmanned aerial vehicle, the remote controller can detect the user's operation on the pitch stick to generate a pitch control stick amount, and the unmanned aerial vehicle controls the pitch attitude of the unmanned aerial vehicle according to the pitch control stick amount. At this time, the unmanned aerial vehicle controls the unmanned aerial vehicle to fly in the first yaw direction or the second yaw direction indicated by the nose of the unmanned aerial vehicle, where the second yaw direction is opposite to the first yaw direction. For example, when the user pushes the joystick 2021b forward, it means controlling the unmanned aerial vehicle 201 to fly forward. At this time, the remote controller 2021 sends the pitch control stick amount to the unmanned aerial vehicle 201, and the unmanned aerial vehicle 201 rotates in the pitch direction 401 according to the pitch control stick amount, so that the nose 2011 of the unmanned aerial vehicle rotates downward to be lower than the tail, so that the unmanned aerial vehicle 201 flies forward. Among them, how much lower the nose 2011 of the unmanned aerial vehicle is than the tail is related to the magnitude of the pitch control stick amount, and the magnitude of the pitch control stick amount is related to the degree to which the user pushes the joystick 2021b forward. Among them, the implementation scheme of the user pushing the joystick 2021b backward to make the unmanned aerial vehicle 201 fly backward can refer to the implementation scheme of the user pushing the joystick 2021b forward to make the unmanned aerial vehicle 201 fly forward, which will not be elaborated here.

[0056] Among them, the remote controller can detect the user's operation on the yaw stick to generate a yaw control lever amount, and the unmanned aerial vehicle controls the yaw attitude of the unmanned aerial vehicle according to the yaw control lever amount to adjust the yaw orientation of the unmanned aerial vehicle. For example, when the user moves the control lever 2021b to the right, it means controlling the unmanned aerial vehicle 201 to move to the right. At this time, the remote controller 2021 sends the yaw control lever amount to the unmanned aerial vehicle 201, and the unmanned aerial vehicle 201 rotates in the yaw direction 402 according to the yaw control lever amount, so that the nose 2011 of the unmanned aerial vehicle 201 rotates to the right, thereby making the heading of the unmanned aerial vehicle deviate to the right. Among them, the degree to which the heading of the unmanned aerial vehicle 201 deviates to the right is related to the magnitude of the yaw control lever amount, and the magnitude of the yaw control lever amount is related to the degree to which the user pushes the control lever 2021b to the right. The implementation scheme of the user pushing the control lever 2021b to the left to make the unmanned aerial vehicle 201 fly to the left can refer to the implementation scheme of the user pushing the control lever 2021b to the right to make the unmanned aerial vehicle 201 fly to the right, which will not be elaborated here.

[0057] Among them, when the user pushes the control lever 2021a forward, it means controlling the unmanned aerial vehicle 201 to ascend. At this time, the remote controller 2021 sends the throttle control lever amount to the unmanned aerial vehicle 201, and the unmanned aerial vehicle 201 ascends according to the throttle control lever amount. Among them, how much the unmanned aerial vehicle ascends is related to the magnitude of the throttle control lever amount, and the magnitude of the throttle control lever amount is related to the degree to which the user pushes the control lever 2021a forward. The implementation scheme of the user pushing the control lever 2021a backward to make the unmanned aerial vehicle 201 descend can refer to the implementation scheme of the user pushing the control lever 2021a forward to make the unmanned aerial vehicle 201 ascend, which will not be elaborated here.

[0058] Among them, the remote controller can detect the user's operation on the roll bar to generate a roll control lever amount, and the unmanned aerial vehicle controls the roll attitude of the unmanned aerial vehicle according to the roll control lever amount. At this time, the unmanned aerial vehicle controls the unmanned aerial vehicle to fly in the third yaw direction or the fourth yaw direction indicated by the nose of the unmanned aerial vehicle, where the third yaw direction is away from the fourth yaw direction, and the third yaw direction and the fourth yaw direction are perpendicular to the first yaw direction. For example, when the user pushes the control lever 2021a to the right, it means controlling the unmanned aerial vehicle 201 to fly in a right roll. At this time, the remote controller 2021 sends the roll control lever amount to the unmanned aerial vehicle 201, and the unmanned aerial vehicle 201 flips in the roll direction 403 according to the roll control lever amount, so as to roll to the right along the first yaw direction indicated by the nose of the unmanned aerial vehicle 201, that is, fly to the right of the first yaw direction indicated by the nose of the unmanned aerial vehicle 201. Among them, the degree of the right roll of the unmanned aerial vehicle is related to the size of the roll control lever amount, and the size of the roll control lever amount is related to the degree of the user pushing the control lever 2021a to the right. The implementation scheme of the user pushing the control lever 2021a to the left to make the unmanned aerial vehicle 201 roll to the left can refer to the implementation scheme of the user pushing the control lever 2021a to the right to make the unmanned aerial vehicle roll to the left, which will not be elaborated here.

[0059] Among them, the unmanned aerial vehicle 201 is in the manual mode, that is, the flight of the unmanned aerial vehicle 201 is controlled by the user operating the control lever. When the user manipulates the control lever 2021a or the control lever 2021b to control a certain direction of the unmanned aerial vehicle 201, it is easy to couple the control lever amounts in other directions, resulting in the actual flight direction of the unmanned aerial vehicle 201 deviating from the expected control direction of the user. For example, when the user manipulates the control lever 2021b forward and backward to generate a pitch control lever amount to control the unmanned aerial vehicle to fly forward and backward, it is easy to couple the yaw control lever amount, resulting in the unmanned aerial vehicle turning its course while flying, making the flight path not straight. Especially when the unmanned aerial vehicle is applied to the agricultural industry, crops are generally planted in a straight line. When the unmanned aerial vehicle 201 can be used as a plant protection unmanned aerial vehicle to spray and spread a row of crops, it needs to fly straight forward or backward along the planting direction of the crops. However, due to the existence of the above problems, the agricultural operation spraying and spreading will be inaccurate and resources will be wasted.

[0060] Therefore, the present application provides a locking mode to avoid the problem of coupling of control lever amounts in other directions when the user manipulates the control lever, so that the course of the unmanned aerial vehicle is no longer interfered by the control lever amounts in other directions, and the flight path of the unmanned aerial vehicle is straightened. The specific implementation scheme can be referred to in the following related embodiments.

[0061] In addition, when the unmanned aerial vehicle 201 is in the manual mode, the user needs to manipulate the control stick for a long time, which is prone to manipulation fatigue and accidental operation. Moreover, when flying beyond the line of sight, the user needs to stare at the display screen of the control terminal for a long time, which weakens the attention to manipulating the control stick and is prone to accidental manipulation and cause a crash accident. Therefore, the present application proposes a constant speed mode. After the flight speed of the unmanned aerial vehicle is appropriate, the user can directly release the control stick without continuously pushing the control stick, reducing the flight fatigue and continuous manipulation during flying beyond the line of sight. The specific implementation solutions can be seen in the following related embodiments.

[0062] In addition, when the unmanned aerial vehicle 201 is in the manual mode, since novice users are not proficient in manipulation, crash accidents occur frequently. For example, in the manual mode, the user needs to pay attention to multiple matters such as the flight speed of the unmanned aerial vehicle, the flight trajectory, and whether there are obstacles around. When an emergency occurs during the flight, the user operates the control stick too forcefully, resulting in a crash. Therefore, the present application proposes a speed limit mode, which effectively avoids the situation where the control stick is operated too forcefully during an emergency accident during the flight, making it easier for novice users to get started. The specific implementation solutions can be seen in the following related embodiments.

[0063] The methods of the embodiments of the present application can be applied to the control device of the unmanned aerial vehicle. The control device of the unmanned aerial vehicle can be set on the unmanned aerial vehicle; or, a part of the control device of the unmanned aerial vehicle is set on the unmanned aerial vehicle, and the other part is set on the control terminal of the unmanned aerial vehicle. The following embodiments take the control device of the unmanned aerial vehicle being set on the unmanned aerial vehicle as an example.

[0064] Figure 5 is a flowchart of the control method of the unmanned aerial vehicle provided by an embodiment of the present application. As Figure 5 shown, the method of this embodiment may include:

[0065] S501. When receiving a locking instruction sent by the control terminal, control the unmanned aerial vehicle to enter the locking mode, where the locking instruction is generated by the control terminal detecting the user's locking operation.

[0066] In this embodiment, when a user wants to control the UAV to enter the locking mode, for example, to lock the heading of the UAV, the user can perform a locking operation on the control terminal. Correspondingly, the control terminal detects the user's locking operation. The control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, and a wearable device, which will not be elaborated here. For example, the user touches a locking control displayed on the display device of the control terminal (such as clicking on the icon of the locking control). Correspondingly, the control terminal generates a locking instruction according to the detected touch operation of the user on the locking control and sends it to the UAV. Also, for example, the user operates a physical button on the control terminal for controlling the UAV to enter the locking mode (this physical button can be a button on the remote controller of the control terminal or a button on the terminal device of the control terminal), and this physical button can be set as a shortcut key for entering the locking mode. Correspondingly, the control terminal generates a locking instruction according to the detected operation of the user on this physical button and sends it to the UAV.

[0067] Correspondingly, the UAV receives the locking instruction sent by the control terminal and enters the locking mode according to this locking instruction. For example, a locking mode flag is pre-set, and this locking mode flag is used to indicate whether the UAV is in the locking mode. Among them, the locking mode flag is different when the UAV is in the locking mode and when it is not in the locking mode. For example, when the locking mode flag is 0, it means that the UAV is not in the locking mode. When the UAV receives the locking instruction, the UAV sets the locking mode flag to 1 to indicate that the UAV enters the locking mode.

[0068] In the locking mode, the UAV responds to the pitch control stick amount sent by the control terminal, but does not respond to the yaw control stick amount and roll control stick amount sent by the control terminal.

[0069] S502. In the locking mode: When receiving the pitch control stick amount sent by the control terminal, control the UAV to fly along the first yaw direction or the second yaw direction indicated by the nose of the UAV according to the pitch control stick amount, where the second yaw direction is away from the first yaw direction; and do not respond to the yaw control stick amount and roll control stick amount sent by the control terminal.

[0070] In this embodiment, when the unmanned aerial vehicle is in the locked mode, the user can operate the pitch control stick of the remote controller of the control terminal to control the unmanned aerial vehicle to fly forward and backward. When the control terminal detects the user's operation on the pitch control stick, the corresponding pitch control stick amount is obtained according to the user's operation on the pitch control stick, and the pitch control stick amount is sent to the unmanned aerial vehicle. Among them, the horizontal direction indicated by the head of the unmanned aerial vehicle can be called the yaw direction of the unmanned aerial vehicle. There are two yaw directions indicated by the head of the unmanned aerial vehicle, one is the horizontal direction of the head direction, and the other is the horizontal direction away from the head direction. Correspondingly, the unmanned aerial vehicle receives the pitch control stick amount, and controls the unmanned aerial vehicle to fly along the first yaw direction indicated by the head of the unmanned aerial vehicle according to the pitch control stick amount, or controls the unmanned aerial vehicle to fly along the second yaw direction indicated by the head of the unmanned aerial vehicle according to the pitch control stick amount, and the second yaw direction deviates from the second yaw direction. For example, the user pushes the pitch control stick forward, and accordingly, the unmanned aerial vehicle controls the unmanned aerial vehicle to fly along the horizontal direction indicated by the head direction according to the pitch control stick amount. For example, the user pushes the pitch control stick backwards, and accordingly, the unmanned aerial vehicle controls the unmanned aerial vehicle to fly in the horizontal direction indicated by the nose facing away according to the amount of the pitch control stick.

[0071] If the user manipulates at least one of the yaw control stick and the roll control stick, for example, the user accidentally causes at least one of the yaw control stick and the roll control stick to generate a control stick amount, the control terminal sends the yaw control stick amount and / or the roll control stick amount to the unmanned aerial vehicle. Since the unmanned aerial vehicle is currently in a locked mode, it does not respond to the yaw control stick amount and the roll control stick amount in this mode. Therefore, when the unmanned aerial vehicle receives the yaw control stick amount and / or the roll control stick amount sent by the control terminal, the unmanned aerial vehicle will neither control the yaw direction of the unmanned aerial vehicle to change according to the yaw control stick amount, that is, it will not control the unmanned aerial vehicle to fly left or right; nor will the unmanned aerial vehicle control the roll direction of the unmanned aerial vehicle to change according to the roll control stick amount, that is, it will not control the unmanned aerial vehicle to roll left or right. In this way, it can be ensured that the unmanned aerial vehicle keeps flying in the horizontal direction indicated by the nose (the horizontal direction the nose is facing or the direction away from it).

[0072] Therefore, the control method of the unmanned aerial vehicle provided in this embodiment, after the unmanned aerial vehicle enters the lock mode, controls the unmanned aerial vehicle to fly in the first yaw direction indicated by the nose or the second yaw direction deviating from the first yaw direction in response to the received pitch control stick amount, and no longer responds to the received yaw control stick amount and roll control stick amount, so as to ensure that the unmanned aerial vehicle maintains the horizontal direction indicated by the nose and flies forward / backward in a straight line, avoids flight deviation caused by misoperation of the control stick, makes the flight of the unmanned aerial vehicle more in line with the user's expectations, and improves the user experience. Especially when applied to the plant protection industry, it can ensure that the unmanned aerial vehicle maintains flying along the planting direction of agricultural operations, and improves the operation accuracy.

[0073] In some embodiments, when the unmanned aerial vehicle receives the locking instruction sent by the control terminal, if the unmanned aerial vehicle is in a flight state, the flight state may refer to the state when the current flight speed of the unmanned aerial vehicle is not 0, then the unmanned aerial vehicle obtains the horizontal speed direction indicated by the current speed, and adjusts the yaw orientation of the nose of the unmanned aerial vehicle to this horizontal speed direction. Then perform the above S502. Keep the yaw orientation of the nose consistent with the horizontal speed direction indicated by the current speed to avoid flight deviation and improve the accuracy of the unmanned aerial vehicle during flight.

[0074] If the unmanned aerial vehicle is in a hover state, the hover state may refer to the state when the current flight speed of the unmanned aerial vehicle is 0, then the user can determine the heading of the unmanned aerial vehicle through the nose auxiliary line on the unmanned aerial vehicle, or without adjusting the heading of the unmanned aerial vehicle, and then perform the above S502.

[0075] In some embodiments, when the unmanned aerial vehicle is in the locked mode, the unmanned aerial vehicle can respond to the received throttle control lever amount. If the user manipulates the throttle control lever, the control terminal sends the corresponding throttle control lever amount to the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle receives the throttle control lever amount, and the unmanned aerial vehicle controls the flight of the unmanned aerial vehicle according to the throttle control lever amount, such as controlling the unmanned aerial vehicle to ascend or descend. During this process, it will not affect the horizontal direction indicated by the nose of the unmanned aerial vehicle, nor will it cause deviation in the heading of the unmanned aerial vehicle. Therefore, on the premise of ensuring that the heading of the unmanned aerial vehicle does not deviate, the diversified and flexible control of the unmanned aerial vehicle is realized, and the user experience is improved.

[0076] In Figure 5 Based on the illustrated embodiment, Figure 6 is a flowchart of a control method for an unmanned aerial vehicle provided by another embodiment of the present application. As Figure 6 shown, the method of this embodiment further includes the following after executing the above S501:

[0077] S601. Obtain an unlocking instruction and control the unmanned aerial vehicle to exit the locked mode.

[0078] In this embodiment, when the unmanned aerial vehicle is in the locked mode, if an unlocking instruction is obtained, the unmanned aerial vehicle is controlled to exit the locked mode.

[0079] In one implementation, the unmanned aerial vehicle receives an unlocking instruction sent by the control terminal. When the user wants to control the unmanned aerial vehicle to exit the above-mentioned locking mode, the user can perform an unlocking operation on the control terminal. Accordingly, the control terminal detects the user's unlocking operation. For example, the user touches the unlocking control displayed on the display device of the control terminal (such as clicking the icon of the unlocking control). Accordingly, the control terminal generates an unlocking instruction according to the detected touch operation of the user on the unlocking control and sends it to the unmanned aerial vehicle. Another example is that the user operates the physical button of the control terminal for controlling the unmanned aerial vehicle to exit the locking mode (the physical button can be a button on the remote controller of the control terminal, or a button on the terminal device of the control terminal), and the physical button can be set as a shortcut key for exiting the locking mode. Accordingly, the control terminal generates an unlocking instruction according to the detected operation of the user on the physical button and sends it to the unmanned aerial vehicle. Accordingly, the unmanned aerial vehicle receives the unlocking instruction sent by the control terminal. Therefore, the user can control the unmanned aerial vehicle to exit the locking mode at any time, improving the flexibility of operation and the user experience.

[0080] In another implementation, when the unmanned aerial vehicle is in a preset state, an unlocking instruction is generated. The preset state can be an emergency state such as the braking state of the unmanned aerial vehicle or the obstacle avoidance state of the unmanned aerial vehicle. In these states, the unmanned aerial vehicle does not need to maintain straight flight and needs to exit the locking mode to ensure the flight safety of the unmanned aerial vehicle and avoid damage to the unmanned aerial vehicle.

[0081] Optionally, after the unmanned aerial vehicle obtains the unlocking instruction, it can set the locking mode flag bit to indicate that the unmanned aerial vehicle is not in the locking mode. For example, the unmanned aerial vehicle sets the locking mode flag bit to 0 to indicate that the unmanned aerial vehicle exits the locking mode.

[0082] After exiting the locking mode, the unmanned aerial vehicle not only responds to the pitch control lever amount and fuel consumption control lever amount sent by the control terminal, but also can respond to the yaw control lever amount and roll control lever amount sent by the control terminal.

[0083] S602. After exiting the locking mode: when receiving the yaw control lever amount sent by the control terminal, control the flight of the unmanned aerial vehicle according to the yaw control lever amount; when receiving the roll control lever amount sent by the control terminal, control the flight of the unmanned aerial vehicle according to the roll control lever amount.

[0084] In this embodiment, after the UAV exits the locked mode, the user can operate the yaw control lever of the control terminal to control the left and right flight of the UAV. When the control terminal detects the user's operation on the yaw control lever, it obtains the corresponding yaw control lever amount according to the user's operation on the yaw control lever, and sends the yaw control lever amount to the UAV. The UAV controls its flight according to the yaw control lever amount, for example, controls the UAV to fly left or right to change the heading of the UAV.

[0085] The user can also operate the roll control lever of the control terminal to control the left and right flight of the UAV. When the control terminal detects the user's operation on the roll control lever, it obtains the corresponding roll control lever amount according to the user's operation on the roll control lever, and sends the roll control lever amount to the UAV. The UAV controls its flight according to the roll control lever amount, for example, controls the UAV to fly and roll left or right.

[0086] Therefore, for the UAV control method provided in this embodiment, after the UAV enters the locked mode, the UAV exits the locked mode according to the unlocking instruction sent by the control terminal. After exiting the locked mode, it can respond to the received yaw control lever amount and roll control lever amount to change the heading of the UAV and control the UAV to roll left / right, so as to control the UAV to fly in any direction, improve the flexibility of controlling the UAV, and improve the user experience.

[0087] Figure 7 It is a flowchart of the UAV control method provided in another embodiment of the present application. As Figure 7 shown, the method of this embodiment may include:

[0088] S701: If the control lever amounts sent by the control terminal are continuously received within a preset duration after the start of the first moment, determine the first target speed of the UAV according to at least one control lever amount received within the preset duration.

[0089] In this embodiment, the control terminal includes a control lever. When a user wants to control the flight speed of the unmanned aerial vehicle, the user can operate the control lever of the control terminal. Correspondingly, the control terminal detects the operation of the control lever by the user, generates a corresponding control lever quantity according to the detected operation of the control lever by the user, and sends the control lever quantity to the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle receives the control lever quantity sent by the control terminal. Here, a moment when the unmanned aerial vehicle receives the control lever quantity sent by the control terminal is referred to as the first moment, and starting from this first moment, the unmanned aerial vehicle continuously receives the control lever quantity sent by the control terminal, and the duration of continuously receiving the control lever quantity can be timed. If the duration of continuously receiving the control lever quantity starting from the first moment is equal to a preset duration, for example, the preset duration is 3 s, which means that the control lever quantity sent by the control terminal is continuously received within the preset duration after the first moment, then the unmanned aerial vehicle determines the target speed of the unmanned aerial vehicle according to at least one control lever quantity received within the preset duration, which is referred to as the first target speed here.

[0090] S702. Control the unmanned aerial vehicle to fly at the first target speed.

[0091] In this embodiment, after determining the first target speed of the unmanned aerial vehicle, control the unmanned aerial vehicle to fly at the first target speed. Specifically, it is to control the unmanned aerial vehicle to fly at the first target speed after the above-mentioned preset duration from the first moment.

[0092] That is, when the user wants to control the unmanned aerial vehicle to fly at a constant speed, the user can keep the control lever staying at a certain position for a preset duration. Correspondingly, the unmanned aerial vehicle flies at a constant speed at a corresponding speed.

[0093] Among them, during the process of controlling the unmanned aerial vehicle to fly at the first target speed after determining the first target speed of the unmanned aerial vehicle, if the user operates the control lever back to the zero position, the control terminal sends the control lever quantity corresponding to the zero position to the unmanned aerial vehicle, and the unmanned aerial vehicle does not respond to the control lever quantity corresponding to the zero position, but continues to fly at the first target speed.

[0094] Therefore, for the control method of the unmanned aerial vehicle provided in this embodiment, when the user wants to control the unmanned aerial vehicle to fly at a constant speed, the user can continuously manipulate the control lever for a preset duration starting from the first moment. Correspondingly, the unmanned aerial vehicle continuously receives the control lever quantity sent by the control terminal within the preset duration after the first moment, then determines the first target speed of the unmanned aerial vehicle according to at least one control lever quantity received within the preset duration, and keeps flying at this first target speed, achieving the purpose of flying at a constant speed. There is no need for the user to manipulate the control lever for a long time, and there is no need to continuously push the lever, reducing the flight fatigue and continuous operation of beyond visual line of sight flight, avoiding accidental manipulation and crashing accidents, ensuring the flight safety of the unmanned aerial vehicle, and improving the user experience.

[0095] Optionally, the above-mentioned control lever amount includes at least one of a pitch control lever amount and a roll control lever amount. The pitch control lever amount is the amount generated when the control terminal detects that the user manipulates the pitch control lever, and the roll control lever amount is the amount generated when the control terminal detects that the user manipulates the roll control lever. These amounts all affect the flight speed of the unmanned aerial vehicle.

[0096] Optionally, the above-mentioned control lever amount may include a throttle control lever amount.

[0097] In some embodiments, a possible implementation of S701 is as follows: If control lever amounts sent by the control terminal are continuously received within a preset duration after the start of the first moment and the multiple control lever amounts received within the preset duration meet a preset convergence condition, then a first target speed is determined according to at least one of the control lever amounts received within the preset duration.

[0098] In this embodiment, the unmanned aerial vehicle continuously receives control lever amounts sent by the control terminal within a preset duration after the start of the first moment, and determines whether the multiple control lever amounts received within the preset duration meet the preset convergence condition. If the multiple control lever amounts received within the preset duration meet the preset convergence condition, it indicates that the user has basically not pushed the control lever within the preset duration, the control lever has basically remained in the same position within the preset duration, and the user expects the flight speed of the unmanned aerial vehicle to remain unchanged. Then, the unmanned aerial vehicle determines the first target speed according to at least one of the control lever amounts received within the preset duration. If the multiple control lever amounts received within the preset duration do not meet the preset convergence condition, it indicates that the user is still pushing the control lever within the preset duration, the control lever has not remained in the same position within the preset duration, and the user is still adjusting the flight speed of the unmanned aerial vehicle. Then, the unmanned aerial vehicle determines the flight speed according to the current control lever amount in real time.

[0099] Optionally, determining whether the multiple control lever amounts received within the preset duration meet the preset convergence condition is, for example: determining that the difference between the multiple control lever amounts received within the preset duration is less than a preset difference threshold. If the difference is less than the preset difference threshold, it indicates that the multiple control lever amounts received within the preset duration meet the preset convergence condition. If the difference is not less than the preset difference threshold, it indicates that the multiple control lever amounts received within the preset duration do not meet the preset convergence condition.

[0100] Among them, a possible implementation of determining the first target speed according to at least one of the control lever amounts received within the preset duration is: determining an average control lever amount among the multiple control lever amounts within the preset duration, and determining the first target speed according to the average control lever amount.

[0101] Another possible implementation of determining the first target speed based on at least one joystick amount received within a preset duration: Determine the median joystick amount among the multiple joystick amounts within the preset duration, and determine the first target speed based on the median joystick amount.

[0102] Another possible implementation of determining the first target speed based on at least one joystick amount received within a preset duration: Determine the first target speed based on the last received joystick amount within the preset duration.

[0103] Therefore, through the above various methods, the determined first target speed is closer to the user's desired speed.

[0104] In some embodiments, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, if the user wants to control the unmanned aerial vehicle to fly at a constant speed at another speed, the user can operate the joystick of the control terminal starting from the second moment. Correspondingly, the control terminal detects the user's operation on the joystick, generates a corresponding joystick amount according to the detected user's operation on the joystick, and sends the joystick amount to the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle receives the joystick amount sent by the control terminal. And starting from this second moment, the unmanned aerial vehicle continuously receives the joystick amount sent by the control terminal. If the control terminal sends the joystick amount continuously within a preset duration starting from the first moment, the unmanned aerial vehicle determines the target speed of the unmanned aerial vehicle, herein referred to as the second target speed, based on at least one joystick amount received within the preset duration, and then the unmanned aerial vehicle controls the unmanned aerial vehicle to fly at the second target speed. Thus, the purpose of changing the constant speed of the unmanned aerial vehicle is achieved, the flexibility of the user's operation during the constant speed flight of the unmanned aerial vehicle is improved, and the user experience is improved.

[0105] In some other embodiments, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, it no longer responds to the received joystick amount of the unmanned aerial vehicle. In this embodiment, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, no matter how the user manipulates the joystick, the control terminal sends the corresponding joystick amount to the unmanned aerial vehicle, and the unmanned aerial vehicle also does not respond to the received joystick amount and still flies at the first target speed. Therefore, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, the effect of constant speed flight is prevented from being affected by the user's accidental operation of the joystick.

[0106] In Figure 7Based on the illustrated embodiments and related embodiments, before the UAV executes the above S701, the user can operate the control terminal to make the UAV enter the constant speed mode. When the user wants to control the UAV to enter the constant speed mode, the user can perform an operation to enter the constant speed mode on the control terminal. Correspondingly, the control terminal detects the user's operation to enter the constant speed mode. For example, the user touches the constant speed mode entry control displayed on the display device of the control terminal (such as clicking the icon of the constant speed mode entry control). Correspondingly, the control terminal generates the first constant speed information according to the detected touch operation of the user on the constant speed mode entry control and sends it to the UAV. Another example is that the user operates the physical button of the control terminal for controlling the UAV to enter the constant speed mode (this physical button can be a button on the remote controller of the control terminal or a button on the terminal device of the control terminal), and this physical button can be set as a shortcut key for entering the constant speed mode. Correspondingly, the control terminal generates the first constant speed mode information instruction according to the detected operation of the user on this physical button and sends it to the UAV.

[0107] Correspondingly, the UAV receives the first constant speed mode information sent by the control terminal and, in response to this first constant speed mode information, controls the UAV to enter the constant speed mode. Among them, how to control the UAV to enter the constant speed mode can refer to the implementation solution for controlling the UAV to enter the locked mode, and details will not be repeated here.

[0108] After the UAV is in the constant speed mode, the UAV then executes the above Figure 7 illustrated embodiments and related embodiments, and the specific implementation process will not be elaborated here.

[0109] In some embodiments, after the UAV is in the constant speed mode, if the second constant speed mode information is obtained, the UAV is controlled to exit the constant speed mode.

[0110] In one implementation, the unmanned aerial vehicle receives the second constant speed mode information sent by the control terminal. When the user wants to control the unmanned aerial vehicle to exit the above constant speed mode, the user can perform an operation to exit the constant speed mode on the control terminal. Accordingly, the control terminal detects the user's operation to exit the constant speed mode. For example, the user touches the constant speed mode exit control displayed on the display device of the control terminal (such as clicking on the icon of the constant speed mode exit control). Accordingly, the control terminal generates the second constant speed information according to the detected touch operation of the user on the constant speed mode exit control and sends it to the unmanned aerial vehicle. Another example is that the user operates the physical button on the control terminal for controlling the exit of the constant speed mode of the unmanned aerial vehicle (this physical button can be a button on the remote controller of the control terminal, or a button on the terminal device of the control terminal), and this physical button can be set as a shortcut key for exiting the constant speed mode. Accordingly, the control terminal generates the second constant speed information according to the detected operation of the user on this physical button and sends it to the unmanned aerial vehicle. Accordingly, the unmanned aerial vehicle receives the second constant speed information sent by the control terminal. Therefore, the user can control the unmanned aerial vehicle to exit the constant speed mode at any time, improving the flexibility of operation and the user experience.

[0111] In another implementation, when the unmanned aerial vehicle is in a preset state, the second constant speed information is generated. The preset state can be an emergency state such as the braking state of the unmanned aerial vehicle or the obstacle avoidance state of the unmanned aerial vehicle. In these states, in order to ensure the flight safety of the unmanned aerial vehicle, it is not necessary for the unmanned aerial vehicle to maintain a constant speed flight to avoid damage to the unmanned aerial vehicle.

[0112] Then, the unmanned aerial vehicle responds to the second constant speed mode information and controls the unmanned aerial vehicle to exit the constant speed mode. After exiting the locked mode, the unmanned aerial vehicle can update the flight speed in real time in response to the received control stick amount.

[0113] Different from the above Figure 7 shown embodiments and related embodiments, in some other embodiments, when the user manipulates the control stick to control the speed of the unmanned aerial vehicle, if the user expects to control the unmanned aerial vehicle to fly at a constant speed at the current speed, the user performs a target speed confirmation operation on the control terminal. Among them, the implementation scheme of the user performing the target speed confirmation operation can refer to the implementation schemes of the above operations such as the locking operation performed by the user, which will not be elaborated here. Accordingly, the control terminal detects the target speed confirmation operation, generates a target speed confirmation instruction and sends it to the unmanned aerial vehicle. The unmanned aerial vehicle receives the target speed confirmation instruction and, in response to this target speed confirmation instruction, determines the current flight speed of the unmanned aerial vehicle as the target speed. For example, in response to the target speed confirmation instruction, the target speed is determined according to the currently received control stick amount. Then the unmanned aerial vehicle controls the unmanned aerial vehicle to fly at this target speed to achieve the purpose of the unmanned aerial vehicle continuously flying at the current speed.

[0114] Figure 8 A flowchart of a control method for an unmanned aerial vehicle provided in another embodiment of the present application, as Figure 8 shown, the method of this embodiment may include:

[0115] S801. Receive the flight limit speed sent by the control terminal, where the flight limit speed is generated by the control terminal detecting the user's limit speed setting operation.

[0116] In this embodiment, when the user wants to control the unmanned aerial vehicle to enter the speed reduction mode, such as restricting the maximum flight speed of the unmanned aerial vehicle, the user can perform a limit speed setting operation on the control terminal. Correspondingly, the control terminal detects the user's limit speed setting operation. For example, the user touches the limit speed setting control displayed on the display device of the control terminal (such as clicking on the icon of the limit speed setting control). Correspondingly, the control terminal generates a flight limit speed according to the detected touch operation of the user on the limit speed setting control and sends it to the unmanned aerial vehicle. Another example is that the user operates the physical button for setting the limit speed of the unmanned aerial vehicle on the control terminal (the physical button can be a button on the remote controller of the control terminal or a button on the terminal device of the control terminal), and this physical button can be set as a shortcut key for limit speed setting. Correspondingly, the control terminal generates a flight limit speed according to the detected operation of the user on this physical button and sends it to the unmanned aerial vehicle. The flight limit speed can be pre-stored in the control terminal, or the flight limit speed can be set by the user. For example, the flight limit speed can be generated by the control terminal according to the current control stick amount when detecting the limit speed setting operation, or the flight limit speed is generated according to the speed value set by the user through the interaction device of the control terminal.

[0117] Correspondingly, the unmanned aerial vehicle receives the flight limit speed sent by the control terminal.

[0118] S802. In response to the received flight limit speed, limit the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed.

[0119] In this embodiment, in response to the received flight limit speed, the unmanned aerial vehicle limits the maximum flight speed of the unmanned aerial vehicle during flight to the above-mentioned received flight limit speed, so that the maximum value of the actual flight speed of the unmanned aerial vehicle during flight is not greater than the above-mentioned flight limit speed.

[0120] Therefore, for the control method of the unmanned aerial vehicle provided in this embodiment, when the user wants to limit the maximum flight speed of the unmanned aerial vehicle, the user can perform a speed limit setting operation on the control terminal. After the control terminal detects the speed limit setting operation, it sends the flight limit speed to the unmanned aerial vehicle. Correspondingly, in response to the received flight limit speed, the unmanned aerial vehicle limits the maximum flight speed during flight to the flight limit speed, achieving the purpose of limiting the speed of the unmanned aerial vehicle. Since the maximum flight speed of the unmanned aerial vehicle is limited to the flight limit speed in this embodiment, even if the user accidentally manipulates the control stick too hard, the flight speed will not be too fast, avoiding accidental operation and crashing accidents, ensuring the flight safety of the unmanned aerial vehicle, and improving the user experience.

[0121] In some embodiments, after the unmanned aerial vehicle receives the flight limit speed sent by the control terminal, the unmanned aerial vehicle can continue to respond to the received control stick amount. When the user wants to control the flight speed of the unmanned aerial vehicle, the user can manipulate the control stick of the control terminal. Correspondingly, the control terminal detects that the user manipulates the control stick, generates a corresponding control stick amount, and then sends the control stick amount to the unmanned aerial vehicle. The unmanned aerial vehicle responds to the control stick amount and determines the flight speed corresponding to the control stick amount according to the above-mentioned flight limit speed and the received control stick amount.

[0122] For example: If the maximum flight speed of the unmanned aerial vehicle before receiving the flight limit speed is 20 m / s, it means that when the user operates the control stick to make the corresponding control stick amount the maximum control stick amount, the flight speed of the unmanned aerial vehicle is 20 m / s. If the flight limit speed received by the unmanned aerial vehicle from the control terminal is 10 m / s, it means that when the user operates the control stick to make the corresponding control stick amount the maximum control stick amount, the flight speed of the unmanned aerial vehicle is 10 m / s. Therefore, according to the maximum control stick amount and the flight limit speed, the corresponding relationship between the control stick amount and the flight speed in the speed limit mode can be determined. Then the unmanned aerial vehicle receives the control stick amount from the control terminal, and determines the flight speed corresponding to the control stick amount according to the received control stick amount and the corresponding relationship between the control stick amount and the flight speed in the speed limit mode. Then, the unmanned aerial vehicle is controlled to fly at this flight speed. For example, if the received control stick amount is 1 / 2 of the maximum control stick amount, the determined flight speed is 1 / 2 of 10 m / s (i.e., 5 m / s), rather than 1 / 2 of 20 m / s (i.e., 10 m / s). Therefore, the flight speed is limited to half of the original. It should be noted that the above speed values are used for illustrative purposes and are not used to limit the scope of the embodiments of the present application.

[0123] Therefore, this embodiment not only limits the maximum flight speed, but also limits the flight speed within the entire range of the control stick amount, enabling the user to more accurately adjust the flight speed of the unmanned aerial vehicle.

[0124] In some embodiments, the UAV further obtains a speed limit release instruction, and in response to the speed limit release instruction, limits the maximum flight speed of the UAV during flight to the flight limit speed.

[0125] In one implementation, the unmanned aerial vehicle receives a speed limit release instruction sent by a control terminal. When a user wants to control the unmanned aerial vehicle to release the flight speed limit, the user can perform a speed limit release operation on the control terminal, and accordingly, the control terminal detects the user's speed limit release operation. For example, the user touches the speed limit release control displayed on the display device of the control terminal (such as clicking the icon of the speed limit release control). Accordingly, the control terminal generates a speed limit release instruction and sends it to the unmanned aerial vehicle based on the user's touch operation on the speed limit release control. For another example, the user operates a physical button of the control terminal for controlling the unmanned aerial vehicle to release the flight speed limit (the physical button can be a button on the remote control of the control terminal, or a button on the terminal device of the control terminal), and the physical button can be set as a shortcut key for releasing the flight speed limit. Accordingly, the control terminal generates a unlock instruction and sends it to the unmanned aerial vehicle based on the user's operation on the physical button detected. Accordingly, the unmanned aerial vehicle receives the speed limit release instruction sent by the control terminal. Therefore, the user can control the unmanned aerial vehicle to release the flight speed limit at any time, improve the flexibility of operation, improve the user experience, and make it easier for novice users to operate.

[0126] In another implementation, when the UAV is in a preset state, a speed limit release instruction is generated. The preset state may be a braking state of the UAV, or an emergency state such as an obstacle avoidance state of the UAV, in which the UAV does not need to continue to limit the flight speed, and the UAV needs to release the flight speed limit to ensure the flight safety of the UAV and avoid damage to the UAV.

[0127] Accordingly, after the UAV obtains the speed limit release instruction, the maximum flight speed of the UAV during flight is limited to the flight limit speed. Then the UAV receives the control stick amount and is no longer limited by the above flight limit speed. For example, when the user operates the control stick to make the control stick amount reach the maximum control stick amount, the corresponding UAV flight speed is no longer 10m / s, but 20m / s.

[0128] It should be noted that any of the above embodiments may be implemented alone, or at least two of the above embodiments may be implemented in any combination, without limitation. Figure 5 Any of the embodiments shown and related embodiments can be used with Figure 7 The illustrated embodiments and any of the related embodiments may be implemented in combination.Figure 5 Any one of the illustrated embodiments and related embodiments can be combined with Figure 8 any one of the illustrated embodiments and related embodiments for implementation. Figure 7 Any one of the illustrated embodiments and related embodiments can be combined with Figure 8 any one of the illustrated embodiments and related embodiments for implementation. Figure 5 Any one of the illustrated embodiments and related embodiments, Figure 7 any one of the illustrated embodiments and related embodiments, and Figure 8 any one of the illustrated embodiments and related embodiments can be combined for implementation. In the scenario where the embodiments are combined with each other, the execution order of each embodiment is not limited.

[0129] In summary, the present application can effectively solve the three major pain points of easy coupling of the user operating the control stick in the manual operation mode, difficult to fly straight / easy to get fatigued in operation, easy to crash due to accidental touch / difficult for beginners to get started, and many flight attentions through three manual enhancement modes of the locking mode, constant speed mode, and speed limit mode, greatly improving the flight safety and flight experience of manual operation, significantly reducing the manual operation difficulty and the risk of crashing due to misoperation, and making the unmanned aerial vehicle easier to operate, easier to get started, and easier to fly.

[0130] Among them, the locking mode, constant speed mode, and speed limit mode can be independent of each other, and can cooperate with each other according to the actual situation, and multiple manual enhancement modes can be enabled simultaneously.

[0131] The embodiment of the present application also provides a computer storage medium, in which program instructions are stored, and when the program is executed, it may include some or all of the steps of the control method of the unmanned aerial vehicle in any of the above embodiments.

[0132] Figure 9 is a schematic structural diagram of a control device of an unmanned aerial vehicle provided by an embodiment of the present application. As Figure 9 shown, the control device 900 of the unmanned aerial vehicle in this embodiment may include: a communication device 901 and a processor 902.

[0133] In some embodiments, the communication device 901 is configured to receive a locking instruction sent by a control terminal, and receive the pitch control lever amount, yaw control lever amount, and roll control lever amount sent by the control terminal.

[0134] The processor 902 is configured to, when the communication device 901 receives a locking instruction sent by a control terminal, control the unmanned aerial vehicle to enter the locking mode, where the locking instruction is generated by the control terminal detecting the user's locking operation; in the locking mode:[[]]

[0135] When the communication device 901 receives the pitch control lever amount sent by the control terminal, it controls the unmanned aerial vehicle to fly along the first yaw direction or the second yaw direction indicated by the nose of the unmanned aerial vehicle according to the pitch control lever amount, where the second yaw direction is away from the first yaw direction;

[0136] It does not respond to the yaw control lever amount and the roll control lever amount sent by the control terminal received by the communication device 901.

[0137] Optionally, the communication device 901 is further configured to receive the throttle control lever amount sent by the control terminal. The processor 902 is further configured to control the flight of the unmanned aerial vehicle according to the throttle control lever amount when the communication device 901 receives the throttle control lever amount sent by the control terminal.

[0138] Optionally, the processor 902 is further configured to obtain an unlocking instruction and control the unmanned aerial vehicle to exit the locked mode. After exiting the locked mode:

[0139] When the communication device 901 receives the yaw control lever amount sent by the control terminal, it controls the flight of the unmanned aerial vehicle according to the yaw control lever amount;

[0140] When the communication device 901 receives the roll control lever amount sent by the control terminal, it controls the flight of the unmanned aerial vehicle according to the roll control lever amount.

[0141] Optionally, when obtaining the unlocking instruction, the processor 902 is specifically configured to:

[0142] Receive the unlocking instruction sent by the control terminal through the communication device 901, where the unlocking instruction is generated by the control terminal detecting the user's unlocking operation.

[0143] Optionally, when obtaining the unlocking instruction, the processor 902 is specifically configured to:

[0144] Generate an unlocking instruction when the unmanned aerial vehicle is in a preset state.

[0145] Optionally, when the communication device 901 receives the locking instruction sent by the control terminal, if the unmanned aerial vehicle is in a flying state, the processor 902 is further configured to obtain the horizontal speed direction indicated by the current speed of the unmanned aerial vehicle and adjust the yaw direction of the nose of the unmanned aerial vehicle to the horizontal speed direction.

[0146] Optionally, the processor 902 is further configured to:

[0147] If the communication device 901 continuously receives the control stick amounts sent by the control terminal within a preset time period after the start of the first moment, determine the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period. Control the unmanned aerial vehicle to fly at the first target speed.

[0148] Optionally, the control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

[0149] Optionally, the processor 902 is specifically configured to:

[0150] If the communication device 901 continuously receives the control stick amounts sent by the control terminal within a preset time period after the start of the first moment and the multiple control stick amounts received within the preset time period meet the preset convergence condition, determine the first target speed according to at least one control stick amount received within the preset time period.

[0151] Optionally, when the processor 902 determines the first target speed according to at least one control stick amount received within the preset time period, it is specifically configured to:

[0152] Determine the average control stick amount or the median control stick amount among the multiple control stick amounts within the preset time period;

[0153] Determine the first target speed according to the average control stick amount or the median control stick amount.

[0154] Optionally, the processor 902 is specifically configured to: determine the first target speed according to the last received control stick amount of the communication device within the preset time period.

[0155] Optionally, the processor 902 is further configured to:

[0156] If the communication device 901 continuously receives the control stick amounts sent by the control terminal within a preset time period after the start of the second moment, determine the second target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period;

[0157] Control the unmanned aerial vehicle to fly at the second target speed.

[0158] Optionally, the processor 902 is further configured to, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, no longer respond to the received control stick amounts of the unmanned aerial vehicle.

[0159] Optionally, the communication device 901 is further configured to obtain first constant speed mode information sent by a control terminal, wherein the first constant speed mode information is generated by the control terminal detecting a user's constant speed mode entry operation. The processor 902 is further configured to control the unmanned aerial vehicle to enter the constant speed mode in response to the first constant speed mode information.

[0160] When the communication device 901 continuously receives the control stick amount sent by the control terminal within a preset time period after the first moment, the processor 902 determines the target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period, specifically for:

[0161] If the UAV is in a constant speed mode and the communication device 901 continuously receives the control stick amount sent by the control terminal within a preset time period after the first moment, the target speed of the UAV is determined according to at least one control stick amount received within the preset time period.

[0162] Optionally, the processor 902 is further used to obtain second constant speed mode information sent by the control terminal, wherein the second constant speed mode information is generated by the control terminal detecting a user's constant speed mode exit operation, or the second constant speed mode information is generated when the unmanned aerial vehicle is in a preset state; in response to the second constant speed mode information, the unmanned aerial vehicle is controlled to exit the constant speed mode.

[0163] Optionally, the communication device 901 is further used to receive a flight speed limit sent by a control terminal, wherein the flight speed limit is generated by the control terminal detecting a user's speed limit setting operation.

[0164] The processor 902 is further configured to, in response to the flight speed limit received by the communication device 901, limit the maximum flight speed of the unmanned aerial vehicle during flight to the flight speed limit.

[0165] Optionally, the processor 902 is further configured to:

[0166] Determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal;

[0167] The unmanned aerial vehicle is controlled to fly at the flight speed.

[0168] Optionally, the processor 902 is further configured to:

[0169] Get the instruction to release the speed limit;

[0170] In response to the speed limit release instruction, the restriction on the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed is released.

[0171] Optionally, when acquiring the speed limit release instruction, the processor 902 is specifically configured to:

[0172] The communication device 901 receives a speed limit release instruction sent by the control terminal, wherein the speed limit release instruction is generated by the control terminal detecting a speed limit release operation of a user.

[0173] Optionally, when acquiring the speed limit release instruction, the processor 902 is specifically used to: generate a speed limit release instruction when the unmanned aerial vehicle is in a preset state.

[0174] In some other embodiments, the communication device 901 is used to receive the control stick amount sent by the control terminal. The processor 902 is used to determine the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period if the communication device 901 continuously receives the control stick amount sent by the control terminal within the preset time period after the first moment; and control the unmanned aerial vehicle to keep flying at the first target speed.

[0175] Optionally, the control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

[0176] Optionally, the processor 902 is specifically configured to:

[0177] If the communication device 901 continuously receives the control lever amount sent by the control terminal within a preset time period after the first moment and the multiple control lever amounts received within the preset time period meet the preset convergence condition, the first target speed is determined according to at least one control lever amount received within the preset time period.

[0178] Optionally, when determining the target speed according to at least one control stick quantity received within the preset time period, the processor 902 is specifically configured to:

[0179] Determine an average control stick amount or a median control stick amount among a plurality of control stick amounts within the preset time period;

[0180] The target speed is determined according to the average control lever amount or the median control lever amount.

[0181] Optionally, when determining the target speed according to at least one control lever quantity received within the preset time period, the processor 902 is specifically configured to: determine the target speed according to a control lever quantity received last within the preset time period.

[0182] Optionally, the processor 902 is further configured to:

[0183] If the communication device 901 continuously receives control stick amounts sent by the control terminal within a preset duration after the start of the second moment, determine a second target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset duration; control the unmanned aerial vehicle to fly at the second target speed.

[0184] Optionally, the processor 902 is further configured to, during the process of controlling the unmanned aerial vehicle to fly at the target speed, no longer respond to the control stick amount of the unmanned aerial vehicle obtained.

[0185] Optionally, the processor 902 is further configured to: obtain first constant speed mode information sent by the control terminal, where the first constant speed mode information is generated by the control terminal detecting a user's operation to enter the constant speed mode; in response to the first constant speed mode, control the unmanned aerial vehicle to enter the constant speed mode.

[0186] When the processor 902 determines the target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset duration if the communication device 901 continuously receives control stick amounts sent by the control terminal within a preset duration after the start of the first moment, it is specifically configured to:

[0187] If the unmanned aerial vehicle is in the constant speed mode and the communication device 901 continuously receives control stick amounts sent by the control terminal within a preset duration after the start of the first moment, determine the target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset duration.

[0188] Optionally, the processor 902 is further configured to:

[0189] Obtain second constant speed mode information sent by the control terminal through the communication device 901, where the second constant speed mode information is generated by the control terminal detecting a user's operation to exit the constant speed mode, or when the unmanned aerial vehicle is in a preset state, generate the second constant speed mode information;

[0190] In response to the second constant speed mode information, control the unmanned aerial vehicle to exit the constant speed mode.

[0191] Optionally, the communication device 901 is further configured to receive a locking instruction, a pitch control stick amount, a yaw control stick amount, and a roll control stick amount sent by the control terminal.

[0192] The processor 902 is further configured to control the unmanned aerial vehicle to enter a locking mode when the communication device 901 receives a locking instruction sent by the control terminal, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user; in the locking mode:

[0193] When the communication device 901 receives the pitch control stick amount sent by the control terminal, the unmanned aerial vehicle is controlled to fly along the first yaw orientation or the second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation;

[0194] The communication device 901 does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

[0195] Optionally, the communication device 901 is also used to receive the throttle control lever value sent by the control terminal.

[0196] The processor 902 is further configured to control the flight of the unmanned aerial vehicle according to the throttle control stick value when the communication device 901 receives the throttle control stick value sent by the control terminal.

[0197] Optionally, the processor 902 is further configured to: obtain a release instruction to control the UAV to exit a lock mode; after exiting the lock mode:

[0198] When the communication device 901 receives the yaw control stick value sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the yaw control stick value;

[0199] When the communication device 901 receives the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the roll control stick amount.

[0200] Optionally, when acquiring the unlock instruction, the processor 902 is specifically configured to:

[0201] The unlocking instruction sent by the control terminal is received through the communication device 901, wherein the unlocking instruction is generated by the control terminal when detecting the unlocking operation of the user.

[0202] Optionally, when acquiring the unlock instruction, the processor 902 is specifically configured to:

[0203] When the unmanned aerial vehicle is in a preset state, an unlocking instruction is generated.

[0204] Optionally, the processor 902 is also used to: when the communication device 901 receives a locking command sent by the control terminal, if the unmanned aerial vehicle is in a flight state, obtain the horizontal speed direction indicated by the current speed direction of the unmanned aerial vehicle, and adjust the yaw direction of the nose of the unmanned aerial vehicle to the horizontal speed direction.

[0205] Optionally, the communication device 901 is further configured to receive a flight speed limit sent by a control terminal, wherein the flight speed limit is generated by the control terminal detecting a speed limit setting operation of a user. The processor 902 is further configured to, in response to the flight speed limit received by the communication device 901, limit the maximum flight speed of the unmanned aerial vehicle during flight to the flight speed limit.

[0206] Optionally, the processor 902 is further used to: determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal through the communication device 901; and control the unmanned aerial vehicle to fly at the flight speed.

[0207] Optionally, the processor 902 is further used to: obtain a speed limit release instruction; and in response to the speed limit release instruction, release the restriction on limiting the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed.

[0208] Optionally, when acquiring the speed limit release instruction, the processor 902 is specifically used to: receive the speed limit release instruction sent by the control terminal through the communication device 901, wherein the speed limit release instruction is generated by the control terminal detecting the user's speed limit release operation.

[0209] Optionally, when acquiring the speed limit release instruction, the processor 902 is specifically used to: generate a speed limit release instruction when the unmanned aerial vehicle is in a preset state.

[0210] Optionally, the control device 900 of the unmanned aerial vehicle of this embodiment may further include a memory (not shown in the figure). The memory is used to store program codes. The processor 902 calls the program codes, and when the program codes are executed, they are used to implement the above methods.

[0211] The control device of the unmanned aerial vehicle of this embodiment can be used to execute the technical solutions of the above-mentioned method embodiments of this application. Its implementation principles and technical effects are similar and will not be repeated here.

[0212] The present application provides an unmanned aerial vehicle, which includes a control device for the unmanned aerial vehicle. The control device for the unmanned aerial vehicle can be used Figure 9The structure of the illustrated embodiment can correspondingly execute the technical solution provided by any of the above-mentioned method embodiments, which will not be described in detail here.

[0213] Figure 10 A schematic diagram of the structure of an unmanned aerial vehicle provided in another embodiment of the present application is shown in FIG. Figure 10 As shown, the UAV 1000 of this embodiment includes: a communication device 1001 and a processor 1002 .

[0214] In some embodiments, the communication device 1001 is used to receive a locking instruction sent by a control terminal, and receive a pitch control stick amount, a yaw control stick amount, and a roll control stick amount sent by the control terminal.

[0215] The processor 1002 is configured to control the unmanned aerial vehicle 1000 to enter a locking mode when the communication device 1001 receives a locking instruction sent by the control terminal, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user; in the locking mode:

[0216] When the communication device 1001 receives the pitch control stick amount sent by the control terminal, the unmanned aerial vehicle 1000 is controlled to fly along the first yaw orientation or the second yaw orientation indicated by the nose of the unmanned aerial vehicle 1000 according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation;

[0217] The communication device 1001 does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

[0218] Optionally, the communication device 1001 is further configured to receive a throttle control lever amount sent by the control terminal. The processor 1002 is further configured to control the flight of the unmanned aerial vehicle 1000 according to the throttle control lever amount when the communication device 1001 receives the throttle control lever amount sent by the control terminal.

[0219] Optionally, the processor 1002 is further configured to obtain a unlock instruction to control the UAV 1000 to exit the lock mode. After exiting the lock mode:

[0220] When the communication device 1001 receives the yaw control rod value sent by the control terminal, the flight of the unmanned aerial vehicle 1000 is controlled according to the yaw control rod value;

[0221] When the communication device 1001 receives the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle 1000 is controlled according to the roll control stick amount.

[0222] Optionally, when acquiring the unlock instruction, the processor 1002 is specifically configured to:

[0223] Receive the unlocking instruction sent by the control terminal through the communication device 1001, where the unlocking instruction is generated by the control terminal detecting the user's unlocking operation.

[0224] Optionally, when obtaining the unlocking instruction, the processor 1002 is specifically configured to:

[0225] Generate an unlocking instruction when the unmanned aerial vehicle 1000 is in a preset state.

[0226] Optionally, the processor 1002 is further configured to, when the communication device 1001 receives a locking instruction sent by the control terminal, if the unmanned aerial vehicle 1000 is in a flying state, obtain the horizontal speed direction indicated by the current speed of the unmanned aerial vehicle 1000, and adjust the yaw orientation of the nose of the unmanned aerial vehicle 1000 to the horizontal speed direction.

[0227] Optionally, the processor 1002 is further configured to:

[0228] If the communication device 1001 continuously receives control stick amounts sent by the control terminal within a preset duration after the start of the first moment, determine the first target speed of the unmanned aerial vehicle 1000 according to at least one control stick amount received within the preset duration. Control the unmanned aerial vehicle 1000 to fly at the first target speed.

[0229] Optionally, the control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

[0230] Optionally, the processor 1002 is specifically configured to:

[0231] If the communication device 1001 continuously receives control stick amounts sent by the control terminal within a preset duration after the start of the first moment and the multiple control stick amounts received within the preset duration meet a preset convergence condition, determine the first target speed according to at least one control stick amount received within the preset duration.

[0232] Optionally, when the processor 1002 determines the first target speed according to at least one control stick amount received within the preset duration, it is specifically configured to:

[0233] Determine the average control stick amount or the median control stick amount among the multiple control stick amounts within the preset duration;

[0234] Determine the first target speed according to the average control stick amount or the median control stick amount.

[0235] Optionally, the processor 1002 is specifically configured to: determine the first target speed according to the last joystick amount received by the communication device within the preset duration.

[0236] Optionally, the processor 1002 is further configured to:

[0237] If the communication device 1001 continuously receives joystick amounts sent by the control terminal within the preset duration after the start of the second moment, then determine the second target speed of the unmanned aerial vehicle 1000 according to at least one joystick amount received within the preset duration;

[0238] Control the unmanned aerial vehicle 1000 to fly at the second target speed.

[0239] Optionally, the processor 1002 is further configured to, during the process of controlling the unmanned aerial vehicle 1000 to fly at the first target speed, no longer respond to the joystick amount of the received unmanned aerial vehicle 1000.

[0240] Optionally, the communication device 1001 is further configured to obtain first constant speed mode information sent by the control terminal, where the first constant speed mode information is generated by the control terminal detecting the user's operation of entering the constant speed mode. The processor 1002 is further configured to, in response to the first constant speed mode information, control the unmanned aerial vehicle 1000 to enter the constant speed mode.

[0241] When the processor 1002 determines the target speed of the unmanned aerial vehicle 1000 according to at least one joystick amount received within the preset duration if the communication device 1001 continuously receives joystick amounts sent by the control terminal within the preset duration after the start of the first moment, it is specifically configured to:

[0242] If the unmanned aerial vehicle 1000 is in the constant speed mode and the communication device 1001 continuously receives joystick amounts sent by the control terminal within the preset duration after the start of the first moment, then determine the target speed of the unmanned aerial vehicle 1000 according to at least one joystick amount received within the preset duration.

[0243] Optionally, the processor 1002 is further configured to obtain second constant speed mode information sent by the control terminal, where the second constant speed mode information is generated by the control terminal detecting the user's operation of exiting the constant speed mode, or is generated when the unmanned aerial vehicle 1000 is in a preset state; in response to the second constant speed mode information, control the unmanned aerial vehicle 1000 to exit the constant speed mode.

[0244] Optionally, the communication device 1001 is further used to receive a flight speed limit sent by a control terminal, wherein the flight speed limit is generated by the control terminal detecting a user's speed limit setting operation.

[0245] The processor 1002 is further configured to, in response to the flight speed limit received by the communication device 1001, limit the maximum flight speed of the unmanned aerial vehicle 1000 during flight to the flight speed limit.

[0246] Optionally, the processor 1002 is further configured to:

[0247] Determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal;

[0248] The unmanned aerial vehicle 1000 is controlled to fly at the flight speed.

[0249] Optionally, the processor 1002 is further configured to:

[0250] Get the instruction to release the speed limit;

[0251] In response to the speed limit release instruction, the restriction on the maximum flight speed of the unmanned aerial vehicle 1000 during flight being limited to the flight limit speed is released.

[0252] Optionally, when acquiring the speed limit release instruction, the processor 1002 is specifically configured to:

[0253] The communication device 1001 receives a speed limit release instruction sent by the control terminal, wherein the speed limit release instruction is generated by the control terminal detecting a speed limit release operation of a user.

[0254] Optionally, when acquiring the speed limit release instruction, the processor 1002 is specifically used to: generate a speed limit release instruction when the unmanned aerial vehicle 1000 is in a preset state.

[0255] In some other embodiments, the communication device 1001 is used to receive the control stick amount sent by the control terminal. The processor 1002 is used to determine the first target speed of the unmanned aerial vehicle 1000 according to at least one control stick amount received within the preset time period after the communication device 1001 continuously receives the control stick amount sent by the control terminal within the preset time period after the first moment; and control the unmanned aerial vehicle 1000 to keep flying at the first target speed.

[0256] Optionally, the control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

[0257] Optionally, the processor 1002 is specifically configured to:

[0258] If the communication device 1001 continuously receives control lever amounts sent by the control terminal within a preset duration after the start of the first moment and the multiple control lever amounts received within the preset duration meet a preset convergence condition, then determine the first target speed according to at least one of the control lever amounts received within the preset duration.

[0259] Optionally, when the processor 1002 determines the target speed according to at least one of the control lever amounts received within the preset duration, it is specifically configured to:

[0260] Determine the average control lever amount or the median control lever amount among the multiple control lever amounts within the preset duration;

[0261] Determine the target speed according to the average control lever amount or the median control lever amount.

[0262] Optionally, when the processor 1002 determines the target speed according to at least one of the control lever amounts received within the preset duration, it is specifically configured to: determine the target speed according to the last received control lever amount within the preset duration.

[0263] Optionally, the processor 1002 is further configured to:

[0264] If the communication device 1001 continuously receives control lever amounts sent by the control terminal within a preset duration after the start of the second moment, then determine the second target speed of the unmanned aerial vehicle 1000 according to at least one of the control lever amounts received within the preset duration; control the unmanned aerial vehicle 1000 to fly at the second target speed.

[0265] Optionally, the processor 1002 is further configured to, during the process of controlling the unmanned aerial vehicle 1000 to fly at the target speed, no longer respond to the control lever amounts of the unmanned aerial vehicle 1000 obtained.

[0266] Optionally, the processor 1002 is further configured to: obtain first constant speed mode information sent by the control terminal, where the first constant speed mode information is generated by the control terminal detecting a user's operation to enter the constant speed mode; in response to the first constant speed mode, control the unmanned aerial vehicle 1000 to enter the constant speed mode.

[0267] When the processor 1002 determines the target speed of the unmanned aerial vehicle 1000 according to at least one of the control lever amounts received within the preset duration if the communication device 1001 continuously receives control lever amounts sent by the control terminal within a preset duration after the start of the first moment, it is specifically configured to:

[0268] If the UAV 1000 is in a constant speed mode and the communication device 1001 continuously receives control stick quantities sent by the control terminal within a preset time period after the first moment, the target speed of the UAV 1000 is determined based on at least one control stick quantity received within the preset time period.

[0269] Optionally, the processor 1002 is further configured to:

[0270] Acquiring, through the communication device 1001, second constant speed mode information sent by the control terminal, wherein the second constant speed mode information is generated by the control terminal detecting a user's constant speed mode exit operation, or when the unmanned aerial vehicle 1000 is in a preset state, the second constant speed mode information is generated;

[0271] In response to the second constant speed mode information, the UAV 1000 is controlled to exit the constant speed mode.

[0272] Optionally, the communication device 1001 is further used to receive a locking instruction, a pitch control stick amount, a yaw control stick amount, and a roll control stick amount sent by a control terminal.

[0273] The processor 1002 is further configured to control the UAV 1000 to enter a locking mode when the communication device 1001 receives a locking instruction sent by a control terminal, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user; in the locking mode:

[0274] When the communication device 1001 receives the pitch control stick amount sent by the control terminal, the unmanned aerial vehicle 1000 is controlled to fly along the first yaw orientation or the second yaw orientation indicated by the nose of the unmanned aerial vehicle 1000 according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation;

[0275] The communication device 1001 does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

[0276] Optionally, the communication device 1001 is further used to receive the throttle control lever value sent by the control terminal.

[0277] The processor 1002 is further configured to control the flight of the unmanned aerial vehicle 1000 according to the throttle control stick amount when the communication device 1001 receives the throttle control stick amount sent by the control terminal.

[0278] Optionally, the processor 1002 is further configured to: obtain an unlock instruction to control the UAV 1000 to exit a lock mode; after exiting the lock mode:

[0279] When the communication device 1001 receives the yaw control rod value sent by the control terminal, the flight of the unmanned aerial vehicle 1000 is controlled according to the yaw control rod value;

[0280] When the communication device 1001 receives the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle 1000 is controlled according to the roll control stick amount.

[0281] Optionally, when acquiring the unlock instruction, the processor 1002 is specifically configured to:

[0282] The communication device 1001 receives an unlocking instruction sent by the control terminal, wherein the unlocking instruction is generated by the control terminal when detecting an unlocking operation of a user.

[0283] Optionally, when acquiring the unlock instruction, the processor 1002 is specifically configured to:

[0284] When the UAV 1000 is in a preset state, an unlocking instruction is generated.

[0285] Optionally, the processor 1002 is also used for: when the communication device 1001 receives a locking command sent by the control terminal, if the unmanned aerial vehicle 1000 is in a flight state, obtaining the horizontal speed direction indicated by the current speed direction of the unmanned aerial vehicle 1000, and adjusting the yaw direction of the nose of the unmanned aerial vehicle 1000 to the horizontal speed direction.

[0286] Optionally, the communication device 1001 is further configured to receive a flight speed limit sent by a control terminal, wherein the flight speed limit is generated by the control terminal detecting a speed limit setting operation of a user. The processor 1002 is further configured to, in response to the flight speed limit received by the communication device 1001, limit the maximum flight speed of the unmanned aerial vehicle 1000 during flight to the flight speed limit.

[0287] Optionally, the processor 1002 is further used to: determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal through the communication device 1001; and control the unmanned aerial vehicle 1000 to fly at the flight speed.

[0288] Optionally, the processor 1002 is further used to: obtain a speed limit release instruction; and in response to the speed limit release instruction, release the restriction on limiting the maximum flight speed of the unmanned aerial vehicle 1000 during flight to the flight limit speed.

[0289] Optionally, when acquiring the speed limit release instruction, the processor 1002 is specifically used to: receive the speed limit release instruction sent by the control terminal through the communication device 1001, wherein the speed limit release instruction is generated by the control terminal detecting the user's speed limit release operation.

[0290] Optionally, when acquiring the speed limit release instruction, the processor 1002 is specifically used to: generate a speed limit release instruction when the unmanned aerial vehicle 1000 is in a preset state.

[0291] Optionally, the UAV 1000 of this embodiment may further include a memory (not shown in the figure). The memory is used to store program codes. The processor 1002 calls the program codes, and when the program codes are executed, they are used to implement the above methods.

[0292] The unmanned aerial vehicle of this embodiment can be used to execute the technical solutions of the above-mentioned method embodiments of this application. The implementation principles and technical effects are similar and will not be repeated here.

[0293] Figure 11 A schematic diagram of the structure of a control system of an unmanned aerial vehicle provided in one embodiment of the present application, such as Figure 11 As shown, the control system 1100 of the unmanned aerial vehicle of this embodiment may include: an unmanned aerial vehicle 1101 and a control terminal 1102 .

[0294] In one implementation, the UAV 1101 may include: Figure 9 The control device of the unmanned aerial vehicle shown can correspondingly execute the technical solution provided by any of the above-mentioned method embodiments, which will not be repeated here.

[0295] In another implementation, the UAV 1101 may be implemented as follows: Figure 10 The structure shown can correspondingly execute the technical solution provided by any of the above method embodiments, which will not be repeated here.

[0296] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0297] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for an unmanned aerial vehicle, It is characterized in that include: In response to acquiring a locking instruction sent by a control terminal, controlling the unmanned aerial vehicle to enter a locking mode, wherein the locking instruction is generated by the control terminal detecting a locking operation of a user; In the lock mode: In response to receiving the pitch control stick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly along a first yaw orientation or a second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation; and The control terminal does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

2. The method according to claim 1, It is characterized in that Also includes: In response to receiving the throttle control lever amount sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the throttle control lever amount.

3. The method according to claim 1 or 2, It is characterized in that The method further comprises: Obtaining an unlocking instruction to control the unmanned aerial vehicle to exit the locking mode; After exiting the lock mode: In response to receiving the yaw control stick amount sent by the control terminal, controlling the flight of the unmanned aerial vehicle according to the yaw control stick amount; In response to receiving the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the roll control stick amount.

4. The method according to claim 3, It is characterized in that The obtaining unlock instruction comprises: An unlocking instruction sent by the control terminal is received, wherein the unlocking instruction is generated by the control terminal when detecting an unlocking operation of a user.

5. The method according to claim 3, It is characterized in that The obtaining unlock instruction comprises: In response to the UAV being in a preset state, the unlocking instruction is generated.

6. The method according to claim 1, It is characterized in that The method further comprises: In response to receiving the locking instruction sent by the control terminal, if the unmanned aerial vehicle is in a flying state, the horizontal speed direction indicated by the current speed direction of the unmanned aerial vehicle is obtained, and the yaw direction of the nose of the unmanned aerial vehicle is adjusted to the horizontal speed direction.

7. The method according to claim 1, It is characterized in that Also includes: If the control stick amount sent by the control terminal is continuously received within a preset time period after the first moment, determining the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period; The unmanned aerial vehicle is controlled to keep flying at the first target speed.

8. The method according to claim 7, It is characterized in that The control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

9. The method according to claim 7, It is characterized in that If the control stick amount sent by the control terminal is continuously received within a preset time period after the first moment, determining the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period includes: If, within the preset duration after the start of the first moment, the control lever amounts sent by the control terminal are continuously received and the multiple control lever amounts received within the preset duration meet the preset convergence condition, then determine the first target speed according to at least one of the control lever amounts received within the preset duration.

10. The method according to claim 7, wherein, the determining the first target speed according to at least one of the control lever amounts received within the preset duration includes: determining an average control lever amount or a median control lever amount among the multiple control lever amounts within the preset duration; determining the first target speed according to the average control lever amount or the median control lever amount.

11. The method according to claim 7, wherein, the determining the first target speed according to at least one of the control lever amounts received within the preset duration includes: determining the first target speed according to the last received control lever amount within the preset duration.

12. The method according to claim 7, wherein, it further includes: if, within the preset duration after the start of the second moment, the control lever amounts sent by the control terminal are continuously received, then determine the second target speed of the unmanned aerial vehicle according to at least one of the control lever amounts received within the preset duration; control the unmanned aerial vehicle to fly at the second target speed.

13. The method according to claim 7, wherein, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, it no longer responds to the received control lever amounts of the unmanned aerial vehicle.

14. The method according to claim 7, wherein, the method further includes: acquiring first constant speed mode information sent by the control terminal, wherein the first constant speed mode information is generated by the control terminal detecting a user's operation to enter the constant speed mode; responding to the first constant speed mode information, controlling the unmanned aerial vehicle to enter the constant speed mode; the if, within the preset duration after the start of the first moment, the control lever amounts sent by the control terminal are continuously received, and determining the target speed of the unmanned aerial vehicle according to at least one of the control lever amounts received within the preset duration includes: if the unmanned aerial vehicle is in the constant speed mode and, within the preset duration after the start of the first moment, the control lever amounts sent by the control terminal are continuously received, determining the target speed of the unmanned aerial vehicle according to at least one of the control lever amounts received within the preset duration.

15. The method according to claim 14, wherein, the method further includes: acquiring second constant speed mode information sent by the control terminal, wherein the second constant speed mode information is generated by the control terminal detecting a user's operation to exit the constant speed mode, or is generated in response to the unmanned aerial vehicle being in a preset state; responding to the second constant speed mode information, controlling the unmanned aerial vehicle to exit the constant speed mode.

16. The method according to claim 1, wherein, the method further includes: receiving a flight speed limit sent by the control terminal, wherein the flight speed limit is generated by the control terminal detecting a speed limit setting operation of a user; In response to the received flight limit speed, the maximum flight speed of the unmanned aerial vehicle during flight is limited to the flight limit speed.

17. The method according to claim 16, It is characterized in that The method further comprises: Determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal; The unmanned aerial vehicle is controlled to fly at the flight speed.

18. The method according to claim 17, It is characterized in that The method further comprises: Get the instruction to release the speed limit; In response to the speed limit release instruction, the restriction on the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed is released.

19. The method according to claim 18, It is characterized in that The obtaining of the speed limit release instruction comprises: A speed limit release instruction sent by the control terminal is received, wherein the speed limit release instruction is generated by the control terminal when detecting a speed limit release operation of a user.

20. The method according to claim 18, It is characterized in that The obtaining of the speed limit release instruction comprises: In response to the unmanned aerial vehicle being in a preset state, the speed limit release instruction is generated.

21. A method for controlling an unmanned aerial vehicle, It is characterized in that include: If the control stick amount sent by the control terminal is continuously received within a preset time period after the first moment, a first target speed of the unmanned aerial vehicle is determined according to at least one control stick amount received within the preset time period; Controlling the unmanned aerial vehicle to keep flying at the first target speed; In response to acquiring a locking instruction sent by the control terminal, controlling the unmanned aerial vehicle to enter a locking mode; In the lock mode: In response to acquiring the pitch control stick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly along a first yaw orientation or a second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation; as well as The control terminal does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

22. The method according to claim 21, It is characterized in that The control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

23. The method according to claim 21, It is characterized in that If the control stick amount sent by the control terminal is continuously received within a preset time period, determining the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period includes: If the control lever amounts sent by the control terminal are continuously received within a preset time length and the multiple control lever amounts received within the preset time length meet a preset convergence condition, the first target speed is determined according to at least one control lever amount received within the preset time length.

24. The method according to claim 21, It is characterized in that Determining the first target speed according to at least one joystick amount received within the preset duration includes: Determining an average joystick amount or a median joystick amount among a plurality of joystick amounts within the preset duration; Determining the first target speed according to the average joystick amount or the median joystick amount.

25. The method according to claim 21, wherein, Determining the first target speed according to at least one joystick amount received within the preset duration includes: Determining the first target speed according to the last received joystick amount within the preset duration.

26. The method according to claim 21, wherein, further includes: If joystick amounts sent by the control terminal are continuously received within the preset duration after the start of the second moment, determining a second target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset duration; Controlling the unmanned aerial vehicle to fly at the second target speed.

27. The method according to claim 21, wherein, During the process of controlling the unmanned aerial vehicle to fly at the first target speed, the obtained joystick amounts of the unmanned aerial vehicle are no longer responded to.

28. The method according to claim 21, wherein, The method further includes: Obtaining first constant speed mode information sent by the control terminal, wherein the first constant speed mode information is generated by the control terminal detecting a user's operation to enter the constant speed mode; Responding to the first constant speed mode, controlling the unmanned aerial vehicle to enter the constant speed mode; The if joystick amounts sent by the control terminal are continuously received within the preset duration after the start of the first moment, then determining the target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset duration includes: If the unmanned aerial vehicle is in the constant speed mode and joystick amounts sent by the control terminal are continuously received within the preset duration after the start of the first moment, determining the target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset duration.

29. The method according to claim 27, wherein, The method further includes: Obtaining second constant speed mode information sent by the control terminal, wherein the second constant speed mode information is generated by the control terminal detecting a user's operation to exit the constant speed mode, or, in response to the unmanned aerial vehicle being in a preset state, generating the second constant speed mode information; Responding to the second constant speed mode information, controlling the unmanned aerial vehicle to exit the constant speed mode.

30. The method according to claim 21, wherein, further includes: In response to receiving the throttle joystick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly according to the throttle joystick amount.

31. The method according to claim 21, wherein, The method further includes: Obtaining an unlocking instruction, controlling the unmanned aerial vehicle to exit the locked mode; After exiting the locked mode: In response to receiving the yaw joystick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly according to the yaw joystick amount; In response to receiving the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the roll control stick amount.

32. The method according to claim 31, It is characterized in that The obtaining unlock instruction comprises: An unlocking instruction sent by the control terminal is received, wherein the unlocking instruction is generated by the control terminal when detecting an unlocking operation of a user.

33. The method according to claim 32, It is characterized in that The obtaining unlock instruction comprises: In response to the UAV being in a preset state, the unlocking instruction is generated.

34. The method according to claim 21, It is characterized in that The method further comprises: In response to receiving the locking instruction sent by the control terminal, if the unmanned aerial vehicle is in a flying state, the horizontal speed direction indicated by the current speed direction of the unmanned aerial vehicle is obtained, and the yaw direction of the nose of the unmanned aerial vehicle is adjusted to the horizontal speed direction.

35. The method according to claim 21, It is characterized in that The method further comprises: Receiving a flight speed limit sent by a control terminal, wherein the flight speed limit is generated by the control terminal detecting a speed limit setting operation of a user; In response to the received flight limit speed, the maximum flight speed of the unmanned aerial vehicle during flight is limited to the flight limit speed.

36. The method according to claim 35, It is characterized in that The method further comprises: Determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal; The unmanned aerial vehicle is controlled to fly at the flight speed.

37. The method according to claim 35, It is characterized in that The method further comprises: Get the instruction to release the speed limit; In response to the speed limit release instruction, the restriction on the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed is released.

38. The method according to claim 37, It is characterized in that The obtaining of the speed limit release instruction comprises: A speed limit release instruction sent by the control terminal is received, wherein the speed limit release instruction is generated by the control terminal when detecting a speed limit release operation of a user.

39. The method according to claim 37, It is characterized in that The obtaining of the speed limit release instruction comprises: In response to the unmanned aerial vehicle being in a preset state, a speed limit release instruction is generated.

40. A control device for an unmanned aerial vehicle, It is characterized in that include: A communication device, used for receiving a locking instruction sent by a control terminal; Processor for: When the communication device receives the locking instruction sent by the control terminal, the communication device controls the unmanned aerial vehicle to enter the locking mode, wherein the locking instruction is generated by the control terminal detecting the locking operation of the user; In the lock mode: In response to the communication device receiving the pitch control stick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly along a first yaw orientation or a second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation; The communication device does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

41. The apparatus according to claim 40, It is characterized in that The processor is further configured to control the flight of the unmanned aerial vehicle according to the throttle control stick amount sent by the control terminal in response to the communication device receiving the throttle control stick amount.

42. Apparatus according to claim 40 or 41, It is characterized in that The processor is further used to obtain a release instruction to control the unmanned aerial vehicle to exit the lock mode; After exiting the lock mode: In response to the communication device receiving the yaw control stick amount sent by the control terminal, controlling the flight of the unmanned aerial vehicle according to the yaw control stick amount; In response to the communication device receiving the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the roll control stick amount.

43. The apparatus according to claim 42, It is characterized in that The processor, when acquiring the unlock instruction, is specifically configured to: The unlocking instruction sent by the control terminal is received through the communication device, wherein the unlocking instruction is generated by the control terminal when detecting an unlocking operation of a user.

44. The apparatus according to claim 42, It is characterized in that The processor, when acquiring the unlock instruction, is specifically configured to: In response to the UAV being in a preset state, a release instruction is generated.

45. The apparatus according to claim 40, It is characterized in that The processor is also used to: in response to the communication device receiving a locking instruction sent by the control terminal, if the unmanned aerial vehicle is in a flight state, obtain the horizontal speed direction indicated by the current speed direction of the unmanned aerial vehicle, and adjust the yaw direction of the nose of the unmanned aerial vehicle to the horizontal speed direction.

46. ​​The apparatus according to claim 40, It is characterized in that The processor is further configured to: If the communication device continuously receives the control stick amount sent by the control terminal within a preset time period after the first moment, then the first target speed of the unmanned aerial vehicle is determined according to at least one control stick amount received within the preset time period; The unmanned aerial vehicle is controlled to keep flying at the first target speed.

47. The apparatus according to claim 46, It is characterized in that The control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

48. The apparatus according to claim 46, It is characterized in that The processor is specifically used for: If the communication device continuously receives the control lever amounts sent by the control terminal within a preset time period after the first moment and the multiple control lever amounts received within the preset time period meet a preset convergence condition, the first target speed is determined according to at least one control lever amount received within the preset time period.

49. The device according to claim 46, wherein, when determining the first target speed according to at least one joystick amount received within the preset duration, the processor is specifically configured to: determine an average joystick amount or a median joystick amount among a plurality of joystick amounts within the preset duration; determine the first target speed according to the average joystick amount or the median joystick amount.

50. The device according to claim 46, wherein, the processor is specifically configured to: determine the first target speed according to one joystick amount finally received by the communication device within the preset duration.

51. The device according to claim 46, wherein, the processor is further configured to: if the communication device continuously receives joystick amounts sent by the control terminal within a preset duration after the second moment, determine a second target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset duration; control the unmanned aerial vehicle to fly at the second target speed.

52. The device according to claim 46, wherein, the processor is further configured to, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, no longer respond to the received joystick amounts of the unmanned aerial vehicle.

53. The device according to claim 46, wherein, the communication device is further configured to obtain first constant speed mode information sent by the control terminal, wherein the first constant speed mode information is generated by the control terminal detecting a user's operation to enter the constant speed mode; the processor is further configured to, in response to the first constant speed mode information, control the unmanned aerial vehicle to enter the constant speed mode; when the processor determines the target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset duration if the communication device continuously receives joystick amounts sent by the control terminal within a preset duration after the first moment, the processor is specifically configured to: if the unmanned aerial vehicle is in the constant speed mode and the communication device continuously receives joystick amounts sent by the control terminal within a preset duration after the first moment, determine the target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset duration.

54. The device according to claim 53, wherein, the processor is further configured to: obtain second constant speed mode information sent by the control terminal, wherein the second constant speed mode information is generated by the control terminal detecting a user's operation to exit the constant speed mode, or is generated in response to the unmanned aerial vehicle being in a preset state; in response to the second constant speed mode information, control the unmanned aerial vehicle to exit the constant speed mode.

55. The device according to claim 40, wherein, the communication device is further configured to receive a flight limit speed sent by the control terminal, wherein the flight limit speed is generated by the control terminal detecting a user's operation to set the limit speed; The processor is further configured to: in response to the flight limit speed received by the communication device, limit the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed.

56. The apparatus according to claim 55, It is characterized in that The processor is further configured to: Determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal; The unmanned aerial vehicle is controlled to fly at the flight speed.

57. The apparatus according to claim 56, It is characterized in that The processor is further configured to: Get the instruction to release the speed limit; In response to the speed limit release instruction, the restriction on the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed is released.

58. The apparatus according to claim 57, It is characterized in that When the processor obtains the speed limit release instruction, it is specifically used to: The speed limit release instruction sent by the control terminal is received through the communication device, wherein the speed limit release instruction is generated by the control terminal detecting the user's speed limit release operation.

59. The apparatus according to claim 57, It is characterized in that When the processor obtains the speed limit release instruction, it is specifically used to: In response to the unmanned aerial vehicle being in a preset state, a speed limit release instruction is generated.

60. A control device for an unmanned aerial vehicle, It is characterized in that include: A communication device, used for receiving the control lever quantity sent by the control terminal; Processor for: If the communication device continuously receives the control stick amount sent by the control terminal within a preset time period after the first moment, then determine the first target speed of the unmanned aerial vehicle according to at least one control stick amount received within the preset time period; Controlling the unmanned aerial vehicle to keep flying at the first target speed; In response to acquiring a locking instruction sent by the control terminal, controlling the unmanned aerial vehicle to enter a locking mode; In the lock mode: In response to acquiring the pitch control stick amount sent by the control terminal, controlling the unmanned aerial vehicle to fly along a first yaw orientation or a second yaw orientation indicated by the nose of the unmanned aerial vehicle according to the pitch control stick amount, wherein the second yaw orientation deviates from the first yaw orientation; as well as The control terminal does not respond to the yaw control stick amount and the roll control stick amount sent by the control terminal.

61. The apparatus according to claim 60, It is characterized in that The control stick amount includes at least one of a pitch control stick amount and a roll control stick amount.

62. The apparatus according to claim 60, It is characterized in that The processor is specifically used for: If the communication device continuously receives the control lever amounts sent by the control terminal within a preset time period after the first moment and the multiple control lever amounts received within the preset time period meet a preset convergence condition, the first target speed is determined according to at least one control lever amount received within the preset time period.

63. The apparatus according to claim 60, It is characterized in that When determining the first target speed according to at least one joystick amount received within the preset time period, the processor is specifically configured to: Determine an average joystick amount or a median joystick amount among a plurality of joystick amounts within the preset time period; Determine the first target speed according to the average joystick amount or the median joystick amount.

64. The device according to claim 60, wherein: When determining the first target speed according to at least one joystick amount received within the preset time period, the processor is specifically configured to: Determine the first target speed according to the last received joystick amount within the preset time period.

65. The device according to claim 60, wherein: The processor is further configured to: If the communication device continuously receives joystick amounts sent by the control terminal within a preset time period after the second moment, determine a second target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset time period; Control the unmanned aerial vehicle to fly at the second target speed.

66. The device according to claim 60, wherein: The processor is further configured to, during the process of controlling the unmanned aerial vehicle to fly at the first target speed, no longer respond to the obtained joystick amount of the unmanned aerial vehicle.

67. The device according to claim 60, wherein: The processor is further configured to: Obtain first constant speed mode information sent by the control terminal, where the first constant speed mode information is generated by the control terminal detecting a user's operation to enter the constant speed mode; In response to the first constant speed mode, control the unmanned aerial vehicle to enter the constant speed mode; When the processor determines the target speed of the unmanned aerial vehicle according to at least one joystick amount received within a preset time period if the communication device continuously receives joystick amounts sent by the control terminal within a preset time period after the first moment, the processor is specifically configured to: If the unmanned aerial vehicle is in the constant speed mode and the communication device continuously receives joystick amounts sent by the control terminal within a preset time period after the first moment, determine the target speed of the unmanned aerial vehicle according to at least one joystick amount received within the preset time period.

68. The device according to claim 67, wherein: The processor is further configured to: Obtain second constant speed mode information sent by the control terminal through the communication device, where the second constant speed mode information is generated by the control terminal detecting a user's operation to exit the constant speed mode, or is generated in response to the unmanned aerial vehicle being in a preset state; In response to the second constant speed mode information, control the unmanned aerial vehicle to exit the constant speed mode.

69. The device according to claim 60, wherein: The communication device is further configured to receive a throttle joystick amount sent by the control terminal; The processor is further configured to, in response to the communication device receiving the throttle joystick amount sent by the control terminal, control the flight of the unmanned aerial vehicle according to the throttle joystick amount.

70. The device according to claim 60, wherein: The processor is further configured to: Obtaining an unlock instruction to control the unmanned aerial vehicle to exit a locked mode; After exiting the lock mode: In response to the communication device receiving the yaw control stick amount sent by the control terminal, controlling the flight of the unmanned aerial vehicle according to the yaw control stick amount; In response to the communication device receiving the roll control stick amount sent by the control terminal, the flight of the unmanned aerial vehicle is controlled according to the roll control stick amount.

71. The apparatus according to claim 70, It is characterized in that When the processor obtains the unlock instruction, it is specifically used to: The unlocking instruction sent by the control terminal is received through the communication device, wherein the unlocking instruction is generated by the control terminal when detecting an unlocking operation of a user.

72. The apparatus according to claim 71, It is characterized in that When the processor obtains the unlock instruction, it is specifically used to: In response to the UAV being in a preset state, a release instruction is generated.

73. The apparatus according to claim 60, It is characterized in that The processor is also used to: in response to the communication device receiving a locking instruction sent by the control terminal, if the unmanned aerial vehicle is in a flight state, obtain the horizontal speed direction indicated by the current speed direction of the unmanned aerial vehicle, and adjust the yaw direction of the nose of the unmanned aerial vehicle to the horizontal speed direction.

74. The apparatus according to claim 60, It is characterized in that The communication device is further used to: receive the flight speed limit sent by the control terminal, wherein the flight speed limit is generated by the control terminal detecting the speed limit setting operation of the user; The processor is further configured to: in response to the flight limit speed received by the communication device, limit the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed.

75. The apparatus according to claim 74, It is characterized in that The processor is further configured to: Determine the flight speed corresponding to the control stick amount according to the flight limit speed and the control stick amount received from the control terminal through the communication device; The unmanned aerial vehicle is controlled to fly at the flight speed.

76. The apparatus according to claim 74, It is characterized in that The processor is further configured to: Get the instruction to release the speed limit; In response to the speed limit release instruction, the restriction on the maximum flight speed of the unmanned aerial vehicle during flight to the flight limit speed is released.

77. The apparatus according to claim 76, It is characterized in that When the processor obtains the speed limit release instruction, it is specifically used to: The speed limit release instruction sent by the control terminal is received through the communication device, wherein the speed limit release instruction is generated by the control terminal detecting the user's speed limit release operation.

78. The apparatus according to claim 76, It is characterized in that When the processor obtains the speed limit release instruction, it is specifically used to: In response to the unmanned aerial vehicle being in a preset state, the speed limit release instruction is generated.

79. An unmanned aerial vehicle, It is characterized in that A control device for an unmanned aerial vehicle according to any one of claims 40-78.

80. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium; when the computer program is executed, it implements the control method for an unmanned aerial vehicle according to any one of claims 1-39.

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