Control method and device of unmanned aerial vehicle, remote controller and storage medium

Abstract

A control method and device of an unmanned aerial vehicle, a remote controller and a storage medium, the method comprising: obtaining control mode switching request information of the unmanned aerial vehicle, wherein the switching request information is used to request switching of the control mode of the unmanned aerial vehicle from a first control mode to a second control mode; in response to the switching request information, detecting whether the position of a throttle control stick in the operating stroke is located in a hovering stroke region; if the control mode of the unmanned aerial vehicle is the second control mode and the throttle control stick is located in the hovering stroke region, the unmanned aerial vehicle remains in a hovering state in the vertical direction (S102); if it is detected that the throttle control stick is located in the hovering stroke region, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode, otherwise, the control mode of the unmanned aerial vehicle is refused to be switched from the first control mode to the second control mode (S103).

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a control method, device, remote controller and storage medium for an UAV. Background Technology

[0002] Currently, unmanned aerial vehicles (UAVs) generally have multiple control modes, such as normal control mode and manual control mode. For different control modes, the mapping of the throttle control stick's position (its position within its operating stroke) on the remote controller also differs. In some control modes, when the remote controller's throttle control stick is in the middle of its operating stroke, the UAV can hover vertically. For example, in normal control mode, the throttle position is mapped to the UAV's vertical speed command; when the throttle control stick returns to the middle position, the UAV's vertical speed is zero. However, in other control modes, when the remote controller's throttle control stick is in the middle of its operating stroke, the UAV cannot hover vertically. For example, in manual control mode, the throttle control stick's position is mapped to the UAV's motor throttle control value. When the throttle control stick is in the middle of its operating stroke, the mapped throttle control value may not be the throttle control value that allows the UAV to hover vertically. Thus, when the UAV switches from a control mode where it can hover vertically when the throttle lever is in the middle of its operating range to a control mode where it cannot hover vertically when the throttle lever is in the middle of its operating range, the UAV may rapidly ascend or descend vertically, potentially leading to a crash.

[0003] Therefore, how to safely switch control modes of unmanned aerial vehicles has become an urgent problem to be solved. Summary of the Invention

[0004] Based on this, this application provides a control method, device, remote controller, and storage medium for an unmanned aerial vehicle (UAV) to enable safe switching of control modes.

[0005] Firstly, this application provides a control method for an unmanned aerial vehicle, including:

[0006] Obtain control mode switching request information of the unmanned aerial vehicle (UAV), wherein the switching request information is used to request to switch the control mode of the UAV from a first control mode to a second control mode. When the control mode of the UAV is the first control mode and the throttle control stick of the UAV remote controller is in the middle position of the operating stroke of the throttle control stick, the UAV maintains a hovering state in the vertical direction. When the control mode of the UAV is the second control mode and the throttle control stick is in the middle position of the operating stroke, the UAV cannot maintain a hovering state in the vertical direction.

[0007] In response to the switching request information, it is detected whether the position of the throttle control lever in the operation stroke is within the hovering stroke area. If the control mode of the UAV is the second control mode, when the throttle control lever is within the hovering stroke area, the UAV maintains a hovering state in the vertical direction.

[0008] If the throttle control lever is detected to be within the hover travel area, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode; otherwise, the switch from the first control mode to the second control mode is refused.

[0009] Secondly, this application also provides a control device for an unmanned aerial vehicle, the control device for the unmanned aerial vehicle including a memory and a processor;

[0010] The memory is used to store computer programs;

[0011] The processor is configured to execute the computer program and, when executing the computer program, perform the following steps:

[0012] Obtain control mode switching request information of the unmanned aerial vehicle (UAV), wherein the switching request information is used to request to switch the control mode of the UAV from a first control mode to a second control mode. When the control mode of the UAV is the first control mode and the throttle control stick of the UAV remote controller is in the middle position of the operating stroke of the throttle control stick, the UAV maintains a hovering state in the vertical direction. When the control mode of the UAV is the second control mode and the throttle control stick is in the middle position of the operating stroke, the UAV cannot maintain a hovering state in the vertical direction.

[0013] In response to the switching request information, it is detected whether the position of the throttle control lever in the operation stroke is within the hovering stroke area. If the control mode of the UAV is the second control mode, when the throttle control lever is within the hovering stroke area, the UAV maintains a hovering state in the vertical direction.

[0014] If the throttle control lever is detected to be within the hover travel area, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode; otherwise, the switch from the first control mode to the second control mode is refused.

[0015] Thirdly, this application also provides a remote controller, which includes the control device for the unmanned aerial vehicle as described above.

[0016] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method for the unmanned aerial vehicle as described above.

[0017] The control method, apparatus, remote controller, and storage medium for unmanned aerial vehicles (UAVs) disclosed in this application, upon receiving a control mode switching request information from the UAV (for requesting a switch from a first control mode to a second control mode), in response to the switching request information, detects whether the throttle control lever of the UAV's remote controller is within the hovering travel range during its operating stroke. Specifically, when the UAV's control mode is the first control mode and the throttle control lever is at the midpoint of its operating stroke, the UAV maintains a hovering state in the vertical direction; when the UAV's control mode is the second control mode... The drone operates in two modes. When the throttle control stick is in the middle of its operating range, the drone cannot maintain a hovering state in the vertical direction. When the throttle control stick is within the hovering range, the drone maintains a hovering state in the vertical direction. If the throttle control stick is detected to be within the hovering range, the drone's control mode is switched from the first control mode to the second control mode. Otherwise, the switch is refused, thus preventing the drone from taking off unexpectedly or even crashing. Therefore, the safe switching of control modes by the drone is ensured.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a remote control provided in an embodiment of this application;

[0021] Figure 2 This is a schematic flowchart illustrating the steps of a control method for an unmanned aerial vehicle provided in an embodiment of this application;

[0022] Figure 3 This is a schematic flowchart illustrating the steps of another control method for an unmanned aerial vehicle provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of an interface for displaying graphic icons provided in an embodiment of this application;

[0024] Figure 5 This is a schematic flowchart illustrating the steps of another control method for an unmanned aerial vehicle provided in the embodiments of this application;

[0025] Figure 6 This is a schematic block diagram of a control device for an unmanned aerial vehicle provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0028] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0029] It should also be understood that the term "and / or" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Embodiments of this application provide a control method, device, remote controller, and storage medium for unmanned aerial vehicles (UAVs) to ensure safe switching of control modes.

[0032] The unmanned aerial vehicle (UAV) may include racing drones, rotorcraft, etc., such as single-rotor, dual-rotor, tri-rotor, quadcopter, hexacopter, octacopter, decacopter, and dodecacopter. Of course, the UAV may also be other types of drones or mobile devices, and the embodiments of this application are not limited thereto.

[0033] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a remote controller for an unmanned aerial vehicle provided in an embodiment of this application. Figure 1 As shown, the remote controller 1000 may include a housing 100, a throttle control stick 200, a horizontal flight control stick 300, and a control device 400 for the unmanned aerial vehicle.

[0034] The control modes of the unmanned aerial vehicle (UAV) include, but are not limited to, a first control mode (such as a normal control mode) and a second control mode (such as a manual control mode). When the control mode of the UAV is the first control mode, the position of the throttle control lever 200 at its operating stroke is mapped to the speed of the UAV in the vertical direction. For example, when the control mode of the UAV is the first control mode and the throttle control lever 200 is at the middle position of its operating stroke, the UAV remains in a hovering state in the vertical direction.

[0035] When the unmanned aerial vehicle (UAV) is in the second control mode, the throttle control lever 200 is mapped to the throttle control value of the UAV's power motor at its operating stroke position. The power motor drives the UAV's propellers to rotate, thereby providing power for the UAV's flight, enabling it to achieve one or more degrees of freedom of movement. In some embodiments, the UAV can rotate around one or more rotation axes. It should be understood that the power motor can be a DC motor or an AC motor. Furthermore, the power motor can be a brushless motor or a brushed motor.

[0036] When the UAV's control mode is the second control mode, and the throttle control stick 200 is in the middle position of its operating stroke, the UAV cannot maintain a hovering state in the vertical direction. For example, the operating stroke of the throttle control stick 200 includes a hovering stroke area and corresponding extreme positions at both ends of the stroke; for ease of description, these are referred to as the first extreme position and the second extreme position. When the UAV's control mode is the second control mode, and the throttle control stick 200 is within the hovering stroke area of ​​its operating stroke, the UAV maintains a hovering state in the vertical direction. When the throttle control stick 200 is at the first extreme position of its operating stroke, the throttle amount generated by the remote controller 1000 is a preset minimum throttle control value. As the throttle control stick 200 moves from the first extreme position to the second extreme position, the corresponding throttle control value gradually increases. When the throttle control stick 200 is at the second extreme position of its operating stroke, the throttle amount generated by the remote controller 1000 is a preset maximum throttle control value.

[0037] For example, the horizontal flight control stick 300 includes, but is not limited to, a pitch control stick and a roll control stick. Wherein, if the UAV's control mode is the first control mode, the position of the pitch control stick during its operating stroke is mapped to the UAV's pitch attitude or the UAV's horizontal velocity in the horizontal direction indicated by the pitch control stick, and the horizontal direction indicated by the pitch control stick is the same as the horizontal direction indicated by the UAV's nose; the position of the roll control stick during its operating stroke is mapped to the UAV's roll attitude or the UAV's horizontal velocity in the horizontal direction indicated by the roll control stick, and the horizontal direction indicated by the roll control stick is the same as the horizontal direction indicated by the UAV's nose.

[0038] When the UAV's control mode is the first control mode and the pitch control stick is in the middle of its operating stroke, the UAV's pitch attitude or horizontal velocity in the horizontal direction indicated by the pitch control stick (i.e., the horizontal direction indicated by the UAV's nose) is 0, and the UAV remains hovering in the horizontal direction indicated by the pitch control stick. When the UAV's control mode is the first control mode and the roll control stick is in the middle of its operating stroke, the UAV's roll attitude or horizontal velocity in the horizontal direction indicated by the roll control stick (i.e., the horizontal direction perpendicular to the horizontal direction indicated by the UAV's nose) is 0, and the UAV remains hovering in the horizontal direction indicated by the roll control stick.

[0039] If the UAV's control mode is the second control mode, the pitch control stick's position at its operating travel is mapped to the angular velocity controlling the UAV's pitch attitude, and the roll control stick's position at its operating travel is mapped to the angular velocity controlling the UAV's roll attitude. When the UAV's control mode is the second control mode and the pitch control stick is at the middle of its operating travel, the UAV's pitch attitude angular velocity is 0; when the UAV's control mode is the second control mode and the roll control stick is at the middle of its operating travel, the UAV's roll attitude angular velocity is 0.

[0040] The control device 400 of the unmanned aerial vehicle (UAV) is used to acquire control mode switching request information of the UAV. This switching request information can be triggered by the user operating the remote controller 1000 to perform a corresponding mode switching operation, or it can be obtained by the UAV sending a request to the remote controller 1000. This embodiment of the application does not impose specific limitations on the control mode switching request information of the UAV. In response to the switching request information, the control device 400 detects whether the throttle control lever 200 is within the hovering range during its operating stroke. If the throttle control lever 200 is within the hovering range, the control mode of the UAV is switched from the first control mode to the second control mode; otherwise, the switch is refused, i.e., the switching request information is not responded to. This avoids the UAV taking off unexpectedly or even crashing, thus ensuring the safe switching of the UAV's control mode.

[0041] For example, the remote controller 1000 also includes a display device 500, which includes, but is not limited to, an LCD display, an LED display, a touch screen, etc. The display device 500 is used to display control assistance information for the throttle control stick 200, the horizontal flight control stick 300, etc., wherein the control assistance information is used to assist the user in operating the throttle control stick 200, the horizontal flight control stick 300, etc., for example, assisting the user in adjusting the throttle control stick 200 to the hovering range within its operating stroke. By providing operation assistance to the user, the user experience is further improved.

[0042] It is understood that the naming of the components of the remote control 1000 is merely for identification purposes and does not limit the embodiments of this application.

[0043] The following will describe in detail the control method for an unmanned aerial vehicle (UAV) provided in the embodiments of this application, based on the remote controller 1000 and the UAV control device 400. It should be noted that... Figure 1The remote controller 1000 and the unmanned aerial vehicle control device 400 mentioned are only used to explain the control method of the unmanned aerial vehicle provided in the embodiments of this application, but do not constitute a limitation on the application scenarios of the control method of the unmanned aerial vehicle provided in the embodiments of this application.

[0044] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a control method for an unmanned aerial vehicle (UAV) according to an embodiment of this application. This method can be used in the remote controller provided in the above embodiment, or in other devices that include a control unit for an UAV. This application does not limit the application scenario of this method. Based on this UAV control method, the safe switching of control modes by the UAV can be ensured.

[0045] like Figure 2 As shown, the control method of the unmanned aerial vehicle specifically includes steps S101 to S103.

[0046] S101. Obtain control mode switching request information of the unmanned aerial vehicle (UAV), wherein the switching request information is used to request to switch the control mode of the UAV from a first control mode to a second control mode. When the control mode of the UAV is the first control mode, and the throttle control lever of the UAV's remote controller is in the middle position of the throttle control lever's operating stroke, the UAV maintains a hovering state in the vertical direction. When the control mode of the UAV is the second control mode, and the throttle control lever is in the middle position of the operating stroke, the UAV cannot maintain a hovering state in the vertical direction.

[0047] The control modes of unmanned aerial vehicles include multiple modes such as the first control mode and the second control mode. For example, the first control mode is the normal control mode, while the second control mode is a manual control mode, distinct from the normal control mode. For different control modes, the corresponding lever mappings for the remote controller's throttle, pitch, roll, and other control sticks are also different.

[0048] For example, when the UAV's control mode is the first control mode, the position of the throttle control lever at its operating stroke is mapped to the UAV's vertical speed. When the UAV's control mode is the second control mode, the position of the throttle control lever at its operating stroke is mapped to the throttle control value of the UAV's power motor.

[0049] For example, when the UAV's control mode is the first control mode, the position of the pitch control stick at its operating stroke is mapped to the UAV's pitch attitude or the UAV's horizontal velocity in the horizontal direction indicated by the pitch control stick, where the horizontal direction indicated by the pitch control stick is the same as the horizontal direction indicated by the UAV's nose. When the UAV's control mode is the second control mode, the position of the pitch control stick at its operating stroke is mapped to the angular velocity controlling the UAV's pitch attitude.

[0050] For example, when the UAV's control mode is the first control mode, the position of the roll control stick at its operating stroke is mapped to the UAV's roll attitude or the UAV's horizontal velocity in the horizontal direction indicated by the roll control stick, where the horizontal direction indicated by the roll control stick is perpendicular to the horizontal direction indicated by the UAV's nose. When the UAV's control mode is the second control mode, the position of the roll control stick at its operating stroke is mapped to the angular velocity controlling the UAV's roll attitude.

[0051] For example, when the UAV's control mode is the first control mode and the throttle control stick is in the middle of its operating stroke, the UAV maintains a hovering state in the vertical direction. When the UAV's control mode is the second control mode and the throttle control stick is in the middle of its operating stroke, the UAV cannot maintain a hovering state in the vertical direction; however, when the throttle control stick is within the hovering stroke area of ​​its operating stroke, the UAV maintains a hovering state in the vertical direction.

[0052] During the flight of the unmanned aerial vehicle (UAV), the user can switch the UAV's control mode from a first control mode to a second control mode by operating the UAV's remote controller. When the remote controller detects this control operation, it triggers the acquisition of the corresponding UAV control mode switching request information. It should be noted that this switching request information can also be acquired through other means, and this application does not limit the method of acquiring this switching request information.

[0053] S102. In response to the switching request information, detect whether the position of the throttle control lever in the operation stroke is within the hovering stroke area. If the control mode of the unmanned aerial vehicle is the second control mode, when the throttle control lever is within the hovering stroke area, the unmanned aerial vehicle maintains a hovering state in the vertical direction.

[0054] Upon receiving a control mode switching request from the UAV, the system does not immediately switch the UAV's control mode from the first to the second control mode. Instead, it first checks whether the throttle control stick is within its hovering range during its operating stroke. If the throttle control stick is not within the hovering range, the UAV may not maintain a vertical hovering state after switching to the second control mode, potentially causing it to take off and posing a safety risk. If the throttle control stick is within the hovering range, the UAV will maintain a vertical hovering state after switching to the second control mode.

[0055] In some embodiments, in response to the switching request information, a throttle control value corresponding to the position of the throttle control lever within its operating stroke is determined, wherein different positions within the operating stroke map to different throttle control values. For example, when the throttle control lever is at its first extreme position within its operating stroke, it is mapped to a preset minimum throttle control value; when the throttle control lever is at its second extreme position within its operating stroke, it is mapped to a preset maximum throttle control value. Furthermore, a range of throttle control values ​​corresponding to a hovering stroke area is determined. It is determined whether the throttle control value corresponding to the position of the throttle control lever within its operating stroke is within the range of throttle control values ​​corresponding to the hovering stroke area. If the throttle control value is within the range, it is determined that the position of the throttle control lever within its operating stroke is within the hovering stroke area. Conversely, if the throttle control value is outside the range, it is determined that the position of the throttle control lever within its operating stroke is not within the hovering stroke area.

[0056] In other embodiments, in response to the switching request information, the position angle corresponding to the throttle control lever's position during its operating stroke, and the position angle range corresponding to the hovering stroke area, are determined. It is determined whether the position angle corresponding to the throttle control lever's position during its operating stroke is within the position angle range corresponding to the hovering stroke area. If the position angle is within the range, the throttle control lever's position during its operating stroke is determined to be within the hovering stroke area. Conversely, if the position angle is outside the range, the throttle control lever's position during its operating stroke is determined to be outside the hovering stroke area. For example, if the position angle corresponding to the throttle control lever's position during its operating stroke is determined to be -17 degrees, and the position angle range corresponding to the hovering stroke area is [-20, -15] degrees, then the throttle control lever's position during its operating stroke is determined to be within the hovering stroke area.

[0057] S103. If the throttle control lever is detected to be within the hover travel area, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode; otherwise, the switch from the first control mode to the second control mode is refused.

[0058] If the throttle control stick is within the hovering travel range, meaning the UAV can maintain a hovering state in the vertical direction after switching to the second control mode, then the UAV's control mode will be switched from the first control mode to the second control mode. Conversely, if the throttle control stick is not within the hovering travel range, the switch from the first control mode to the second control mode will be refused, thus preventing the UAV from taking off unexpectedly and eliminating potential safety risks.

[0059] In some embodiments, such as Figure 3 As shown, step S102 is followed by step S104, and step S103 includes sub-step S1031.

[0060] S104. When the throttle control lever is detected to be within the hover travel area, the duration of being within the hover travel area is determined.

[0061] To further ensure the safety of the UAV switching control modes, when the throttle control stick is determined to be within the hover travel range, the duration for which the throttle control stick remains within the hover travel range is timed. For example, a timer is pre-installed in the UAV's remote controller. When the throttle control stick is determined to be within the hover travel range, the timer starts and continues until the throttle control stick is no longer within the hover travel range or the timer reaches a preset time threshold, at which point the timer stops.

[0062] S1031. If it is determined that the throttle control lever is located within the hovering travel area and the duration is greater than or equal to a preset time threshold, then the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode.

[0063] If the throttle control stick is determined to be within the hover travel range for a duration greater than or equal to a preset time threshold, indicating that the throttle control stick is stably within the hover travel range, the controller will switch the UAV's control mode from the first control mode to the second control mode. Conversely, if the throttle control stick is not within the hover travel range, or if the throttle control stick is within the hover travel range but the duration is less than the preset time threshold, the controller will refuse to switch the UAV's control mode from the first control mode to the second control mode.

[0064] In some embodiments, the control method of the unmanned aerial vehicle may further include: outputting first control assistance information of the throttle control lever, wherein the first control assistance information is used to assist the user in adjusting the position of the throttle control lever in the operation stroke to the hover stroke area.

[0065] To improve the user experience, upon receiving a control mode switching request from the unmanned aerial vehicle (UAV), the system responds by outputting corresponding throttle control lever control assistance information. For clarity, this throttle control lever control assistance information will be referred to as "first control assistance information" below. This first control assistance information assists the user in adjusting the throttle control lever to within its operating range and placing it within the hovering range.

[0066] For example, the first control assistance information includes at least one of the following: voice prompts, graphic symbols, and text symbols. For instance, voice prompts for controlling the throttle control lever can be output via voice.

[0067] For example, the first control assistance information for outputting the throttle control lever may include: displaying the first control assistance information of the throttle control lever.

[0068] For example, the first control assistance information of the throttle control lever can be displayed on a display device such as a screen using graphics, text, or other means.

[0069] For example, displaying first control assistance information for the throttle control lever may include: displaying a graphic identifier indicating whether the position of the throttle control lever in the operation stroke is within the hover stroke area.

[0070] For example, the control interface corresponding to the remote control displays a graphic indicator that indicates the throttle control lever should be adjusted to the hover travel area within its operating stroke.

[0071] In some embodiments, displaying a graphic identifier indicating whether the position of the throttle control lever in the operating stroke is within the hovering stroke area may include: displaying a first graphic identifier, wherein the first graphic identifier is used to indicate the operating stroke; displaying a second graphic identifier, wherein the second graphic identifier is used to indicate the position of the throttle control lever in the operating stroke; and displaying a third graphic identifier, wherein the third graphic identifier is used to indicate the position of the hovering stroke area in the operating stroke.

[0072] The graphic identifiers include a first graphic identifier, a second graphic identifier, and a third graphic identifier. The first graphic identifier indicates the operating stroke of the throttle control lever, the second graphic identifier indicates the position of the throttle control lever within its operating stroke, and the third graphic identifier indicates the position of the hovering stroke area within its operating stroke. For example, the first, second, and third graphic identifiers can be set to the same or different shapes, such as circles, stripes, etc. Furthermore, the first, second, and third graphic identifiers can also be marked with corresponding colors for display, such as white, gray, green, black, etc.

[0073] For example, such as Figure 4 As shown, Figure 4 This is a schematic diagram of the interface displaying graphic icons. Figure 4 In this design, the first graphic identifier 411 (indicating the operating stroke of the throttle control lever) is elongated and displayed in a first color; the second graphic identifier 412 (indicating the position of the throttle control lever within its operating stroke) is circular and displayed in a second color; and the third graphic identifier 413 (indicating the position of the hovering travel area within its operating stroke) is elongated and displayed in a third color. The first, second, and third colors are all different. Alternatively, the first, second, and third colors can be the same; this application does not limit this.

[0074] In some embodiments, such as Figure 5 As shown, step S101 is followed by step S105, and step S103 includes sub-step S1032.

[0075] S105. In response to the switching request information, detect whether the horizontal flight control stick of the remote controller is in the middle position during its operation stroke, wherein the horizontal flight control stick includes at least one of the pitch control stick and the roll control stick.

[0076] For example, in addition to the throttle control stick, the remote controller also includes a horizontal flight control stick, which includes a pitch control stick, a roll control stick, etc. When the UAV's control mode is the first control mode, the position of the pitch control stick at its operating stroke is mapped to the UAV's pitch attitude or the UAV's horizontal velocity in the horizontal direction indicated by the pitch control stick, and the horizontal direction indicated by the pitch control stick is the same as the horizontal direction indicated by the UAV's nose; the position of the roll control stick at its operating stroke is mapped to the UAV's roll attitude or the UAV's horizontal velocity in the horizontal direction indicated by the roll control stick, and the horizontal direction indicated by the roll control stick is the same as the horizontal direction indicated by the UAV's nose.

[0077] Specifically, when the UAV's control mode is the first control mode and the pitch control stick is in the middle of its operating stroke, the UAV's pitch attitude or horizontal velocity in the horizontal direction indicated by the pitch control stick (i.e., the horizontal direction indicated by the UAV's nose) is 0, and the UAV remains hovering in the horizontal direction indicated by the pitch control stick. When the UAV's control mode is the first control mode and the roll control stick is in the middle of its operating stroke, the UAV's roll attitude or horizontal velocity in the horizontal direction indicated by the roll control stick (i.e., the horizontal direction perpendicular to the horizontal direction indicated by the UAV's nose) is 0, and the UAV remains hovering in the horizontal direction indicated by the roll control stick.

[0078] When the UAV's control mode is the second control mode, the pitch control stick is mapped to the angular velocity controlling the pitch attitude of the UAV at its operating stroke position, and the roll control stick is mapped to the angular velocity controlling the roll attitude of the UAV at its operating stroke position.

[0079] Specifically, when the UAV is in the second control mode and the pitch control stick is in the middle of its operating range, the angular velocity of the UAV's pitch attitude is 0. Similarly, when the UAV is in the second control mode and the roll control stick is in the middle of its operating range, the angular velocity of the UAV's roll attitude is 0.

[0080] To further ensure the safety of the unmanned aerial vehicle (UAV) when switching control modes, upon receiving a control mode switching request, in response to this request, in addition to detecting whether the throttle control stick is within its hovering range during its operating stroke, the system also detects whether the horizontal flight control stick is in its neutral position during its operating stroke. That is, it detects whether the pitch control stick and roll control stick are in their neutral positions during their respective operating strokes.

[0081] S1032. If it is detected that the throttle control stick is within the hovering travel area and the horizontal flight control stick is in the middle position during its operating travel, then the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode.

[0082] If the throttle control stick is within the hover travel range and the horizontal flight control stick is in the middle position of its operating travel (i.e., the pitch control stick and roll control stick are in the middle position of their operating travels), then the UAV's control mode is switched from the first control mode to the second control mode. Since the pitch and roll control sticks are in the middle position of their operating travels, the corresponding angular velocities of the UAV's pitch and roll attitudes are 0. Therefore, switching to the second control mode will not cause the UAV to tilt, further ensuring the safety of the UAV when switching control modes.

[0083] If the throttle control stick is outside the hover travel range, or the pitch control stick is not in the neutral position during its operating travel, or the roll control stick is not in the neutral position during its operating travel, then the switch of the UAV's control mode from the first control mode to the second control mode will be refused.

[0084] In some embodiments, the control method of the unmanned aerial vehicle may further include: outputting second control assistance information of the horizontal flight control stick, wherein the second control assistance information is used to assist the user in adjusting the horizontal flight control stick to the center position during its operating stroke.

[0085] To improve the user experience, upon receiving a control mode switching request from the UAV, the system responds by outputting corresponding control assistance information for the horizontal flight control sticks (pitch stick, roll stick, etc.). For clarity, the control assistance information for the horizontal flight control sticks will be referred to as "second control assistance information" below. This second control assistance information helps the user adjust the horizontal flight control sticks to the neutral position within their operating range.

[0086] For example, the second control assistance information includes at least one of the following: voice prompts, graphic symbols, and text symbols. For instance, voice prompts for controlling the horizontal flight control stick can be output via voice.

[0087] For example, outputting the second control assistance information of the horizontal flight control stick may include: displaying the second control assistance information of the horizontal flight control stick.

[0088] For example, secondary control assistance information for the horizontal flight control stick can be displayed on a display device such as a screen using graphics or text.

[0089] For example, the second control assistance information displayed on the horizontal flight control stick may include: displaying a graphic identifier indicating whether the horizontal flight control stick is in the middle position during its operating stroke.

[0090] For example, the control interface corresponding to the remote controller displays a graphic indicator that indicates to adjust the horizontal flight control stick to the middle position within its operating range.

[0091] In some embodiments, displaying a graphic identifier indicating whether the horizontal flight control stick is in the middle position during its operating stroke may include: displaying a fourth graphic identifier, wherein the fourth graphic identifier is used to indicate the operating stroke of the horizontal flight control stick; displaying a fifth graphic identifier, wherein the fifth graphic identifier is used to indicate the position of the horizontal flight control stick during its operating stroke; and displaying a sixth graphic identifier, wherein the sixth graphic identifier is used to indicate that the horizontal flight control stick is in the middle position during its operating stroke.

[0092] The graphic identifiers include a fourth graphic identifier, a fifth graphic identifier, and a sixth graphic identifier. The fourth graphic identifier indicates the operating travel of the horizontal flight control stick, the fifth graphic identifier indicates the position of the horizontal flight control stick within its operating travel, and the sixth graphic identifier indicates the position of the horizontal flight control stick in its midpoint position within its operating travel. For example, the fourth, fifth, and sixth graphic identifiers can be set to the same or different shapes, such as circles, stripes, etc. Furthermore, the fourth, fifth, and sixth graphic identifiers can also be marked with corresponding colors, such as white, gray, green, black, etc.

[0093] In some embodiments, upon receiving a control mode switching request information for the unmanned aerial vehicle, in response to the switching request information, a throttle control value corresponding to the position of the throttle control lever in its operating stroke is determined, wherein different positions in the operating stroke map different throttle control values.

[0094] After determining the throttle control value corresponding to the position of the throttle control lever at its operating stroke, the throttle output is not immediately adjusted to that value. Instead, it is gradually adjusted to that value according to a preset, gradual throttle control value increment rule. Then, the control mode of the unmanned aerial vehicle (UAV) is switched from the first control mode to the second control mode. Because the throttle output increases slowly and gradually, rather than abruptly, the possibility of the UAV taking off suddenly is avoided, thus improving the safety of the UAV when switching control modes.

[0095] In the above embodiment, when a control mode switching request information of the unmanned aerial vehicle (UAV) is obtained (for requesting to switch the control mode of the UAV from the first control mode to the second control mode), in response to the switching request information, it detects whether the throttle control stick of the UAV's remote controller is within the hovering travel range during its operating stroke. Specifically, when the control mode of the UAV is the first control mode and the throttle control stick is in the middle position of its operating stroke, the UAV maintains a hovering state in the vertical direction. When the control mode of the UAV is the second control mode and the throttle control stick is in the middle position of its operating stroke, the UAV cannot maintain a hovering state in the vertical direction. When the throttle control stick is within the hovering travel range, the UAV maintains a hovering state in the vertical direction. If the throttle control stick is detected to be within the hovering travel range, the control mode of the UAV is switched from the first control mode to the second control mode; otherwise, the switch is refused. This avoids the UAV taking off too quickly or even crashing, thus ensuring the safe switching of the UAV's control mode.

[0096] Please see Figure 6 , Figure 6 This is a schematic block diagram of a control device for an unmanned aerial vehicle provided in an embodiment of this application.

[0097] like Figure 6 As shown, the control device 600 of the unmanned aerial vehicle may include a processor 611 and a memory 612, which are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

[0098] Specifically, the processor 611 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0099] Specifically, the memory 612 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc. The memory 612 stores various computer programs for the processor 611 to execute.

[0100] The processor is configured to run a computer program stored in memory, and to perform the following steps when executing the computer program:

[0101] Obtain control mode switching request information of the unmanned aerial vehicle (UAV), wherein the switching request information is used to request to switch the control mode of the UAV from a first control mode to a second control mode. When the control mode of the UAV is the first control mode and the throttle control stick of the UAV remote controller is in the middle position of the operating stroke of the throttle control stick, the UAV maintains a hovering state in the vertical direction. When the control mode of the UAV is the second control mode and the throttle control stick is in the middle position of the operating stroke, the UAV cannot maintain a hovering state in the vertical direction.

[0102] In response to the switching request information, it is detected whether the position of the throttle control lever in the operation stroke is within the hovering stroke area. If the control mode of the UAV is the second control mode, when the throttle control lever is within the hovering stroke area, the UAV maintains a hovering state in the vertical direction.

[0103] If the throttle control lever is detected to be within the hover travel area, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode; otherwise, the switch from the first control mode to the second control mode is refused.

[0104] In some embodiments, the processor is further configured to implement:

[0105] When the throttle control lever is detected to be within the hover travel area, the duration of being within the hover travel area is determined;

[0106] When the processor implements the step of switching the control mode of the unmanned aerial vehicle from the first control mode to the second control mode if the throttle control lever is detected to be within the hovering travel area, it is configured to:

[0107] If it is determined that the throttle control lever is within the hover travel area and the duration is greater than or equal to a preset time threshold, then the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode.

[0108] In some embodiments, the processor is further configured to implement:

[0109] The system outputs first control assistance information for the throttle control lever, wherein the first control assistance information is used to assist the user in adjusting the position of the throttle control lever in the operation stroke to the hover stroke area.

[0110] In some embodiments, the first control assistance information includes at least one of the following: voice prompts, graphic icons, and text icons.

[0111] In some embodiments, when the processor implements the first control assistance information of the output throttle control lever, it is configured to:

[0112] The first control assistance information is displayed on the throttle control lever.

[0113] In some embodiments, when the processor implements the first control assistance information for the display throttle control lever, it is configured to:

[0114] The display shows a graphic indicator indicating whether the position of the throttle control lever during the operating stroke is within the hover stroke area.

[0115] In some embodiments, when the processor implements the graphical identifier that displays whether the throttle control lever is located within the hover travel region at the position of the operating stroke, it is configured to:

[0116] Display a first graphic identifier, wherein the first graphic identifier is used to indicate the operation stroke;

[0117] Display a second graphic identifier, wherein the second graphic identifier is used to indicate the position of the throttle control lever during the operating stroke;

[0118] Display a third graphic identifier, wherein the third graphic identifier is used to indicate the position of the hover travel area in the operating travel.

[0119] In some embodiments, the processor is further configured to implement:

[0120] In response to the switching request information, it is detected whether the horizontal flight control stick of the remote controller is in the middle position during its operating stroke, wherein the horizontal flight control stick includes at least one of a pitch control stick and a roll control stick;

[0121] When the processor implements the step of switching the control mode of the unmanned aerial vehicle from the first control mode to the second control mode if the throttle control lever is detected to be within the hovering travel area, it is configured to:

[0122] If the throttle control stick is detected to be within the hover travel area and the horizontal flight control stick is in the middle position during its operating travel, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode.

[0123] In some embodiments, the processor is further configured to implement:

[0124] The system outputs second control assistance information for the horizontal flight control stick, wherein the second control assistance information is used to assist the user in adjusting the horizontal flight control stick to the center position within its operating stroke.

[0125] In some embodiments, the second control assistance information includes at least one of the following: voice prompts, graphic icons, and text icons.

[0126] In some embodiments, when the processor implements the second control assistance information for the output horizontal flight control stick, it is configured to:

[0127] The second control assistance information is displayed on the horizontal flight control stick.

[0128] In some embodiments, when the processor implements the second control assistance information of the display horizontal flight control stick, it is configured to:

[0129] The display shows a graphic indicator indicating whether the horizontal flight control stick is in the middle position during its operating stroke.

[0130] In some embodiments, when implementing the graphical identifier that indicates whether the horizontal flight control stick is in the middle position during its operating stroke, the processor is configured to:

[0131] Display a fourth graphic identifier, wherein the fourth graphic identifier is used to indicate the operating travel of the horizontal flight control stick;

[0132] Display a fifth graphic identifier, wherein the fifth graphic identifier is used to indicate the position of the horizontal flight control stick during its operating stroke;

[0133] Display a sixth graphic identifier, wherein the sixth graphic identifier is used to indicate that the horizontal flight control stick is in the middle position during its operating stroke.

[0134] In some embodiments, if the control mode of the unmanned aerial vehicle is the first control mode, when the pitch control stick is in the middle of its operating stroke, the unmanned aerial vehicle remains hovering in the horizontal direction indicated by the pitch control stick, and when the roll control stick is in the middle of its operating stroke, the unmanned aerial vehicle remains hovering in the horizontal direction indicated by the roll control stick.

[0135] In some embodiments, if the control mode of the unmanned aerial vehicle is the second control mode, the pitch control stick is mapped to the position of its operating stroke to control the angular velocity of the pitch attitude of the unmanned aerial vehicle, and the roll control stick is mapped to the position of its operating stroke to control the angular velocity of the roll attitude of the unmanned aerial vehicle. When the pitch control stick is in the middle position of its operating stroke, the angular velocity of the pitch attitude of the unmanned aerial vehicle is 0, and when the roll control stick is in the middle position of its operating stroke, the angular velocity of the roll attitude of the unmanned aerial vehicle is 0.

[0136] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the unmanned aerial vehicle control method provided in the embodiments of this application.

[0137] The computer-readable storage medium can be an internal storage unit of the remote control or unmanned aerial vehicle (UAV) control device described in the foregoing embodiments, such as a hard drive or memory of the remote control or UAV control device. Alternatively, the computer-readable storage medium can be an external storage device of the remote control or UAV control device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the remote control or UAV control device.

[0138] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of an unmanned aerial vehicle, characterized by, The method comprises: acquiring control mode switching request information of the unmanned aerial vehicle, wherein the switching request information is used to request to switch the control mode of the unmanned aerial vehicle from a first control mode to a second control mode, when the control mode of the unmanned aerial vehicle is the first control mode, the throttle control stick of the remote controller of the unmanned aerial vehicle is located at the middle position of the operating stroke of the throttle control stick, and the unmanned aerial vehicle keeps hovering in the vertical direction, when the control mode of the unmanned aerial vehicle is the second control mode, the throttle control stick is located at the middle position of the operating stroke, and the unmanned aerial vehicle cannot keep hovering in the vertical direction; in response to the switching request information, detecting whether the position of the throttle control stick in the operating stroke is located in a hovering stroke area, wherein if the control mode of the unmanned aerial vehicle is the second control mode, the throttle control stick is located in the hovering stroke area, and the unmanned aerial vehicle keeps hovering in the vertical direction; if it is detected that the throttle control stick is located in the hovering stroke area, switching the control mode of the unmanned aerial vehicle from the first control mode to the second control mode, otherwise, refusing to switch the control mode of the unmanned aerial vehicle from the first control mode to the second control mode.

2. The method of claim 1, wherein, The method comprises: when it is detected that the throttle control stick is located in the hovering stroke area, determining the duration of being located in the hovering stroke; the if it is detected that the throttle control stick is located in the hovering stroke area, switching the control mode of the unmanned aerial vehicle from the first control mode to the second control mode comprises: if it is determined that the throttle control stick is located in the hovering stroke area and the duration is greater than or equal to a preset time threshold, switching the control mode of the unmanned aerial vehicle from the first control mode to the second control mode.

3. The method of claim 1, wherein, The method further comprises: outputting first operation assistance information of the throttle control stick, wherein the first operation assistance information is used to assist a user to adjust the position of the throttle control stick in the operating stroke to the hovering stroke area.

4. The method of claim 3, wherein, The first operation assistance information comprises at least one of the following: voice prompt, graphical identification, and textual identification.

5. The method of claim 3, wherein, The outputting first operation assistance information of the throttle control stick comprises: displaying the first operation assistance information of the throttle control stick.

6. The method of claim 5, wherein, The displaying first operation assistance information of the throttle control stick comprises: displaying graphical identification indicating whether the position of the throttle control stick in the operating stroke is located in the hovering stroke area.

7. The method of claim 6, wherein, The displaying graphical identification indicating whether the position of the throttle control stick in the operating stroke is located in the hovering stroke area comprises: displaying first graphical identification, wherein the first graphical identification is used to indicate the operating stroke; displaying second graphical identification, wherein the second graphical identification is used to indicate the position of the throttle control stick in the operating stroke; displaying third graphical identification, wherein the third graphical identification is used to indicate the position of the hovering stroke area in the operating stroke.

8. The method according to any one of claims 1 to 7, characterized in that, The method further comprises: in response to the switching request information, detecting whether a position of a horizontal flight control stick of the remote controller in an operating stroke thereof is at a neutral position, wherein the horizontal flight control stick comprises at least one of a pitch control stick and a roll control stick; if it is detected that the throttle control stick is located in the hovering stroke region, switching a control mode of the unmanned aerial vehicle from the first control mode to the second control mode, comprising: if it is detected that the throttle control stick is located in the hovering stroke region and the position of the horizontal flight control stick in the operating stroke thereof is at the neutral position, switching the control mode of the unmanned aerial vehicle from the first control mode to the second control mode.

9. The method of claim 8, wherein, The method further comprises: outputting second operation assistance information of the horizontal flight control stick, wherein the second operation assistance information is used to assist a user to adjust the position of the horizontal flight control stick in the operating stroke thereof to the neutral position.

10. The method of claim 9, wherein, The second operation assistance information comprises at least one of the following: voice prompt, graphical identifier, and textual identifier.

11. The method of claim 9, wherein, The outputting of the second operation assistance information of the horizontal flight control stick comprises: displaying the second operation assistance information of the horizontal flight control stick.

12. The method of claim 11, wherein, The displaying of the second operation assistance information of the horizontal flight control stick comprises: displaying a graphical identifier indicating whether the position of the horizontal flight control stick in the operating stroke thereof is at the neutral position.

13. The method of claim 12, wherein, The displaying of the graphical identifier indicating whether the position of the horizontal flight control stick in the operating stroke thereof is at the neutral position comprises: displaying a fourth graphical identifier, wherein the fourth graphical identifier is used to indicate the operating stroke of the horizontal flight control stick; displaying a fifth graphical identifier, wherein the fifth graphical identifier is used to indicate the position of the horizontal flight control stick in the operating stroke thereof; displaying a sixth graphical identifier, wherein the sixth graphical identifier is used to indicate the position of the horizontal flight control stick at the neutral position in the operating stroke thereof.

14. The method of claim 8, wherein, if the control mode of the unmanned aerial vehicle is the first control mode, the unmanned aerial vehicle keeps hovering in a horizontal direction indicated by the pitch control stick when the pitch control stick is at the neutral position in the operating stroke thereof, and the unmanned aerial vehicle keeps hovering in a horizontal direction indicated by the roll control stick when the roll control stick is at the neutral position in the operating stroke thereof.

15. The method according to any one of claims 8 to 14, characterized in that, if the control mode of the unmanned aerial vehicle is the second control mode, a position of the pitch control stick in the operating stroke thereof is mapped to an angular velocity of a pitch attitude of the unmanned aerial vehicle, a position of the roll control stick in the operating stroke thereof is mapped to an angular velocity of a roll attitude of the unmanned aerial vehicle, the angular velocity of the pitch attitude of the unmanned aerial vehicle is 0 when the pitch control stick is at the neutral position in the operating stroke thereof, and the angular velocity of the roll attitude of the unmanned aerial vehicle is 0 when the roll control stick is at the neutral position in the operating stroke thereof.

16. A control device for an unmanned aerial vehicle, comprising: The control device of the unmanned aerial vehicle comprises a memory and a processor; The memory is configured to store a computer program; The processor is configured to execute the computer program and, when executing the computer program, implement the following steps: Obtaining control mode switching request information of the unmanned aerial vehicle, wherein the switching request information is used to request to switch the control mode of the unmanned aerial vehicle from a first control mode to a second control mode, when the control mode of the unmanned aerial vehicle is the first control mode, the throttle control stick of the remote controller of the unmanned aerial vehicle is located at the middle position of the operating stroke of the throttle control stick, and the unmanned aerial vehicle keeps hovering in the vertical direction, when the control mode of the unmanned aerial vehicle is the second control mode, the throttle control stick is located at the middle position of the operating stroke, and the unmanned aerial vehicle cannot keep hovering in the vertical direction; In response to the switching request information, detecting whether the position of the throttle control stick in the operating stroke is located in a hovering stroke area, wherein if the control mode of the unmanned aerial vehicle is the second control mode, the throttle control stick is located in the hovering stroke area, and the unmanned aerial vehicle keeps hovering in the vertical direction; If it is detected that the throttle control stick is located in the hovering stroke area, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode, otherwise, the control mode of the unmanned aerial vehicle is refused to be switched from the first control mode to the second control mode.

17. The apparatus of claim 16, wherein, The processor is further configured to: When it is detected that the throttle control stick is located in the hovering stroke area, determining a duration located in the hovering stroke; When the processor is configured to switch the control mode of the unmanned aerial vehicle from the first control mode to the second control mode if it is detected that the throttle control stick is located in the hovering stroke area, the processor is configured to: If it is determined that the throttle control stick is located in the hovering stroke area and the duration is greater than or equal to a preset time threshold, the control mode of the unmanned aerial vehicle is switched from the first control mode to the second control mode.

18. The apparatus of claim 16, wherein, The processor is further configured to: Output first control assistance information of the throttle control stick, wherein the first control assistance information is used to assist a user to adjust the position of the throttle control stick in the operating stroke to the hovering stroke area.

19. The apparatus of claim 18, wherein, The first control assistance information includes at least one of the following: voice prompt, graphical identification, and textual identification.

20. The apparatus of claim 18, wherein, When the processor is configured to output the first control assistance information of the throttle control stick, the processor is configured to: Display the first control assistance information of the throttle control stick.

21. The apparatus of claim 20, wherein, When the processor is configured to display the first control assistance information of the throttle control stick, the processor is configured to: Display a graphical identification indicating whether the position of the throttle control stick in the operating stroke is located in the hovering stroke area.

22. The apparatus of claim 21, wherein, When the processor is configured to display the graphical identification indicating whether the position of the throttle control stick in the operating stroke is located in the hovering stroke area, the processor is configured to: Display a first graphical identification, wherein the first graphical identification is used to indicate the operating stroke; Display a second graphical identification, wherein the second graphical identification is used to indicate the position of the throttle control stick in the operating stroke. display a third graphical indication, wherein the third graphical indication is used to indicate the position of the hovering travel range in the operating travel range.

23. The apparatus of any of claims 16-22, wherein, The processor is further configured to: detect, in response to the switching request information, whether the position of the horizontal flight control stick in its operating travel range is at the neutral position, wherein the horizontal flight control stick comprises at least one of a pitch control stick and a roll control stick; when the processor implements the switching of the control mode of the UAV from the first control mode to the second control mode if the throttle control stick is detected to be located in the hovering travel range, the processor is configured to: switch the control mode of the UAV from the first control mode to the second control mode if the throttle control stick is detected to be located in the hovering travel range and the position of the horizontal flight control stick in its operating travel range is at the neutral position.

24. The apparatus of claim 23, wherein, The processor is further configured to: output second control assistance information of the horizontal flight control stick, wherein the second control assistance information is used to assist the user to adjust the position of the horizontal flight control stick in its operating travel range to the neutral position.

25. The apparatus of claim 24, wherein, The second control assistance information comprises at least one of voice prompt, graphical indication, and textual indication.

26. The apparatus of claim 24, wherein, When the processor implements the output of the second control assistance information of the horizontal flight control stick, the processor is configured to: display the second control assistance information of the horizontal flight control stick.

27. The apparatus of claim 26, wherein, When the processor implements the display of the second control assistance information of the horizontal flight control stick, the processor is configured to: display a graphical indication indicating whether the position of the horizontal flight control stick in its operating travel range is at the neutral position.

28. The apparatus of claim 27, wherein, When the processor implements the display of the graphical indication indicating whether the position of the horizontal flight control stick in its operating travel range is at the neutral position, the processor is configured to: display a fourth graphical indication, wherein the fourth graphical indication is used to indicate the operating travel range of the horizontal flight control stick; display a fifth graphical indication, wherein the fifth graphical indication is used to indicate the position of the horizontal flight control stick in its operating travel range; display a sixth graphical indication, wherein the sixth graphical indication is used to indicate the position of the horizontal flight control stick at the neutral position in its operating travel range.

29. The apparatus of claim 23, wherein, If the control mode of the UAV is the first control mode, the UAV maintains hovering state in the horizontal direction indicated by the pitch control stick when the pitch control stick is at the neutral position in its operating travel range, and the UAV maintains hovering state in the horizontal direction indicated by the roll control stick when the roll control stick is at the neutral position in its operating travel range.

30. The apparatus of any one of claims 23 to 29, wherein, If the control mode of the UAV is the second control mode, the position of the pitch control stick in its operating travel range is mapped to an angular velocity controlling the pitch attitude of the UAV, the position of the roll control stick in its operating travel range is mapped to an angular velocity controlling the roll attitude of the UAV, the angular velocity of the pitch attitude of the UAV is 0 when the pitch control stick is at the neutral position in its operating travel range, and the angular velocity of the roll attitude of the UAV is 0 when the roll control stick is at the neutral position in its operating travel range.

31. A remote control, comprising: The remote controller comprises the control device of the unmanned aerial vehicle according to any one of claims 16 to 30.

32. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to enable the processor to implement the control method of the unmanned aerial vehicle according to any one of claims 1 to 15.

Images