Auxiliary flight method and device, electronic equipment and computer readable storage medium

Abstract

The embodiment of the invention provides an auxiliary flight method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the steps of obtaining real-time flight information of an unmanned aerial vehicle in a directional manual flight process, determining a U-turn completion position of the unmanned aerial vehicle according to the real-time flight information when the unmanned aerial vehicle is currently triggered to turn around, and displaying the U-turn completion position in real time to assist a user in deciding a U-turn triggering opportunity. By displaying the turning-around completion position of the unmanned aerial vehicle when the unmanned aerial vehicle is triggered to turn around currently in real time, a user can be helped to determine the opportunity for triggering the unmanned aerial vehicle to turn around, so that the user does not need to reduce the speed of the unmanned aerial vehicle to be very low and then perform turning-around operation, and the working efficiency of the unmanned aerial vehicle can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an auxiliary flight method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] As an efficient and flexible aerial operation tool, drones have been widely used in agricultural plant protection, surveying and mapping, aerial photography and other fields. When manually operating a drone, it is necessary to accurately control the flight speed, altitude and direction of the drone to ensure the efficiency and effectiveness of the operation.

[0003] When a drone is operating, especially when performing full coverage tasks on large plots of land, a round-trip flight method is often used, which requires the drone to frequently turn around and change lines. Due to the inertia of the drone in flight, when the user manually controls the drone to turn around, it is difficult to accurately predict the position of the drone after the turn command is triggered. Therefore, in the prior art, during the drone turn, the user often needs to control the drone to slow down first, or even reduce the speed to zero, and then slowly perform the turn operation to accurately control the drone's turn position and prevent the drone from flying out of the plot (spraying outside the plot or hitting obstacles outside the plot). This operation method results in relatively low operating efficiency. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an assisted flight method, device, electronic device and computer-readable storage medium, which can assist users in deciding the timing of triggering a U-turn, thereby improving the operating efficiency of the drone.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, the present invention provides an assisted flight method, the method comprising:

[0007] Obtain real-time flight information of the drone during directional manual flight;

[0008] Determine, according to the real-time flight information, a turning completion position of the drone when the drone is currently triggered to turn around;

[0009] The U-turn completion position is displayed in real time to assist the user in deciding the timing to trigger the U-turn.

[0010] In an optional implementation manner, the real-time display of the U-turn completion position includes:

[0011] The U-turn completion position is displayed in real time on a satellite map screen and / or a first-person perspective screen.

[0012] In an optional implementation manner, determining, based on the real-time flight information, a turn-around completion position of the drone when the drone is currently triggered to turn around, includes:

[0013] Determine, according to the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around;

[0014] The U-turn completion position of the UAV is determined according to the current position of the UAV and the U-turn distance.

[0015] In an optional implementation manner, determining, based on the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around, includes:

[0016] The U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn is determined according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance.

[0017] In an optional embodiment, the real-time flight information includes at least real-time flight speed.

[0018] In an optional implementation, the step of obtaining real-time flight information of the UAV during directional manual flight includes:

[0019] If the UAV is in an auxiliary fixed-speed flight mode, the set flight speed corresponding to the auxiliary fixed-speed flight mode is determined as the real-time flight information.

[0020] In an optional embodiment, before obtaining the real-time flight information of the UAV during the directional manual flight, the method further includes:

[0021] Determining whether the UAV enters the assisted fixed-speed flight mode during flight according to the user's operation of the assisted fixed-speed flight mode switch on the application program interface;

[0022] And / or, determining a set flight speed corresponding to the auxiliary fixed-speed flight mode according to a speed setting operation performed by a user on the application program interface.

[0023] In an optional implementation manner, the corresponding relationship is obtained by the following steps:

[0024] Triggering the UAV to turn around under different flight information, and obtaining the turning distance required for the UAV to complete the U-turn;

[0025] The corresponding relationship is generated according to different flight information and the U-turn distance corresponding to each flight information.

[0026] In an optional embodiment, the correspondence includes a first correspondence, which is generated according to different flight information and the U-turn distance required for the UAV to complete the U-turn in the shortest time under different flight information; the determining, according to the real-time flight information and the correspondence between the preset flight information and the U-turn distance, the U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn around, includes:

[0027] When the speed priority strategy is adopted, the turning distance required for the drone to complete the turning in the shortest time when the drone is currently triggered to turn around is determined according to the real-time flight information and the first corresponding relationship.

[0028] In an optional embodiment, the correspondence includes a second correspondence, and the second correspondence is generated according to different flight information and the U-turn distance required for the UAV to complete the U-turn at the shortest distance under different flight information; the determining, according to the real-time flight information and the correspondence between the preset flight information and the U-turn distance, the U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn around includes:

[0029] When the distance priority strategy is adopted, the turning distance required for the drone to complete the turning with the shortest distance when the drone is currently triggered to turn around is determined according to the real-time flight information and the second corresponding relationship.

[0030] In a second aspect, the present invention provides an assisted flight method, which is applied to a drone, and the method comprises:

[0031] Acquiring real-time flight information of the UAV during directional manual flight;

[0032] Determine, according to the real-time flight information, a turning completion position of the drone when the drone is currently triggered to turn around;

[0033] The U-turn completion position is sent to a display device for real-time display to assist the user in deciding the timing of triggering the U-turn.

[0034] In an optional implementation manner, determining, based on the real-time flight information, a turn-around completion position of the drone when the drone is currently triggered to turn around, includes:

[0035] Determine, according to the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around;

[0036] The U-turn completion position of the UAV is determined according to the current position of the UAV and the U-turn distance.

[0037] In an optional implementation manner, determining, based on the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around, includes:

[0038] The U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn is determined according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance.

[0039] In an optional implementation, the acquiring of real-time flight information of the UAV during directional manual flight includes:

[0040] If the UAV is in an auxiliary fixed-speed flight mode, the set flight speed corresponding to the auxiliary fixed-speed flight mode is determined as the real-time flight information.

[0041] In a third aspect, the present invention provides an assisted flight method, applied to a display device, the method comprising:

[0042] Obtaining a U-turn completion position of the UAV; the U-turn completion position is determined based on real-time flight information of the UAV during directional manual flight, and the U-turn completion position is the position at which the UAV completes the U-turn when the U-turn of the UAV is currently triggered;

[0043] The U-turn completion position is displayed in real time to assist the user in deciding the timing to trigger the U-turn.

[0044] In an optional implementation manner, the real-time display of the U-turn completion position includes:

[0045] The U-turn completion position is displayed in real time on a satellite map screen and / or a first-person perspective screen.

[0046] In an optional embodiment, the method further comprises:

[0047] Determining whether the UAV enters the assisted fixed-speed flight mode during flight according to the user's operation of the assisted fixed-speed flight mode switch on the application program interface;

[0048] And / or, determining a set flight speed corresponding to the auxiliary fixed-speed flight mode according to a speed setting operation performed by a user on the application program interface.

[0049] In a fourth aspect, the present invention provides a flight assistance device, the device comprising:

[0050] The first information acquisition module is used to obtain real-time flight information of the UAV during directional manual flight;

[0051] A first position determination module, configured to determine, based on the real-time flight information, a position at which the UAV has completed turning when the UAV is currently triggered to turn around;

[0052] The first display control module is used to display the U-turn completion position in real time to assist the user in deciding the timing of triggering the U-turn.

[0053] In a fifth aspect, the present invention provides an auxiliary flight device, which is applied to a drone, and the device comprises:

[0054] A second information acquisition module is used to acquire real-time flight information of the UAV during the directional manual flight;

[0055] A second position determination module is used to determine, based on the real-time flight information, a position at which the UAV has completed turning when the UAV is currently triggered to turn around;

[0056] The position sending module is used to send the U-turn completion position to a display device for real-time display to assist the user in deciding the timing of triggering the U-turn.

[0057] In a sixth aspect, the present invention provides a flight assistance device, applied to a display device, the device comprising:

[0058] A position receiving module is used to obtain the U-turn completion position of the UAV; the U-turn completion position is determined according to the real-time flight information of the UAV during the directional manual flight, and the U-turn completion position is the position where the UAV completes the U-turn when the U-turn of the UAV is currently triggered;

[0059] The second display control module is used to display the U-turn completion position in real time to assist the user in deciding the timing to trigger the U-turn.

[0060] In a seventh aspect, the present invention provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of an assisted flight method as described in any one of the aforementioned embodiments.

[0061] In an eighth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the assisted flight method as described in any one of the aforementioned embodiments are implemented.

[0062] The assisted flight method, device, electronic device and computer-readable storage medium provided by the embodiments of the present invention include: obtaining real-time flight information of a drone during directional manual flight, determining the position where the drone completes turning when the drone is currently triggered to turn around based on the real-time flight information, and displaying the position where the drone completes turning around in real time to assist the user in making a decision on the timing of triggering the turning around. By displaying the position where the drone completes turning around when the drone is currently triggered to turn around in real time, the user can be helped to determine the timing of triggering the drone to turn around, so that the user does not need to reduce the speed of the drone to a very low level before performing the turning operation, thereby effectively improving the operating efficiency of the drone.

[0063] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0065] Figure 1 A schematic diagram of a flow chart of an assisted flight method provided by an embodiment of the present invention is shown;

[0066] Figure 2 A schematic diagram showing an estimated U-turn completion position displayed on a satellite map screen;

[0067] Figure 3 A schematic diagram showing an estimated U-turn completion position displayed on a first-person perspective screen;

[0068] Figure 4 Shows Figure 1 Schematic diagram of the sub-step flow chart of step S102;

[0069] Figure 5 A schematic diagram showing a method of determining a U-turn completion position based on the current position of the UAV and the U-turn distance;

[0070] Figure 6 A schematic diagram showing that the assisted fixed speed flight mode switch provided on the application interface is not turned on;

[0071] Figure 7 A schematic diagram showing the auxiliary fixed speed flight mode switch provided on the application interface after it is turned on;

[0072] Figure 8A schematic diagram of a flow chart of an assisted flight method applied to a drone provided by an embodiment of the present invention is shown;

[0073] Fig. 9 A schematic diagram of a flow chart of an assisted flight method applied to a display device provided by an embodiment of the present invention is shown;

[0074] Fig.10 A functional module diagram of a flight assistance device provided by an embodiment of the present invention is shown;

[0075] Fig.11 A functional module diagram of an auxiliary flight device applied to a UAV provided by an embodiment of the present invention is shown;

[0076] Fig.12 A functional module diagram of an auxiliary flight device applied to a display device provided by an embodiment of the present invention is shown;

[0077] Fig.13 A block diagram of an electronic device provided by an embodiment of the present invention is shown.

[0078] Icon: 100-electronic device; 110-memory; 120-processor; 130-communication module; V1-first control; V2-second control; V3-third control; 210-first information acquisition module; 220-first position determination module; 230-first display control module; 310-second information acquisition module; 320-second position determination module; 330-position sending module; 410-position receiving module; 420-second display control module. DETAILED DESCRIPTION

[0079] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0080] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0081] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0082] In the scenario of manually controlling the drone to perform a round-trip flight mission, the user needs to frequently control the drone to perform a U-turn operation in order to change the flight direction. However, the drone has inertia during flight, which makes it difficult for the user to accurately predict the position of the drone after triggering the U-turn command when manually controlling the drone to make a U-turn. In the prior art, in order to ensure that the drone does not fly out of the plot (spray outside the plot or hit obstacles outside the plot) during the U-turn process, the user is usually required to first reduce the speed of the drone, or even reduce the speed to zero, and then slowly perform the U-turn operation. This operation method reduces the work efficiency.

[0083] In order to solve the above problems, the embodiments of the present invention provide an assisted flight method, device, electronic device and computer-readable storage medium, which help users determine the timing to trigger the drone to turn around by displaying the U-turn completion position of the drone when the drone is currently triggered to turn around in real time during the UAV's directional manual flight process, so that the user does not need to reduce the speed of the drone to a very low level before performing the U-turn operation, thereby effectively improving the operating efficiency of the drone.

[0084] Please refer to Figure 1 , is a flow chart of the assisted flight method provided by an embodiment of the present invention. It should be noted that the assisted flight method of the embodiment of the present invention is not based on Figure 1 And the following specific order is limited. It should be understood that in other embodiments, the order of some steps in the assisted flight method of the embodiment of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The assisted flight method can be performed by drones, smart phones, tablet computers, remote controllers and other devices. Different steps of the assisted flight method can be performed by the same device or by different devices. For example, some steps are performed by drones and some steps are performed by remote controllers. This embodiment does not limit this. Figure 1 The specific process shown is described in detail.

[0085] Step S101, obtaining real-time flight information of the UAV during directional manual flight.

[0086] In this embodiment, the directional manual flight of the drone can be understood as the drone maintaining a fixed direction and altitude during manual flight, that is, the heading of the drone is fixed, and it flies in a straight line with a fixed heading without deviation, which can reduce the difficulty of operation for users. In other words, when the user operates on the joystick of the remote control, the drone will not respond to the amount of the user's heading change. For example, the user actually wants the drone to fly straight forward, but because the action is not precise enough when pushing the joystick forward, the joystick is slightly to the left or right. However, in the directional manual flight mode, the heading of the drone is fixed and will not respond to the amount of heading change caused by the joystick leaning to the left or right, so that the user can operate the joystick with confidence, reducing the difficulty of operation for the user.

[0087] Step S102, determining the U-turn completion position of the UAV when the U-turn of the UAV is currently triggered according to the real-time flight information.

[0088] In this embodiment, the real-time flight information represents the real-time flight status of the UAV. During the directional manual flight of the UAV, the real-time flight information is used to estimate in real time the position at which the UAV will complete the U-turn when the U-turn is currently triggered, thereby obtaining the U-turn completion position of the UAV.

[0089] Step S103: Display the U-turn completion position in real time to assist the user in deciding the timing to trigger the U-turn.

[0090] It is understandable that during the manual directional flight of the drone, the estimated turn-around completion position changes in real time. By displaying this real-time change of the turn-around completion position, the user can decide when to trigger the drone to turn around most appropriately based on this turn-around completion position, that is, can accurately determine when to trigger the turn-around command so that the drone can complete the turn at the desired position. In this way, the user does not need to reduce the speed of the drone to a very low level before performing the turn-around operation, which can effectively improve the operating efficiency of the drone.

[0091] It can be seen that the assisted flight method provided by the embodiment of the present invention includes: obtaining real-time flight information of the drone during directional manual flight, determining the turn-around completion position of the drone when the drone is currently triggered to turn around based on the real-time flight information, and displaying the turn-around completion position in real time to assist the user in deciding the timing of triggering the turn. By displaying the turn-around completion position of the drone when the drone is currently triggered to turn around in real time, it can help the user determine the timing of triggering the drone to turn around, so that the user does not need to reduce the speed of the drone to a very low level before performing the turn-around operation, thereby effectively improving the operating efficiency of the drone.

[0092] In one embodiment, the real-time flight information of the UAV during the directional manual flight process includes at least the real-time flight speed. For example, in addition to the real-time flight speed, the real-time flight information may also include the load of the UAV, flight environment parameters (such as wind speed), etc.

[0093] Taking the real-time flight speed as an example, during the manual directional flight of the drone, it is possible to estimate in real time where the drone will complete the turn when the U-turn operation is triggered according to the current speed of the drone, and display the estimated U-turn completion position in real time, so as to preview the position where the drone will complete the U-turn at the current speed.

[0094] In one embodiment, in order to facilitate the user to intuitively see the real-time estimated UAV U-turn completion position, the U-turn completion position can be displayed in real time on the satellite map screen and / or the first person view (FPV) screen.

[0095] In this embodiment, the U-turn completion position can be marked by a preset mark in the satellite map screen and / or the first-person perspective screen. For example, the preset mark can be a specific pattern, line, etc. Figure 2 The satellite map shown and Figure 3 In the first-person perspective screen shown, the horizontal dotted line indicates the position where the drone completes its turn when the drone is currently triggered to turn around; as the drone flies forward, the position where the drone completes its turn will continue to change, and the position of the horizontal dotted line in the satellite map screen and the first-person perspective screen will also continue to adjust and change.

[0096] It should be noted that, in this embodiment, the U-turn completion position of the drone can be displayed only on the satellite map screen or only on the first-person perspective screen, or can be displayed on both the satellite map screen and the first-person perspective screen. Among them, displaying the U-turn completion position on both the satellite map screen and the first-person perspective screen can play a double role of protection, that is, when the FPV screen is delayed or stuck due to poor network, the satellite map screen obtained based on the satellite signal can still be displayed; conversely, if the satellite signal is blocked, the U-turn completion position of the drone can be observed through the FPV screen.

[0097] It can be seen that by displaying the U-turn completion position in real time on the satellite map screen and / or the first-person perspective screen, a visual reference can be provided to the user, so that the user can determine the best time to trigger the U-turn command based on the U-turn completion position marked in the screen, thereby accurately judging when to trigger the U-turn so that the drone can complete the U-turn at the desired position.

[0098] In one embodiment, the turning position of the drone can be determined by estimating the distance required for the drone to turn around. Figure 4 , the above step S102 may specifically include:

[0099] Step S1021, based on the real-time flight information, determining the turning distance required for the drone to complete the turning when the drone is currently triggered to turn around.

[0100] Step S1022, determining the turn-around completion position of the drone according to the current position of the drone and the turn-around distance.

[0101] In this embodiment, based on the real-time flight information of the drone, the turning distance required for the drone to complete the U-turn when the drone is currently triggered to turn around can be calculated, and then combined with the current position of the drone and the turning distance required to complete the U-turn, the expected position of the drone when the U-turn is completed can be determined, that is, the U-turn completion position of the drone.

[0102] like Figure 5 As shown, assuming that the current position of the drone is A, when the drone is currently triggered to turn around, the turning distance required for the drone to complete the turn is D, and then according to the current position A and the turning distance D, it can be determined that the drone's turn completion position is B.

[0103] In one embodiment, a correspondence between the flight information of the drone and the turning distance may be established in advance. The above step S1021 may specifically include: determining the turning distance required for the drone to complete the turning when the drone is currently triggered to turn, based on real-time flight information and the corresponding relationship between preset flight information and the turning distance.

[0104] In this embodiment, the corresponding relationship can be a pre-arranged table or a pre-fitted formula. After obtaining the real-time flight information of the drone, the table can be queried according to the real-time flight information or the real-time flight information can be substituted into the fitted formula for calculation to obtain the turning distance corresponding to the real-time flight information.

[0105] In one embodiment, the corresponding relationship can be obtained in advance through testing. Specifically, the corresponding relationship can be obtained through the following steps: triggering the drone to turn around under different flight information, and obtaining the turning distance required for the drone to complete the turn; generating a corresponding relationship based on different flight information and the turning distance corresponding to each flight information.

[0106] For example, during the development and testing phase, the drone can be controlled to fly forward with different flight information. After the drone is triggered to turn around, the drone drifts and turns around, and the actual turn-around position of the drone is recorded. The turn-around distance required for the drone to complete the turn is calculated based on the recorded turn-around position and the position of the drone when the turn-around is triggered. In this way, the corresponding relationship between different flight information and turn-around distance can be obtained.

[0107] Taking the flight information as the flight speed as an example, the drone is controlled to fly forward at a speed of 5m / s. After the U-turn is triggered, the drone drifts and turns. According to the actual U-turn completion position of the drone and the position of the drone when the U-turn is triggered, the U-turn distance required for the drone to complete the U-turn corresponding to the speed of 5m / s can be obtained; similarly, the U-turn distances corresponding to various flight speeds can be obtained by testing other different speeds. In specific implementation, the multiple sets of data obtained from the test can be organized into a table for query, or these multiple sets of data can be fitted into a formula, and the U-turn distances corresponding to different flight speeds can be calculated through the formula to obtain the corresponding U-turn completion position.

[0108] In actual applications, users may have different preferences when manually controlling the drone to turn around. For example, some users prefer the drone to turn around in the shortest time, while others prefer the drone to turn around in the shortest distance. Based on this, during the development and testing phase, the drone can be controlled to turn around in a speed-priority and distance-priority manner, thereby establishing the corresponding relationship between various flight speeds and turning distances under the speed-priority strategy, and the corresponding relationship between various flight speeds and turning distances under the distance-priority strategy.

[0109] That is to say, the pre-established correspondence in this embodiment may include a first correspondence and a second correspondence, the first correspondence is generated according to different flight information and the turn distance required for the drone to complete the turn in the shortest time under different flight information, and the second correspondence is generated according to different flight information and the turn distance required for the drone to complete the turn in the shortest distance under different flight information. Before manually controlling the drone to fly, the user can set a turn preference, such as setting a speed priority strategy or a distance priority strategy. When estimating the turn distance of the drone later, the first correspondence or the second correspondence can be selected for calculation according to the turn preference set by the user.

[0110] Based on this, the above steps determine the turning distance required for the drone to complete the U-turn when the drone is currently triggered to turn according to the real-time flight information and the correspondence between the preset flight information and the U-turn distance. Specifically, it can include: when the speed priority strategy is adopted, the turning distance required for the drone to complete the U-turn in the shortest time when the drone is currently triggered to turn according to the real-time flight information and the first correspondence; when the distance priority strategy is adopted, the turning distance required for the drone to complete the U-turn in the shortest distance when the drone is currently triggered to turn according to the real-time flight information and the second correspondence.

[0111] It is understandable that when actually controlling a drone to turn around, if a speed priority strategy is adopted, there is no need to slow down the drone, so that the drone can complete the turn as quickly as possible in the shortest time. In this case, the turning distance required for the drone to complete the turn may be longer; if a distance priority strategy is adopted, the drone needs to be slowed down first, and then drifted to turn around, so that the drone can complete the turn at a shorter distance. In this case, the time required for the drone to complete the turn may be longer.

[0112] In practical applications, when the drone is manually flying, the user needs to accurately control the speed, height and direction of the flight to ensure the efficiency and effect of the operation, which places high demands on the user's control skills. In order to simplify the user's operation, there are currently some functions of assisting manual flight (also called assisted flight or enhanced manual flight), which can enable the drone to maintain a fixed direction and height during manual flight, but cannot allow the drone to maintain a fixed flight speed. Therefore, when the user manually controls the flight of the drone, it is necessary to continuously operate the joystick to make the drone fly at a constant speed as much as possible, and the operation difficulty and intensity are relatively large. In order to reduce the user's operation difficulty and intensity, the assisted flight method provided in the embodiment of the present invention can put the drone in an assisted fixed-speed flight mode. When the drone is in the assisted fixed-speed flight mode, the user only needs to manually control the drone to move forward or backward. As long as the joystick is pushed, no matter how much or how little, the drone will accelerate to the set speed and move forward or backward at a constant speed, thereby realizing that the drone can fly at a constant speed when flying manually. In addition, when the drone is flying at a constant speed, the position where the drone completes the U-turn will be easier to estimate and relatively fixed, and the amount of system calculation can also be reduced. On the contrary, when the drone is flying at an irregular speed, the speed of the drone changes frequently, causing the estimated turn completion position to fluctuate, which is not conducive to the user to accurately grasp the turn timing.

[0113] Based on this, in one implementation, the above step S101 may specifically include:

[0114] If the drone is in an assisted fixed-speed flight mode, the set flight speed corresponding to the assisted fixed-speed flight mode is determined as the real-time flight information.

[0115] In this embodiment, the user can pre-set the flight speed of the drone in the assisted fixed-speed flight mode. When the drone is in the assisted fixed-speed flight mode, no matter how much the user pushes the joystick forward, the drone will accelerate to the set flight speed and maintain a constant speed. In this case, the real-time flight speed of the drone is the set flight speed, and the set flight speed can be determined as real-time flight information. It can be understood that if the drone is not in the assisted fixed-speed flight mode, the speed of the drone will be directly affected by the degree of user operation of the joystick, that is, the more the user pushes the joystick forward, the faster the drone will be; the less the user pushes the joystick forward, the slower the drone will be.

[0116] It can be seen that the assisted flight method provided in the embodiment of the present invention controls the UAV to be in the assisted constant-speed flight mode, so that the UAV can maintain a constant-speed flight during manual flight. This not only reduces the user's operation difficulty and intensity, but also predicts the U-turn completion position of the UAV based on the constant flight speed, which can improve the accuracy of the prediction.

[0117] In practical applications, in order to facilitate users to set the auxiliary fixed speed flight mode, corresponding operation keys can be provided on the application interface. Specifically, before the above step S101, the method further includes:

[0118] Determine whether the UAV enters the assisted fixed-speed flight mode during flight based on the user's operation of the assisted fixed-speed flight mode switch on the application interface; and / or determine the set flight speed corresponding to the assisted fixed-speed flight mode based on the user's speed setting operation on the application interface.

[0119] In this embodiment, an assisted fixed-speed flight mode switch and / or a flight speed setting button may be provided on the application interface, and the user may set the assisted fixed-speed flight mode and the flight speed on the application interface before manually controlling the drone. In one embodiment, the user may turn on or off the assisted fixed-speed flight mode switch on the application interface, and after the on operation is performed, the drone will enter the assisted fixed-speed flight mode during flight; the user may also set the flight speed of the drone through the flight speed setting button on the application interface, and after the drone enters the assisted fixed-speed flight mode, it will fly at the set flight speed.

[0120] In one example, Figure 6 This is a schematic diagram of the assisted fixed speed flight mode switch provided on the application interface. After the user turns on the assisted fixed speed flight mode switch, the Figure 7 The schematic diagram of the auxiliary fixed speed flight mode switch after turning on is shown in FIG. Figure 7 As shown, after the auxiliary fixed-speed flight mode switch is turned on, the user can set the auxiliary fixed-speed flight speed (i.e., the set flight speed corresponding to the auxiliary fixed-speed flight mode) through the flight speed setting button (including the first control V1, the second control V2, and the third control V3). For example, by clicking the first control V1, the speed can be reduced, by clicking the third control V3, the speed can be increased, and by sliding the second control V2 left and right, the speed can also be reduced or increased. When the user manually controls the drone to take off, the drone is controlled to enter the auxiliary fixed-speed flight mode according to the obtained on state of the auxiliary fixed-speed flight mode switch and the set flight speed, and the drone is adjusted to fly at a fixed speed according to the set flight speed.

[0121] In another embodiment, the auxiliary fixed-speed flight mode switch may not be provided on the application interface, and only a button for setting the auxiliary fixed-speed flight speed (i.e., the flight speed setting button) may be provided. Then, before the user manually controls the drone, the user only needs to set the flight speed through the flight speed setting button. Specifically, the set flight speed corresponding to the auxiliary fixed-speed flight mode may be obtained according to the speed setting operation of the flight speed setting button on the application interface by the user; during the process of the user manually controlling the drone, if the auxiliary fixed-speed flight mode entry instruction is received, the drone is controlled to enter the auxiliary fixed-speed flight mode according to the set flight speed.

[0122] In this embodiment, the auxiliary fixed-speed flight mode entry instruction can be triggered by the user, for example, through a remote control, a smart phone, etc. Since the user only sets the fixed-speed flight speed of the drone before manually controlling the drone, the drone does not immediately enter the auxiliary fixed-speed flight mode after the user manually controls the drone to take off, but enters the auxiliary fixed-speed flight mode through the user's triggering during the flight; that is, after receiving the auxiliary fixed-speed flight mode entry instruction triggered by the user, the drone is controlled to enter the auxiliary fixed-speed flight mode, and the drone is adjusted to fly at a fixed speed according to the set flight speed.

[0123] Please refer to Figure 8 , is a flow chart of an assisted flight method for a drone provided by an embodiment of the present invention. It should be noted that the assisted flight method of the embodiment of the present invention is not based on Figure 8 It should be understood that in other embodiments, the order of some steps in the assisted flight method of the embodiment of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. Figure 8 The specific process shown is described in detail.

[0124] Step S801, obtaining real-time flight information of the UAV during directional manual flight.

[0125] In this embodiment, the drone maintains a fixed direction and altitude under manual control of the user and is able to obtain real-time flight information.

[0126] Step S802, based on the real-time flight information, determine the turning completion position of the drone when the drone is currently triggered to turn around.

[0127] In this embodiment, the drone estimates in real time based on real-time flight information where the drone will complete the turn when the drone is currently triggered to turn around, thereby obtaining the drone's turn completion position.

[0128] Step S803: Send the U-turn completion position to a display device for real-time display to assist the user in deciding the timing to trigger the U-turn.

[0129] In this embodiment, the drone sends the real-time estimated U-turn completion position to the display device for real-time display. The user can accurately judge when to trigger the U-turn command through the real-time U-turn completion position displayed on the display device, and the drone can just complete the U-turn at the expected position. The display device can be a smart phone, a tablet computer, a remote control, etc., and this embodiment does not limit this.

[0130] In one implementation, the display device may display the U-turn completion position in real time on a satellite map screen and / or a first-person perspective screen.

[0131] In one embodiment, the above step S802 may include: determining, based on real-time flight information, a turning distance required for the drone to complete the turn when the drone is currently triggered to turn around; and determining the turning completion position of the drone based on the current position of the drone and the turning distance.

[0132] Among them, the drone determines the turning distance required for the drone to complete the U-turn when the drone is currently triggered to turn around based on real-time flight information. Specifically, it may include: determining the turning distance required for the drone to complete the U-turn when the drone is currently triggered to turn around based on the real-time flight information and the correspondence between the preset flight information and the U-turn distance.

[0133] In one embodiment, the corresponding relationship can be obtained through the following steps: triggering the drone to turn around under different flight information, and obtaining the turning distance required for the drone to complete the turn; generating a corresponding relationship based on different flight information and the turning distance corresponding to each flight information.

[0134] Among them, the corresponding relationship includes a first corresponding relationship, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest time under different flight information; the above steps determine the turning distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn around according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance, and specifically may include: when adopting the speed priority strategy, determine the turning distance required for the UAV to complete the U-turn in the shortest time when the UAV is currently triggered to turn around according to the real-time flight information and the first corresponding relationship.

[0135] The correspondence may also include a second correspondence, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest distance under different flight information; the above steps determine the turning distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn around according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance, and specifically may include: when adopting the distance priority strategy, determining the turning distance required for the UAV to complete the U-turn in the shortest distance when the UAV is currently triggered to turn around according to the real-time flight information and the second corresponding relationship.

[0136] In one implementation, the above step S801 may include: if the drone is in an assisted fixed-speed flight mode, determining a set flight speed corresponding to the assisted fixed-speed flight mode as real-time flight information.

[0137] Among them, whether the drone enters the assisted fixed-speed flight mode during flight can be determined based on the user's operation of the assisted fixed-speed flight mode switch on the application interface; and / or, the set flight speed corresponding to the assisted fixed-speed flight mode can be determined based on the user's speed setting operation on the application interface.

[0138] In one embodiment, the drone can obtain the on state of the assisted fixed speed flight mode switch and the set flight speed corresponding to the assisted fixed speed flight mode according to the user's on operation of turning on the assisted fixed speed flight mode switch on the application interface of the display device and the speed setting operation of the flight speed setting button on the application interface; when the drone takes off under the manual control of the user, the drone is controlled to enter the assisted fixed speed flight mode according to the on state of the assisted fixed speed flight mode switch and the set flight speed.

[0139] In another embodiment, the drone can also obtain the set flight speed corresponding to the assisted fixed-speed flight mode based on the user's speed setting operation on the flight speed setting button on the application interface of the display device; when the user manually controls the flight of the drone, if the drone receives an assisted fixed-speed flight mode entry instruction sent by the user through the display device, the drone is controlled to enter the assisted fixed-speed flight mode according to the set flight speed.

[0140] Please refer to Fig. 9 , is a flow chart of an assisted flight method for a display device provided by an embodiment of the present invention. It should be noted that the assisted flight method of the embodiment of the present invention is not based on Fig. 9 It should be understood that in other embodiments, the order of some steps in the assisted flight method of the embodiment of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. Fig. 9 The specific process shown is described in detail.

[0141] Step S901, obtaining the U-turn completion position of the UAV; the U-turn completion position is determined based on the real-time flight information of the UAV during the directional manual flight process, and the U-turn completion position is the position where the UAV completes the U-turn when the U-turn of the UAV is currently triggered.

[0142] In this embodiment, the U-turn completion position can be estimated by the drone and sent to the display device, or the drone can send real-time flight information to the display device and the display device can estimate the position based on the real-time flight information.

[0143] Step S902: Display the U-turn completion position in real time to assist the user in deciding the timing to trigger the U-turn.

[0144] In this embodiment, the display device displays the acquired U-turn completion position in real time, and the user can decide when is the most appropriate time to trigger the drone to turn around based on the U-turn completion position, thereby assisting the user in deciding the time to trigger the drone to turn around.

[0145] In one implementation, the display device may display the U-turn completion position in real time on a satellite map screen and / or a first-person perspective screen.

[0146] In this embodiment, the display device can determine whether the drone enters the assisted fixed speed flight mode during flight based on the user's operation of the assisted fixed speed flight mode switch on the application interface; and / or, determine the set flight speed corresponding to the assisted fixed speed flight mode based on the user's speed setting operation on the application interface.

[0147] In one embodiment, an assisted fixed-speed flight mode switch and a flight speed setting button are provided on the application interface of the display device. The display device obtains the on state of the assisted fixed-speed flight mode switch and the set flight speed corresponding to the assisted fixed-speed flight mode according to the user's on operation of turning on the assisted fixed-speed flight mode switch and the speed setting operation of the flight speed setting button, and sends them to the drone storage, so that after the drone takes off under the user's manual control, it enters the assisted fixed-speed flight mode according to the stored on state of the assisted fixed-speed flight mode switch and the set flight speed, and determines the set flight speed as real-time flight information.

[0148] In another embodiment, a flight speed setting button is provided on the application interface of the display device, and the display device obtains the set flight speed corresponding to the assisted fixed-speed flight mode according to the speed setting operation of the flight speed setting button by the user and sends it to the drone for storage; during the manual flight of the drone, an assisted fixed-speed flight mode entry instruction is sent to the drone according to the user's assisted fixed-speed flight mode start operation, so that the drone enters the assisted fixed-speed flight mode according to the stored set flight speed, and determines the set flight speed as real-time flight information.

[0149] Optionally, in order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing the auxiliary flight device is given below. Fig.10 , which is a functional module diagram of the assisted flight device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the assisted flight device provided in this embodiment are the same as those of the above embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments. The assisted flight device includes a first information acquisition module 210, a first position determination module 220 and a first display control module 230.

[0150] The first information acquisition module 210 is used to acquire real-time flight information of the UAV during the directional manual flight.

[0151] It can be understood that the first information acquisition module 210 can execute the above step S101.

[0152] The first position determination module 220 is used to determine the turn-around completion position of the drone when the drone is currently triggered to turn around according to the real-time flight information.

[0153] It can be understood that the first position determination module 220 can execute the above step S102.

[0154] The first display control module 230 is used to display the U-turn completion position in real time to assist the user in deciding the timing to trigger the U-turn.

[0155] It can be understood that the first display control module 230 can execute the above step S103.

[0156] Optionally, the first display control module 230 is specifically configured to display the U-turn completion position in real time on a satellite map screen and / or a first-person perspective screen.

[0157] Optionally, the first position determination module 220 is specifically used to determine, based on real-time flight information, a turning distance required for the drone to complete the turn when the drone is currently triggered to turn around; and determine the turning completion position of the drone based on the current position of the drone and the turning distance.

[0158] It can be understood that the first location determination module 220 can also execute the above steps S1021 and S1022.

[0159] Optionally, the first position determination module 220 is further specifically used to determine the turning distance required for the drone to complete the turning when the drone is currently triggered to turn according to the real-time flight information and the corresponding relationship between the preset flight information and the turning distance.

[0160] Optionally, the corresponding relationship is obtained through the following steps: triggering the drone to turn around under different flight information, and obtaining the turning distance required for the drone to complete the turn; generating a corresponding relationship according to different flight information and the turning distance corresponding to each flight information.

[0161] Optionally, the corresponding relationship includes a first corresponding relationship, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest time under different flight information; the first position determination module 220 is also specifically used to determine the turning distance required for the UAV to complete the U-turn in the shortest time when the speed priority strategy is adopted, according to real-time flight information and the first corresponding relationship.

[0162] Optionally, the corresponding relationship includes a second corresponding relationship, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest distance under different flight information; the first position determination module 220 is also specifically used to determine the turning distance required for the UAV to complete the U-turn in the shortest distance when the UAV is currently triggered to turn around according to real-time flight information and the second corresponding relationship when a distance priority strategy is adopted.

[0163] Optionally, the assisted flight device may also include a first control module, which can be used to determine whether the drone enters an assisted fixed-speed flight mode during flight based on the user's operation of the assisted fixed-speed flight mode switch on the application interface; and / or, determine the set flight speed corresponding to the assisted fixed-speed flight mode based on the user's speed setting operation on the application interface.

[0164] Optionally, see Fig.11 , which is a functional module diagram of an auxiliary flight device for a drone provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the auxiliary flight device provided in this embodiment are the same as those in the above embodiment. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment. The auxiliary flight device includes a second information acquisition module 310, a second position determination module 320, and a position sending module 330.

[0165] The second information acquisition module 310 is used to acquire real-time flight information of the UAV during the directional manual flight.

[0166] It can be understood that the second information acquisition module 310 can execute the above step S801.

[0167] The second position determination module 320 is used to determine the turn-around completion position of the drone when the drone is currently triggered to turn around according to the real-time flight information.

[0168] It can be understood that the second location determination module 320 can execute the above step S802.

[0169] The position sending module 330 is used to send the U-turn completion position to the display device for real-time display to assist the user in deciding the timing to trigger the U-turn.

[0170] It can be understood that the location sending module 330 can execute the above step S803.

[0171] Optionally, the second position determination module 320 is specifically used to determine, based on real-time flight information, a turning distance required for the drone to complete a U-turn when the drone is currently triggered to turn around; and determine the U-turn completion position of the drone based on the current position of the drone and the turning distance.

[0172] Optionally, the second position determination module 320 is further specifically used to determine the turning distance required for the drone to complete the turning when the drone is currently triggered to turn according to the real-time flight information and the corresponding relationship between the preset flight information and the turning distance.

[0173] Optionally, the corresponding relationship can be obtained through the following steps: triggering the drone to turn around under different flight information, and obtaining the turning distance required for the drone to complete the turn; generating a corresponding relationship according to different flight information and the turning distance corresponding to each flight information.

[0174] Among them, the corresponding relationship includes a first corresponding relationship, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest time under different flight information; the second position determination module 320 is also specifically used to determine the turning distance required for the UAV to complete the U-turn in the shortest time when the speed priority strategy is adopted, according to real-time flight information and the first corresponding relationship.

[0175] The correspondence may also include a second correspondence, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest distance under different flight information; the second position determination module 320 is also specifically used to determine the turning distance required for the UAV to complete the U-turn in the shortest distance when the UAV is currently triggered to turn around according to real-time flight information and the second correspondence when a distance priority strategy is adopted.

[0176] Optionally, the second information acquisition module 310 is specifically configured to determine a set flight speed corresponding to the assisted fixed-speed flight mode as real-time flight information if the drone is in an assisted fixed-speed flight mode.

[0177] Optionally, the assisted flight device may also include a second control module, which is used to determine whether the drone enters an assisted fixed-speed flight mode during flight based on the user's operation of the assisted fixed-speed flight mode switch on the application interface; and / or, determine the set flight speed corresponding to the assisted fixed-speed flight mode based on the user's speed setting operation on the application interface.

[0178] Optionally, see Fig.12 , which is a functional module diagram of an auxiliary flight device applied to a display device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the auxiliary flight device provided in this embodiment are the same as those in the above embodiment. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment. The auxiliary flight device includes a position receiving module 410 and a second display control module 420.

[0179] The position receiving module 410 is used to obtain the U-turn completion position of the UAV; the U-turn completion position is determined based on the real-time flight information of the UAV during the directional manual flight process, and the U-turn completion position is the position where the UAV completes the U-turn when the UAV is currently triggered to turn around.

[0180] It can be understood that the location receiving module 410 can execute the above step S901.

[0181] The second display control module 420 is used to display the U-turn completion position in real time to assist the user in deciding the timing to trigger the U-turn.

[0182] It can be understood that the second display control module 420 can execute the above step S902.

[0183] Optionally, the second display control module 420 is specifically configured to display the U-turn completion position in real time on a satellite map screen and / or a first-person perspective screen.

[0184] Optionally, the assisted flight device may further include an assisted constant speed setting module, which is used to determine whether the drone enters an assisted constant speed flight mode during flight based on the user's operation of the assisted constant speed flight mode switch on the application interface; and / or, determine the set flight speed corresponding to the assisted constant speed flight mode based on the user's speed setting operation on the application interface.

[0185] Please refer to Fig.13, is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 may be a drone, a smart phone, a tablet computer, a remote controller, or the like. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0186] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0187] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the assisted flight method disclosed in the above embodiments can be implemented.

[0188] The communication module 130 is used to establish a communication connection between the electronic device and other devices through a network, and to send and receive data through the network.

[0189] It should be understood that Fig.13 The structure shown is only a schematic diagram of the structure of the electronic device. The electronic device may also include Fig.13 More or fewer components as shown, or with Fig.13 Different configurations shown. Fig.13 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0190] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by the processor 120, the assisted flight method disclosed in the above embodiments is implemented.

[0191] In summary, the assisted flight method, device, electronic device and computer-readable storage medium provided by the embodiments of the present invention, on the one hand, can help users determine the timing to trigger the drone to turn around by displaying in real time the turning completion position of the drone when the drone is currently triggered to turn around during the directional manual flight of the drone, so that the user does not need to reduce the speed of the drone to a very low level before performing the turning operation, thereby effectively improving the operating efficiency of the drone; on the other hand, by controlling the drone to be in the assisted constant-speed flight mode, the drone can maintain a constant-speed flight during manual flight, which can not only reduce the user's operating difficulty and intensity, but also predict the turning completion position of the drone based on a constant flight speed, thereby improving the accuracy of the prediction.

[0192] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0193] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0194] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0195] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An assisted flight method, characterized in that: The method comprises: Obtain real-time flight information of the drone during directional manual flight; Determine, according to the real-time flight information, a turning completion position of the drone when the drone is currently triggered to turn around; The U-turn completion position is displayed in real time to assist the user in deciding the timing to trigger the U-turn.

2. The assisted flight method according to claim 1, characterized in that: The real-time display of the U-turn completion position includes: The U-turn completion position is displayed in real time on a satellite map screen and / or a first-person perspective screen.

3. The assisted flight method according to claim 1, characterized in that: The determining, according to the real-time flight information, a turning completion position of the drone when the drone is currently triggered to turn around, includes: Determine, according to the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around; The U-turn completion position of the UAV is determined according to the current position of the UAV and the U-turn distance.

4. The assisted flight method according to claim 3, characterized in that: The determining, according to the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around, comprises: The U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn is determined according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance.

5. The assisted flight method according to any one of claims 1 to 4, characterized in that: The real-time flight information at least includes the real-time flight speed.

6. The assisted flight method according to claim 1, characterized in that: The method of obtaining real-time flight information of the UAV during directional manual flight includes: If the UAV is in an auxiliary fixed-speed flight mode, the set flight speed corresponding to the auxiliary fixed-speed flight mode is determined as the real-time flight information.

7. The assisted flight method according to claim 6, characterized in that: Before obtaining the real-time flight information of the UAV during the directional manual flight, the method further includes: Determining whether the UAV enters the assisted fixed-speed flight mode during flight according to the user's operation of the assisted fixed-speed flight mode switch on the application program interface; And / or, determining a set flight speed corresponding to the auxiliary fixed-speed flight mode according to a speed setting operation performed by a user on the application program interface.

8. The assisted flight method according to claim 4, characterized in that: The corresponding relationship is obtained by following the steps: Triggering the UAV to turn around under different flight information, and obtaining the turning distance required for the UAV to complete the U-turn; The corresponding relationship is generated according to different flight information and the U-turn distance corresponding to each flight information.

9. The assisted flight method according to claim 4 or 8, characterized in that: The corresponding relationship includes a first corresponding relationship, which is generated according to different flight information and the turning distance required for the UAV to complete the U-turn in the shortest time under different flight information; the determining, according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance, the turning distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn around, includes: When the speed priority strategy is adopted, the turning distance required for the drone to complete the turning in the shortest time when the drone is currently triggered to turn around is determined according to the real-time flight information and the first corresponding relationship.

10. The assisted flight method according to claim 4 or 8, characterized in that: The corresponding relationship includes a second corresponding relationship, which is generated according to different flight information and the U-turn distance required for the UAV to complete the U-turn at the shortest distance under different flight information; the determining, according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance, the U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn around, includes: When the distance priority strategy is adopted, the turning distance required for the drone to complete the turning with the shortest distance when the drone is currently triggered to turn around is determined according to the real-time flight information and the second corresponding relationship.

11. An assisted flight method, characterized in that: Applied to a drone, the method comprises: Acquiring real-time flight information of the UAV during directional manual flight; Determine, according to the real-time flight information, a turning completion position of the drone when the drone is currently triggered to turn around; The U-turn completion position is sent to a display device for real-time display to assist the user in deciding the timing of triggering the U-turn.

12. The assisted flight method according to claim 11, characterized in that: The determining, according to the real-time flight information, a turning completion position of the drone when the drone is currently triggered to turn around, includes: Determine, according to the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around; The U-turn completion position of the UAV is determined according to the current position of the UAV and the U-turn distance.

13. The assisted flight method according to claim 12, characterized in that: The determining, according to the real-time flight information, a turning distance required for the drone to complete the turning when the drone is currently triggered to turn around, comprises: The U-turn distance required for the UAV to complete the U-turn when the UAV is currently triggered to turn is determined according to the real-time flight information and the corresponding relationship between the preset flight information and the U-turn distance.

14. The assisted flight method according to claim 13, characterized in that: The obtaining of real-time flight information of the UAV during the directional manual flight process includes: If the UAV is in an auxiliary fixed-speed flight mode, the set flight speed corresponding to the auxiliary fixed-speed flight mode is determined as the real-time flight information.

15. An assisted flight method, characterized in that: Applied to a display device, the method comprises: Obtaining the U-turn completion position of the UAV; the U-turn completion position is determined according to the real-time flight information of the UAV during the directional manual flight, and the U-turn completion position is the position at which the UAV completes the U-turn when the U-turn of the UAV is currently triggered; The U-turn completion position is displayed in real time to assist the user in deciding the timing to trigger the U-turn.

16. The assisted flight method according to claim 15, characterized in that: The real-time display of the U-turn completion position includes: The U-turn completion position is displayed in real time on a satellite map screen and / or a first-person perspective screen.

17. The assisted flight method according to claim 15, characterized in that: The method further comprises: Determining whether the UAV enters the assisted fixed-speed flight mode during flight according to the user's operation of the assisted fixed-speed flight mode switch on the application program interface; And / or, determining a set flight speed corresponding to the auxiliary fixed-speed flight mode according to a speed setting operation performed by a user on the application program interface.

18. A flight assisting device, characterized in that: The device comprises: The first information acquisition module is used to obtain real-time flight information of the UAV during directional manual flight; A first position determination module, configured to determine, based on the real-time flight information, a position at which the UAV has completed turning when the UAV is currently triggered to turn around; The first display control module is used to display the U-turn completion position in real time to assist the user in deciding the timing of triggering the U-turn.

19. A flight assisting device, characterized in that: Applied to a drone, the device comprises: A second information acquisition module is used to acquire real-time flight information of the UAV during the directional manual flight; A second position determination module is used to determine, based on the real-time flight information, a position at which the UAV has completed turning when the UAV is currently triggered to turn around; The position sending module is used to send the U-turn completion position to a display device for real-time display to assist the user in deciding the timing of triggering the U-turn.

20. A flight assisting device, characterized in that: Applied to a display device, the device comprises: A position receiving module is used to obtain the U-turn completion position of the UAV; the U-turn completion position is determined according to the real-time flight information of the UAV during the directional manual flight, and the U-turn completion position is the position where the UAV completes the U-turn when the U-turn of the UAV is currently triggered; The second display control module is used to display the U-turn completion position in real time to assist the user in deciding the timing to trigger the U-turn.

21. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the assisted flight method according to any one of claims 1 to 17 are implemented.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the assisted flight method according to any one of claims 1 to 17 are implemented.

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