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

Abstract

Embodiments of the present application provide an auxiliary flight method and device, electronic equipment and computer readable storage medium, relating to the technical field of unmanned aerial vehicle. The method comprises: acquiring real-time flight information of the unmanned aerial vehicle in the process of directional manual flight; determining, according to the real-time flight information, a turning completion position of the unmanned aerial vehicle when the unmanned aerial vehicle is triggered to turn around; and displaying the turning completion position in real time to assist the user in deciding the timing of triggering the unmanned aerial vehicle to turn around. By displaying the turning completion position of the unmanned aerial vehicle when the unmanned aerial vehicle is triggered to turn around in real time, the user can determine the timing of 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 a very low level before turning around, thereby effectively improving the operation efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to an assisted flight method, apparatus, electronic device, and computer-readable storage medium. Background Technology

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

[0003] When operating drones, especially for large-area full-coverage missions, they often fly back and forth, requiring frequent turns and route changes. Due to the inertia of the drone in flight, it is difficult for users to accurately predict the drone's turning position after a turn command is triggered when manually controlling the drone to turn around. Therefore, in existing technologies, users often need to first decelerate the drone, even reducing its speed to zero, before slowly performing the turn to accurately control the turning position and prevent the drone from flying off the plot (spraying outside the plot or colliding with obstacles outside the plot). This operating method results in relatively low operational efficiency. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an assisted flight method, device, electronic device and computer-readable storage medium that can assist users in deciding when to trigger a turnaround, thereby improving the operational efficiency of unmanned aerial vehicles (UAVs).

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

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

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

[0008] Based on the real-time flight information, determine the position where the drone completes its turn when the current trigger for the drone to turn around.

[0009] The location where the U-turn is completed is displayed in real time to help users decide when to trigger the U-turn.

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

[0011] The location where the U-turn is completed is displayed in real time on the satellite map and / or in the first-person view.

[0012] In an optional implementation, determining the position where the drone completes its turn when the real-time flight information is used to trigger the drone to turn around includes:

[0013] Based on the real-time flight information, determine the turning distance required for the drone to complete the turn when the current trigger is given.

[0014] The location where the drone completes its turn is determined based on the drone's current position and the turn-around distance.

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

[0016] Based on the real-time flight information and the preset correspondence between flight information and turn-around distance, the turn-around distance required for the drone to complete the turn-around when the drone is triggered to turn around is determined.

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

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

[0019] If the drone is in assisted constant speed flight mode, the set flight speed corresponding to the assisted constant speed flight mode is determined as the real-time flight information.

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

[0021] Based on the user's operation of the assisted flight mode switch on the application interface, determine whether the drone enters the assisted flight mode during flight;

[0022] And / or, based on the user's speed setting operation on the application interface, determine the set flight speed corresponding to the assisted constant speed flight mode.

[0023] In an optional implementation, the correspondence is obtained through the following steps:

[0024] The drone is triggered to turn around under different flight information conditions, and the turning distance required for the drone to complete the turn is obtained;

[0025] The corresponding relationship is generated based on different flight information and the turn-off distance corresponding to each flight information.

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

[0027] When a speed-priority strategy is adopted, the turning distance required for the drone to complete the turn in the shortest time is determined based on the real-time flight information and the first correspondence.

[0028] In an optional implementation, the correspondence includes a second correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete a turn in the shortest distance under different flight information; determining the turning distance required for the UAV to complete a turn when the UAV is triggered to turn around based on the real-time flight information and the preset correspondence between flight information and turning distance includes:

[0029] When a distance-first strategy is adopted, the turning distance required for the UAV to complete the turn is determined based on the real-time flight information and the second correspondence.

[0030] Secondly, the present invention provides an assisted flight method for use with unmanned aerial vehicles (UAVs), the method comprising:

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

[0032] Based on the real-time flight information, determine the position where the drone completes its turn when the current trigger for the drone to turn around.

[0033] The location where the U-turn is completed is sent to a display device for real-time display to assist the user in deciding when to trigger the U-turn.

[0034] In an optional implementation, determining the position where the drone completes its turn when the real-time flight information is used to trigger the drone to turn around includes:

[0035] Based on the real-time flight information, determine the turning distance required for the drone to complete the turn when the current trigger is given.

[0036] The location where the drone completes its turn is determined based on the drone's current position and the turn-around distance.

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

[0038] Based on the real-time flight information and the preset correspondence between flight information and turn-around distance, the turn-around distance required for the drone to complete the turn-around when the drone is triggered to turn around is determined.

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

[0040] If the drone is in assisted constant speed flight mode, the set flight speed corresponding to the assisted constant speed flight mode is determined as the real-time flight information.

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

[0042] Obtain the position where the drone completes its turn; the position where the drone completes its turn is determined based on the real-time flight information of the drone during the manual directional flight process; the position where the drone completes its turn when the turn is triggered.

[0043] The location where the U-turn is completed is displayed in real time to help users decide when to trigger the U-turn.

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

[0045] The location where the U-turn is completed is displayed in real time on the satellite map and / or in the first-person view.

[0046] In an optional implementation, the method further includes:

[0047] Based on the user's operation of the assisted flight mode switch on the application interface, it is determined whether the drone enters the assisted flight mode during flight;

[0048] And / or, based on the user's speed setting operation on the application interface, determine the set flight speed corresponding to the assisted constant speed flight mode.

[0049] Fourthly, the present invention provides an auxiliary flight device, the device comprising:

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

[0051] The first position determination module is used to determine the position where the UAV completes its turn when the UAV is triggered to turn around, based on the real-time flight information.

[0052] The first display control module is used to display the completed U-turn position in real time to assist the user in deciding when to trigger the U-turn.

[0053] Fifthly, the present invention provides an auxiliary flight device for use with unmanned aerial vehicles (UAVs), the device comprising:

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

[0055] The second position determination module is used to determine the position where the UAV completes its turn when the UAV is triggered to turn around, based on the real-time flight information.

[0056] The location sending module is used to send the completed U-turn location to the display device for real-time display, so as to assist the user in deciding when to trigger the U-turn.

[0057] Sixthly, the present invention provides an auxiliary flight device applied to a display device, the device comprising:

[0058] The location receiving module is used to obtain the location where the UAV completes its turn; the location where the UAV completes its turn is determined based on the real-time flight information of the UAV during the directional manual flight process, and the location where the UAV completes its turn when the UAV is triggered to turn.

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

[0060] In a seventh aspect, the present invention provides an electronic device including 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 the assisted flight method as described in any of the foregoing embodiments.

[0061] Eighthly, the present invention provides a computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the assisted flight method as described in any of the foregoing embodiments.

[0062] The assisted flight method, apparatus, electronic device, and computer-readable storage medium provided in this invention include: acquiring real-time flight information of a drone during manual directional flight; determining the completed turn position of the drone when a turn is triggered based on the real-time flight information; and displaying the completed turn position in real time to assist the user in deciding when to trigger a turn. By displaying the completed turn position of the drone in real time, the user can determine the timing for triggering a turn, thus eliminating the need for the user to reduce the drone's speed to a very low level before performing the turn, thereby effectively improving the drone's operational efficiency.

[0063] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0064] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

[0066] Figure 2 This is a schematic diagram showing the estimated completion location of the U-turn on a satellite map.

[0067] Figure 3 This is a schematic diagram showing the estimated completed U-turn position displayed in a first-person view.

[0068] Figure 4 It shows Figure 1 A flowchart illustrating the sub-steps of step S102;

[0069] Figure 5 This diagram illustrates how to determine the completed turn position based on the drone's current position and the turn-around distance.

[0070] Figure 6 This diagram illustrates that the assisted cruise control mode switch provided on the application interface is not turned on;

[0071] Figure 7 The diagram shows the assisted cruise control mode switch on the application interface after it is turned on.

[0072] Figure 8A schematic flowchart of an assisted flight method for unmanned aerial vehicles provided by an embodiment of the present invention is shown.

[0073] Figure 9 This invention provides a schematic flowchart of an assisted flight method for a display device, according to an embodiment of the present invention.

[0074] Figure 10 A functional block diagram of an auxiliary flight device provided in an embodiment of the present invention is shown;

[0075] Figure 11 This diagram illustrates a functional block diagram of an auxiliary flight device for unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention.

[0076] Figure 12 This invention illustrates a functional block diagram of an auxiliary flight device applied to a display device, according to an embodiment of the present invention.

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

[0078] Icons: 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 transmission module; 410 - Position receiving module; 420 - Second display control module. Detailed Implementation

[0079] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0080] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0081] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0082] In scenarios where drones are manually controlled to perform round-trip flights, users need to frequently control the drone to turn around in order to change its flight direction. However, drones have inertia during flight, making it difficult for users to accurately predict the drone's final position after triggering a turn command. In existing technologies, to ensure the drone doesn't fly off the ground (spray outside the designated area or collide with obstacles) during a turn, users typically need to first reduce the drone's speed, even to zero, and then slowly perform the turn. This method reduces operational efficiency.

[0083] To address the aforementioned issues, embodiments of the present invention provide an assisted flight method, apparatus, electronic device, and computer-readable storage medium. By displaying the completed turn position of the drone in real time during the directional manual flight of the drone, the user is helped to determine the timing for triggering the turn. This eliminates the need for the user to reduce the drone's speed to a very low level before performing the turn operation, thus effectively improving the drone's operational efficiency.

[0084] Please refer to Figure 1 This is a schematic flowchart of an assisted flight method provided in an embodiment of the present invention. It should be noted that the assisted flight method in this embodiment of the present invention is not based on... Figure 1 The specific order described below is a limitation. It should be understood that in other embodiments, the order of some steps in the assisted flight method of this invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The executing entity of this assisted flight method can be a drone, smartphone, tablet computer, remote controller, or other devices. Different steps of the assisted flight method can be executed by the same device or by different devices. For example, some steps can be executed by a drone, and some steps can be executed by a remote controller. This embodiment does not impose any limitations on this. The following will describe... Figure 1 The specific process shown will be explained in detail.

[0085] Step S101: Obtain real-time flight information of the UAV during the directional manual flight process.

[0086] In this embodiment, directional manual flight of the drone can be understood as the drone maintaining a fixed direction and altitude during manual flight. That is, the drone's heading is fixed, and it flies in a straight line without deviation, thus reducing the difficulty of operation for the user. In other words, when the user operates the joystick on the remote control, the drone will not respond to changes in the user's heading. For example, if the user actually wants the drone to fly straight forward, but the joystick movement is not precise enough, causing it to deviate slightly to the left or right, in directional manual flight mode, the drone's heading is fixed and will not respond to changes in heading caused by left or right deviations in the joystick movement. Therefore, the user can confidently use the joystick, reducing the difficulty of operation.

[0087] Step S102: Based on real-time flight information, determine the position where the drone completes its turn when the current trigger for the drone to turn around.

[0088] In this embodiment, real-time flight information represents the real-time flight status of the UAV. During the manual directional flight of the UAV, the location at which the UAV will complete the turn is estimated in real time when the UAV is triggered to turn around, based on the real-time flight information, thereby obtaining the position where the UAV completes the turn.

[0089] Step S103: Display the completed U-turn location in real time to assist the user in deciding when to trigger the U-turn.

[0090] Understandably, during manual directional flight of a drone, the estimated turn-around point changes in real time. By displaying this constantly changing turn-around point, users can determine the optimal time to trigger the turn-around command, ensuring the drone completes the turn at the desired location. This eliminates the need for users to reduce the drone's speed significantly before performing the turn-around, thus effectively improving the drone's operational efficiency.

[0091] As can be seen, the assisted flight method provided in this embodiment of the invention includes: acquiring real-time flight information of the UAV during manual directional flight; determining the completed turn position of the UAV when a turn is triggered based on the real-time flight information; and displaying the completed turn position in real time to assist the user in deciding when to trigger a turn. By displaying the completed turn position of the UAV in real time, the user can determine the timing for triggering a turn, thus eliminating the need for the user to reduce the UAV's speed to a very low level before performing the turn operation, thereby effectively improving the operational efficiency of the UAV.

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

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

[0094] In one implementation, to allow users to intuitively see the real-time estimated location of the drone's turnaround, the turnaround location can be displayed in real-time on a satellite map and / or a first-person view (FPV) screen.

[0095] In this embodiment, the location where the U-turn is completed can be marked on the satellite map and / or the first-person view using a preset marker, such as a specific pattern or line. Figure 2 The satellite map shown and Figure 3 In the first-person view shown, the horizontal dashed line indicates the position where the drone completes its turn when it is triggered to turn around. As the drone flies forward, its position will change continuously, and the position of the horizontal dashed line in the satellite map and the first-person view will also change continuously.

[0096] It should be noted that in this embodiment, the location where the drone completes its turn can be displayed only on the satellite map, only on the first-person view, or simultaneously on both. Displaying the turn-around location on both the satellite map and the first-person view provides dual protection: if the FPV view experiences delays or lag due to poor network conditions, the satellite map obtained from the satellite signal can still be displayed; conversely, if the satellite signal is blocked, the drone's turn-around location can be observed through the FPV view.

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

[0098] In one implementation, the turning point of the drone can be determined by estimating the distance required for the drone to complete the turn. Based on this, please refer to... Figure 4 The above step S102 may specifically include:

[0099] Step S1021: Based on real-time flight information, determine the turning distance required for the drone to complete the turn when the current trigger is activated.

[0100] Step S1022: Determine the position where the drone completes its turn based on the drone's current position and the turn-around distance.

[0101] In this embodiment, the turning distance required for the drone to complete the turn can be calculated based on the drone's real-time flight information. Then, by combining the drone's current position and the turning distance required to complete the turn, the expected position when the drone completes the turn can be determined, i.e., the drone's turn completion position.

[0102] like Figure 5 As shown, assuming the current position of the drone is A, and based on the current flight information (real-time flight information) of the drone, the turning distance required for the drone to complete the turn is calculated to be D. Then, based on the current position A and the turning distance D, the position where the drone completes the turn can be determined to be B.

[0103] In one implementation, a correspondence between the drone's flight information and the turn-around distance can be established in advance. Specifically, step S1021 may include: determining the turn-around distance required for the drone to complete the turn-around when the drone is triggered to turn around, based on real-time flight information and the preset correspondence between flight information and turn-around distance.

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

[0105] In one implementation, the correspondence can be obtained in advance through testing. Specifically, the correspondence can be obtained through the following steps: triggering the UAV to turn around under different flight information and obtaining the turning distance required for the UAV to complete the turn; generating the correspondence 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 triggering a turn, the drone drifts and turns around, and the actual position where the turn is completed is recorded. Based on the recorded position and the drone's position when the turn is triggered, the required turn distance can be calculated. In this way, the correspondence between different flight information and turn distance can be obtained.

[0107] Taking flight speed as an example, controlling a drone to fly forward at 5 m / s, after triggering a turn, the drone drifts and turns around. Based on the actual completed turn position and the drone's position when the turn was triggered, the turn distance required for the drone to complete the turn at 5 m / s can be obtained. Similarly, by testing at other different speeds, the turn distances corresponding to various flight speeds can be obtained. In practice, the multiple sets of test data can be compiled into a table for reference, or these multiple sets of data can be fitted into a formula to calculate the turn distance corresponding to different flight speeds, thereby obtaining the corresponding turn completion position.

[0108] In practical applications, considering that 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 it to turn around over the shortest distance—during the development and testing phase, the drone can be controlled to turn around using both speed-priority and distance-priority strategies. This establishes the correspondence between various flight speeds and turning distances under both the speed-priority and distance-priority strategies.

[0109] In other words, the pre-established correspondence in this embodiment can include a first correspondence and a second correspondence. The first correspondence is generated based on different flight information and the turning distance required for the drone to complete a turn in the shortest time under different flight information. The second correspondence is also generated based on different flight information and the turning distance required for the drone to complete a turn in the shortest distance under different flight information. Before manually controlling the drone to fly, the user can set a turning preference, such as setting a speed-first strategy or a distance-first strategy. Subsequently, when estimating the turning distance of the drone, the user can choose to use either the first or the second correspondence for calculation based on their set turning preference.

[0110] Based on this, the above steps, which determine the required turning distance for the drone to complete the turn when the drone is triggered to turn, according to real-time flight information and the preset correspondence between flight information and turning distance, may specifically include: when adopting a speed priority strategy, determining the required turning distance for the drone to complete the turn in the shortest time when the drone is triggered to turn, based on real-time flight information and the first correspondence; when adopting a distance priority strategy, determining the required turning distance for the drone to complete the turn in the shortest distance when the drone is triggered to turn, based on real-time flight information and the second correspondence.

[0111] Understandably, when actually controlling a drone to turn around, if a speed-priority strategy is adopted, there is no need to slow down the drone, allowing it to complete the turn quickly 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, allowing it to complete the turn in a shorter distance. In this case, the time required for the drone to complete the turn may be longer.

[0112] In practical applications, when drones are flown manually, users need to precisely control their speed, altitude, and direction to ensure operational efficiency and effectiveness, which places high demands on the user's operational skills. To simplify user operation, some functions exist that assist manual flight (also called assisted flight or enhanced manual flight), allowing the drone to maintain a fixed direction and altitude during manual flight, but not a fixed flight speed. Therefore, when manually controlling the drone, users need to continuously operate the joystick to keep the drone flying at a relatively constant speed, which is quite difficult and demanding. To reduce the difficulty and intensity of user operation, the assisted flight method provided in this invention allows the drone to enter an assisted constant-speed flight mode. When the drone is in this mode, the user only needs to manually control the drone to move forward or backward. A simple push of the joystick, regardless of the amount, will cause the drone to accelerate to the set speed and move forward or backward at a constant speed, thus enabling constant-speed flight during manual flight. Furthermore, when the drone is flying at a constant speed, the turning point is easier to predict and relatively fixed, reducing the system's computational load. Conversely, when a drone flies at an unpredictable speed, its speed changes frequently, causing the estimated turning point to fluctuate, which makes it difficult for users to accurately determine the timing of the turn.

[0113] Therefore, in one embodiment, step S101 may specifically include:

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

[0115] In this embodiment, the user can preset the drone's flight speed in assisted constant-speed flight mode. When the drone is in assisted constant-speed flight mode, regardless of how much the user pushes the joystick forward, the drone will accelerate to the preset flight speed and maintain a constant speed. In this case, the drone's real-time flight speed is the preset flight speed, which can be determined as real-time flight information. It can be understood that if the drone is not in assisted constant-speed flight mode, its speed will be directly affected by the degree of user joystick operation; 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] As can be seen, the assisted flight method provided in this embodiment of the invention controls the UAV to be in assisted constant speed flight mode, so that the UAV can maintain constant speed flight when flying manually. This not only reduces the difficulty and intensity of operation for users, but also improves the accuracy of prediction by predicting the UAV's turn-around position based on a constant flight speed.

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

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

[0119] In this embodiment, an assisted flight speed control mode switch and / or a flight speed setting button can be provided on the application interface. Before manually controlling the drone, the user can set the assisted flight speed control mode and flight speed on the application interface. In one implementation, the user can turn the assisted flight speed control mode switch on or off on the application interface. When turned on, the drone will enter assisted flight speed control mode during flight. The user can also set the drone's flight speed using the flight speed setting button on the application interface. After entering assisted flight speed control mode, the drone will fly at the set speed.

[0120] In one example Figure 6 This is an illustration of the Assisted Flight Mode switch not being turned on, provided on the application interface. After the user turns on the Assisted Flight Mode switch, they will receive... Figure 7 The diagram shown illustrates the assisted cruise control mode switch after it is turned on. Figure 7 As shown, after the assisted flight speed mode switch is turned on, the user can set the assisted flight speed (i.e., the set flight speed corresponding to the assisted flight speed mode) through the flight speed setting buttons (including the first control V1, the second control V2, and the third control V3). For example, clicking the first control V1 will decrease the speed, clicking the third control V3 will increase the speed, and sliding the second control V2 left or right will also decrease or increase the speed. When the user manually controls the drone to take off, based on the obtained on / off status of the assisted flight speed mode switch and the set flight speed, the user controls the drone to enter the assisted flight speed mode, adjusting the drone to fly at a constant speed according to the set flight speed.

[0121] In another implementation, the assisted flight speed control mode switch may not be provided on the application interface. Instead, only a button for setting the assisted flight speed (i.e., the flight speed setting button) is provided. In this case, the user only needs to set the flight speed using the flight speed setting button before manually controlling the drone. Specifically, the set flight speed corresponding to the assisted flight speed control mode can be obtained based on the user's speed setting operation on the flight speed setting button on the application interface. During manual control of the drone, if an assisted flight speed control mode entry command is received, the drone will be controlled to enter assisted flight speed control mode according to the set flight speed.

[0122] In this embodiment, the command to enter the assisted constant-speed flight mode can be triggered by the user, for example, through a remote control or smartphone. Since the user only sets the constant-speed flight speed before manually controlling the drone, the drone will not immediately enter the assisted constant-speed flight mode after the user manually takes off. Instead, it will enter the assisted constant-speed flight mode during flight by being triggered by the user. That is, after receiving the assisted constant-speed flight mode entry command triggered by the user, the drone is controlled to enter the assisted constant-speed flight mode, adjusting the drone to fly at a constant speed according to the set flight speed.

[0123] Please refer to Figure 8 This is a schematic flowchart illustrating a flight assistance method for unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention. It should be noted that the flight assistance method in this embodiment is not based on... Figure 8 The specific order described below is a limitation. It should be understood that in other embodiments, the order of some steps in the assisted flight method of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The following will describe... Figure 8 The specific process shown will be explained in detail.

[0124] Step S801: Obtain real-time flight information of the UAV during the directional manual flight process.

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

[0126] Step S802: Based on real-time flight information, determine the position where the drone completes its turn when the current trigger for the drone to turn around.

[0127] In this embodiment, the UAV estimates in real time the location where it will complete the UAV turn when it is triggered to turn around based on real-time flight information, thereby obtaining the location where the UAV will complete the turn.

[0128] Step S803: The completed U-turn position is sent to the display device for real-time display to assist the user in deciding when to trigger the U-turn.

[0129] In this embodiment, the drone sends the real-time estimated turn-around location to a display device for real-time display. The user can accurately determine when to trigger the turn-around command by viewing the real-time turn-around location on the display device, ensuring the drone completes the turn at the desired location. The display device can be a smartphone, tablet, remote control, etc., and this embodiment does not impose any limitations on this.

[0130] In one implementation, the display device can display the completed U-turn location in real time on a satellite map and / or a first-person view.

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

[0132] Specifically, the drone determines the turning distance required for the drone to complete the turn when the current trigger is triggered, based on real-time flight information. This can include determining the turning distance required for the drone to complete the turn when the current trigger is triggered, based on real-time flight information and a preset correspondence between flight information and turning distance.

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

[0134] The correspondence includes a first correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete the turn in the shortest time under different flight information. The above steps determine the turning distance required for the UAV to complete the turn when the UAV is triggered to turn, based on real-time flight information and the preset correspondence between flight information and turning distance. Specifically, it may include: when the speed priority strategy is adopted, the turning distance required for the UAV to complete the turn in the shortest time when the UAV is triggered is determined based on real-time flight information and the first correspondence.

[0135] The correspondence may also include a second correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete the turn in the shortest distance under different flight information. The above steps determine the turning distance required for the UAV to complete the turn when the UAV is triggered to turn, based on real-time flight information and the preset correspondence between flight information and turning distance. Specifically, it may include: when the distance priority strategy is adopted, the turning distance required for the UAV to complete the turn in the shortest distance when the UAV is triggered to turn is determined based on real-time flight information and the second correspondence.

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

[0137] Specifically, the system can determine whether the drone enters the assisted flight mode based on the user's operation of the assisted flight mode switch on the application interface; and / or, determine the set flight speed corresponding to the assisted flight mode based on the user's speed setting operation on the application interface.

[0138] In one implementation, the drone can obtain the on / off status of the auxiliary flight mode switch and the set flight speed corresponding to the auxiliary flight mode based on the user's operation of turning on the auxiliary 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 user's manual control, the drone is controlled to enter the auxiliary flight mode according to the on / off status of the auxiliary flight mode switch and the set flight speed.

[0139] In another implementation, the drone can also obtain the set flight speed corresponding to the assisted constant 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; during the process of the user manually controlling the drone to fly, if the drone receives the assisted constant speed flight mode entry command sent by the user through the display device, it will control the drone to enter the assisted constant speed flight mode according to the set flight speed.

[0140] Please refer to Figure 9 This is a schematic flowchart illustrating an assisted flight method for a display device provided in an embodiment of the present invention. It should be noted that the assisted flight method in this embodiment is not based on... Figure 9 The specific order described below is a limitation. It should be understood that in other embodiments, the order of some steps in the assisted flight method of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The following will describe... Figure 9 The specific process shown will be explained in detail.

[0141] Step S901: Obtain the position where the drone completes its turn. The position where the drone completes its turn is determined based on the real-time flight information of the drone during the manual directional flight process. The position where the drone completes its turn is the position where the drone completes its turn when the current turn is triggered.

[0142] In this embodiment, the completed turn 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 completed U-turn location in real time to assist the user in deciding when to trigger the U-turn.

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

[0145] In one implementation, the display device can display the completed U-turn location in real time on a satellite map and / or a first-person view.

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

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

[0148] In another implementation, the application interface of the display device is provided with a flight speed setting button. The display device obtains the set flight speed corresponding to the assisted flight speed mode according to the user's speed setting operation of the flight speed setting button and sends it to the drone's storage. During the manual flight of the drone, the display device sends an assisted flight speed mode entry command to the drone according to the user's assisted flight speed mode activation operation, so that the drone enters the assisted flight speed mode according to the stored set flight speed and determines the set flight speed as real-time flight information.

[0149] Optionally, in order to perform the corresponding steps in the above embodiments and various possible methods, an implementation of an auxiliary flight device is given below. Please refer to... Figure 10 This is a functional block diagram of an auxiliary flight 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 embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The auxiliary 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 directional manual flight.

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

[0152] The first position determination module 220 is used to determine the position where the drone completes its turn when the current trigger for the drone to turn around, based on real-time flight information.

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

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

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

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

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

[0158] It is understandable that the first position determination module 220 can also perform the above steps S1021 and S1022.

[0159] Optionally, the first position determination module 220 is further configured to determine the turning distance required for the drone to complete the turning when the drone is triggered to turn around, based on real-time flight information and a preset correspondence between flight information and turning distance.

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

[0161] Optionally, the correspondence includes a first correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete the 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 turn in the shortest time when the speed priority strategy is adopted, based on real-time flight information and the first correspondence.

[0162] Optionally, the correspondence includes a second correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete the 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 turn in the shortest distance when the distance priority strategy is adopted, based on real-time flight information and the second correspondence.

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

[0164] Alternatively, please refer to Figure 11 This is a functional block diagram of an auxiliary flight device for unmanned aerial vehicles (UAVs) 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 embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The auxiliary flight device includes a second information acquisition module 310, a second position determination module 320, and a position transmission module 330.

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

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

[0167] The second position determination module 320 is used to determine the position where the drone completes its turn when the current trigger for the drone to turn around, based on real-time flight information.

[0168] It is understood that the second position determination module 320 can perform the above step S802.

[0169] The location sending module 330 is used to send the location of the completed U-turn to the display device for real-time display, so as to assist the user in deciding when to trigger the U-turn.

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

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

[0173] Optionally, the correspondence 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 correspondence based on different flight information and the turning distance corresponding to each flight information.

[0174] The correspondence includes a first correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete the 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 turn in the shortest time when the speed priority strategy is adopted, based on real-time flight information and the first correspondence.

[0175] The correspondence may also include a second correspondence, which is generated based on different flight information and the turning distance required for the UAV to complete the 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 turn in the shortest distance when the distance priority strategy is adopted, based on real-time flight information and the second correspondence.

[0176] Optionally, the second information acquisition module 310 is specifically used to determine the set flight speed corresponding to the assisted constant speed flight mode as real-time flight information if the UAV is in assisted constant speed flight mode.

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

[0178] Alternatively, please refer to Figure 12 This is a functional block 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 embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. 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 position where the UAV completes its turn. The position where the UAV completes its turn is determined based on the real-time flight information of the UAV during the directional manual flight process. The position where the UAV completes its turn is the position where the UAV completes its turn when the current UAV turn is triggered.

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

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

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

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

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

[0185] Please refer to Figure 13This is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 can be a drone, smartphone, tablet computer, remote control, or other similar device. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through 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, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), 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 perform corresponding functions. For example, when a 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 via a network, and to send and receive data via the network.

[0189] It should be understood that, Figure 13 The structure shown is only a schematic diagram of an electronic device; the electronic device may also include components that are larger than those shown. Figure 13 The more or fewer components shown, or having the same Figure 13 The different configurations shown. Figure 13 The components shown can be implemented using hardware, software, or a combination thereof.

[0190] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor 120, implements the assisted flight methods disclosed in the above embodiments.

[0191] In summary, the assisted flight method, apparatus, electronic device, and computer-readable storage medium provided in the embodiments of the present invention, on the one hand, help users determine the timing for triggering a UAV turn by displaying the completed turn position of the UAV in real time during the manual directional flight of the UAV, thus eliminating the need for users to reduce the speed of the UAV to a very low level before performing the turn operation, thereby effectively improving the operational efficiency of the UAV; on the other hand, by controlling the UAV to be in an assisted constant speed flight mode, the UAV can maintain a constant speed during manual flight, which not only reduces the difficulty and intensity of operation for users, but also improves the accuracy of prediction by predicting the completed turn position of the UAV based on a constant flight speed.

[0192] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

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

[0194] If the aforementioned functions are implemented as software functional 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 this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0195] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An assisted flight method, characterized by, The method comprises: acquiring real-time flight information of the UAV in a directional manual flight process; the directional manual flight represents a fixed heading of the UAV in manual flight; determining, according to the real-time flight information, a U-turn completion position of the UAV when the U-turn of the UAV is triggered at present; the U-turn completion position is a position at which the U-turn of the UAV is completed when the U-turn of the UAV is triggered at present; real-time displaying the U-turn completion position to assist a user in deciding a timing of triggering the U-turn.

2. The assisted flight method of claim 1, wherein, The real-time displaying the U-turn completion position comprises: real-time displaying the U-turn completion position in a satellite map picture and / or a first-person view picture.

3. The assisted flight method of claim 1, wherein, The determining, according to the real-time flight information, the U-turn completion position of the UAV when the U-turn of the UAV is triggered at present comprises: determining, according to the real-time flight information, a U-turn distance required for the UAV to complete the U-turn when the U-turn of the UAV is triggered at present; determining the U-turn completion position of the UAV according to a current position of the UAV and the U-turn distance.

4. The assisted flight method of claim 3, wherein, The determining, according to the real-time flight information, the U-turn distance required for the UAV to complete the U-turn when the U-turn of the UAV is triggered at present comprises: determining, according to the real-time flight information and a preset corresponding relationship between flight information and U-turn distance, the U-turn distance required for the UAV to complete the U-turn when the U-turn of the UAV is triggered at present.

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

6. The assisted flight method of claim 1, wherein, The acquiring the real-time flight information of the UAV in the directional manual flight process comprises: if the UAV is in an assisted constant speed flight mode, determining a set flight speed corresponding to the assisted constant speed flight mode as the real-time flight information.

7. The assisted flight method of claim 6, wherein, Before the acquiring the real-time flight information of the UAV in the directional manual flight process, the method further comprises: determining, according to an operation of a user on an application interface on an assisted constant speed flight mode switch, whether the UAV is in the assisted constant speed flight mode when the UAV is flying; and / or, determining, according to a speed setting operation of the user on the application interface, a set flight speed corresponding to the assisted constant speed flight mode.

8. The assisted flight method of claim 4, wherein, The corresponding relationship is obtained through the following steps: triggering the UAV to make a U-turn under different flight information and acquiring a U-turn distance required for the UAV to complete the U-turn; generating the corresponding relationship according to different flight information and the U-turn distance corresponding to each of the flight information.

9. The assisted flight method of claim 4 or 8, wherein, The corresponding relationship comprises a first corresponding relationship, which is generated according to different flight information and a U-turn distance required for the UAV to complete the U-turn in the shortest time under the different flight information; the determining, according to the real-time flight information and the preset corresponding relationship between flight information and U-turn distance, the U-turn distance required for the UAV to complete the U-turn when the U-turn of the UAV is triggered at present comprises: when a speed priority strategy is adopted, determining, according to the real-time flight information and the first corresponding relationship, the U-turn distance required for the UAV to complete the U-turn in the shortest time when the U-turn of the UAV is triggered at present.

10. The assisted flight method of claim 4 or 8, wherein, The correspondence includes a second correspondence, which is generated according to different flight information and a U-turn distance required for the UAV to complete a U-turn at the shortest distance under the different flight information; and the U-turn distance required for the UAV to complete a U-turn when the U-turn is triggered currently according to the real-time flight information and a preset correspondence between flight information and U-turn distance. When the distance priority strategy is adopted, the U-turn distance required for the UAV to complete a U-turn at the shortest distance when the U-turn is triggered currently is determined according to the real-time flight information and the second correspondence.

11. An assisted flight method, characterized by, The method is applied to a UAV, and the method comprises: obtaining real-time flight information of the UAV in directional manual flight; the directional manual flight represents a fixed heading of the UAV in manual flight; determining a U-turn completion position of the UAV when the U-turn is triggered currently according to the real-time flight information; the U-turn completion position is a position of the UAV when the U-turn is completed currently; sending the U-turn completion position to a display device for real-time display to assist a user in deciding a U-turn triggering time.

12. The assisted flight method of claim 11, wherein, The determination of the U-turn completion position of the UAV when the U-turn is triggered currently according to the real-time flight information comprises: determining a U-turn distance required for the UAV to complete a U-turn when the U-turn is triggered currently according to the real-time flight information; determining the U-turn completion position of the UAV according to a current position of the UAV and the U-turn distance.

13. The assisted flight method of claim 12, wherein, The determination of the U-turn distance required for the UAV to complete a U-turn when the U-turn is triggered currently according to the real-time flight information comprises: determining the U-turn distance required for the UAV to complete a U-turn when the U-turn is triggered currently according to the real-time flight information and a preset correspondence between flight information and U-turn distance.

14. The assisted flight method of claim 13, wherein, The obtaining of the real-time flight information of the UAV in directional manual flight comprises: if the UAV is in an assisted constant speed flight mode, determining a set flight speed corresponding to the assisted constant speed flight mode as the real-time flight information.

15. An assisted flight method, characterized by, The method is applied to a display device, and the method comprises: obtaining a U-turn completion position of a UAV; the U-turn completion position is determined according to real-time flight information of the UAV in directional manual flight, and the U-turn completion position is a position of the UAV when a U-turn is completed currently; the directional manual flight represents a fixed heading of the UAV in manual flight; real-time displaying the U-turn completion position to assist a user in deciding a U-turn triggering time.

16. The assisted flight method of claim 15, wherein, The real-time displaying of the U-turn completion position comprises: real-time displaying the U-turn completion position in a satellite map picture and / or a first-person view picture.

17. The assisted flight method of claim 15, wherein, The method further comprises: determining whether the UAV is in an assisted constant speed flight mode according to an operation of a user on an application interface on an assisted constant speed flight mode switch; and / or determining a set flight speed corresponding to the assisted constant speed flight mode according to a speed setting operation of the user on the application interface.

18. An auxiliary flight device, characterized by The device comprises: A first information acquisition module, configured to acquire real-time flight information of a UAV during directional manual flight; the directional manual flight represents a fixed heading of the UAV during manual flight; A first position determination module, configured to determine, according to the real-time flight information, a U-turn completion position of the UAV when the U-turn of the UAV is triggered at present; the U-turn completion position is a position at which the U-turn of the UAV is completed when the U-turn of the UAV is triggered at present; A first display control module, configured to display the U-turn completion position in real time, so as to assist a user in deciding a timing of triggering the U-turn.

19. An auxiliary flight device, characterized by The device is applied to a UAV and comprises: A second information acquisition module, configured to acquire real-time flight information of the UAV during directional manual flight; the directional manual flight represents a fixed heading of the UAV during manual flight; A second position determination module, configured to determine, according to the real-time flight information, a U-turn completion position of the UAV when the U-turn of the UAV is triggered at present; the U-turn completion position is a position at which the U-turn of the UAV is completed when the U-turn of the UAV is triggered at present; A position sending module, configured to send the U-turn completion position to a display device for real-time display, so as to assist a user in deciding a timing of triggering the U-turn.

20. An auxiliary flight device, characterized by The device is applied to a display device and comprises: A position receiving module, configured to acquire a U-turn completion position of a UAV; the U-turn completion position is determined according to real-time flight information of the UAV during directional manual flight; the U-turn completion position is a position at which the U-turn of the UAV is completed when the U-turn of the UAV is triggered at present; the directional manual flight represents a fixed heading of the UAV during manual flight; A second display control module, configured to display the U-turn completion position in real time, so as to assist a user in deciding a timing of triggering the U-turn.

21. An electronic device, comprising: A computer program is stored on a computer readable storage medium and is executed by a processor to implement steps of the method for assisting flight according to any one of claims 1-17.

22. A computer-readable storage medium, characterized in that, A computer program is stored on a computer readable storage medium and is executed by a processor to implement steps of the method for assisting flight according to any one of claims 1-17.

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