Unmanned aerial vehicle control method, remote control equipment, system and medium

Abstract

The invention provides an unmanned aerial vehicle control method, remote control equipment, a system and a medium. The unmanned aerial vehicle control method comprises the following steps: controlling an unmanned aerial vehicle to enter a selfie stick mode in response to a first operation on remote control equipment; in the selfie stick mode, in response to a somatosensory operation on the remote control equipment, the unmanned aerial vehicle is controlled to carry out orientation adjustment based on the somatosensory operation, and the orientation refers to the orientation of the unmanned aerial vehicle relative to a hand-held person of the remote control equipment.

Description

Drone control method, remote control device, system and medium TECHNICAL FIELD

[0001] The present disclosure relates to, but is not limited to, a drone control method, a remote control device, a system and a medium. BACKGROUND

[0002] With the growth of the demand for self-portrait and the development of drone technology, a remote control device holder can control a drone to fly through the remote control device to take a selfie with the drone. However, in the process of controlling the drone to take a selfie, due to the complex operation mode of the drone, the remote control device holder is difficult to control the drone to take a suitable picture, resulting in poor selfie effect.

[0003] SUMMARY

[0004] The following is a summary of the subject matter of the detailed description of the present disclosure. This summary is not intended to limit the scope of protection of the claims.

[0005] The present disclosure provides a drone control method, a remote control device, a system and a medium.

[0006] A first aspect of the present disclosure provides a drone control method, the method comprising:

[0007] in response to a first operation on the remote control device, controlling the drone to enter a selfie stick mode;

[0008] in the selfie stick mode, in response to a motion sensing operation on the remote control device, controlling the drone to adjust an orientation based on the motion sensing operation, the orientation referring to an orientation of the drone relative to a remote control device holder.

[0009] A second aspect of the present disclosure provides a drone control method, the method comprising:

[0010] in response to a target operation on the remote control device, controlling the drone to perform a plurality of different stages of movement based on the target operation to adjust a distance between the drone and the remote control device holder.

[0011] A third aspect of the present disclosure provides a remote control device comprising a memory and a processor, the memory storing a computer program, when the computer program instructions are executed by the processor, the processor is configured to:

[0012] in response to a first operation on the remote control device, controlling the drone to enter a selfie stick mode;

[0013] in the selfie stick mode, in response to a motion sensing operation on the remote control device, controlling the drone to adjust an orientation based on the motion sensing operation, the orientation referring to an orientation of the drone relative to a remote control device holder.

[0014] A fourth aspect of the present disclosure provides a remote control device, comprising a memory and a processor, the memory storing a computer program, when the computer program instructions are executed by the processor, the processor is configured to:

[0015] In response to a target operation of the remote control device, the drone is controlled to move in multiple different stages based on the target operation to adjust the distance between the drone and the remote control device holder.

[0016] A fifth aspect of the present disclosure provides a drone control system, comprising a remote control device and a drone;

[0017] The remote control device is configured to, in response to a first operation of the remote control device, send a first control signal to the drone; in the selfie stick mode, in response to a motion sensing operation of the remote control device, send a second control signal to the drone;

[0018] The drone is configured to, based on the received first control signal, enter the selfie stick mode; in the selfie stick mode, based on the received second control signal, make an azimuth adjustment, the azimuth referring to the azimuth of the drone relative to the remote control device holder.

[0019] A sixth aspect of the present disclosure provides a drone control system, comprising a remote control device and a drone;

[0020] The remote control device is configured to, in response to a target operation of the remote control device by the remote control device holder, send a first target signal to the drone;

[0021] The drone is configured to, based on the received first target signal, move in multiple different stages to adjust the distance between the drone and the remote control device holder.

[0022] A seventh aspect of the present disclosure provides a computer readable storage medium, having stored thereon a computer program, the computer program being executed by a processor to implement the steps of the method according to the first aspect or the second aspect.

[0023] In the unmanned aerial vehicle control method, the remote control device, the system and the medium provided by the embodiments of the present disclosure, in response to a first operation on the remote control device, a person holding the remote control device needs to take a selfie by means of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to enter a selfie stick mode. In the selfie stick mode, in response to a somatosensory operation on the remote control device, the unmanned aerial vehicle is controlled to adjust the orientation based on the somatosensory operation. Since the orientation of the unmanned aerial vehicle can be adjusted by means of the somatosensory operation in the selfie stick mode to take a selfie from different orientations, it is avoided that the person holding the remote control device is difficult to control the unmanned aerial vehicle to shoot a suitable picture, thereby improving the effect of the selfie and reducing the complexity of the selfie.

[0024] Other aspects can become apparent from the following detailed description, when considered in conjunction with the accompanying drawings, and the detailed description is made with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure. In the drawings:

[0026] FIG. 1 is a flowchart of an unmanned aerial vehicle control method according to an example embodiment;

[0027] FIG. 2 is a schematic diagram of an unmanned aerial vehicle control system according to an example embodiment;

[0028] FIG. 3 is a schematic diagram of an unmanned aerial vehicle control process according to an example embodiment;

[0029] FIG. 4 is a schematic diagram of an unmanned aerial vehicle control process according to another example embodiment;

[0030] FIG. 5-1 is a schematic diagram of an unmanned aerial vehicle control process according to another example embodiment;

[0031] FIG. 5-2 is a schematic diagram of an unmanned aerial vehicle control process according to another example embodiment;

[0032] FIG. 6 is a flowchart of an unmanned aerial vehicle control method according to another example embodiment;

[0033] FIG. 7 is a flowchart of an unmanned aerial vehicle control method according to another example embodiment;

[0034] FIG. 8 is a flowchart of an unmanned aerial vehicle control method according to another example embodiment;

[0035] FIG. 9 is a block diagram of a remote control device according to an example embodiment.

[0036] Reference signs: 100-remote control device; 101-computing unit; 102-ROM; 103-RAM; 104-bus; 105-input / output interface; 106-input unit; 107-output unit; 108-storage unit; 109-communication unit; 200-drone. DETAILED DESCRIPTION

[0037] The technical solutions in the disclosed embodiments will be described clearly and completely below with reference to the drawings in the disclosed embodiments. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present disclosure. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0038] With the growth of the demand for self-photography and the development of drone technology, a remote control device holder can control a drone to fly through the remote control device, so as to take a selfie by using the drone. When the remote control device holder takes a selfie through the drone, the remote control device holder needs to learn the operation mode of the drone controlled by the remote control device first, and pay attention to the position of the drone at all times during the selfie process to avoid taking a selfie at an inappropriate angle. Since the distance between the remote control device holder and the drone may change due to improper operation of the remote control device holder during the selfie process, it is difficult to control the drone to take a suitable picture, resulting in poor selfie effect.

[0039] Based on this, the present disclosure provides a drone control method. When a drone is needed to take a selfie of a remote control device holder, the drone is controlled to enter a selfie stick mode, and the orientation of the drone is adjusted under the somatosensory operation of the remote control device holder on the remote control device. Since the operation mode of the somatosensory operation is simple, the remote control device holder does not need to learn a complex operation mode to adjust the orientation of the drone to take a selfie from different orientations, and the drone can maintain a fixed distance from the remote control device holder, thereby improving the selfie effect and reducing the complexity of the selfie.

[0040] The present disclosure provides a drone control method, as shown in FIG. 1, which comprises:

[0041] S100, in response to a first operation on the remote control device, controlling the drone to enter a selfie stick mode.

[0042] S200, in the selfie stick mode, in response to a somatosensory operation on the remote control device, controlling the drone to adjust the orientation based on the somatosensory operation. The orientation refers to the orientation of the drone relative to the remote control device holder.

[0043] In this embodiment, in response to the first operation on the remote control device, the remote control device holder needs to take a selfie by the UAV, and the UAV is controlled to enter the selfie stick mode. In the selfie stick mode, in response to the somatosensory operation on the remote control device, the UAV is controlled to adjust the orientation based on the somatosensory operation. Since the orientation of the UAV can be adjusted by the somatosensory operation in the selfie stick mode to take a selfie from different orientations, it avoids the remote control device holder from being difficult to control the UAV to shoot a suitable picture, thereby improving the effect of the selfie and reducing the complexity of the selfie.

[0044] Illustratively, the UAV can take a picture of the remote control device holder by its own camera, or can take a picture of the remote control device holder by the camera erected.

[0045] Illustratively, the remote control device is provided with an inertial measurement unit (IMU), which can detect acceleration information and angular velocity information to obtain relative pose information of the remote control device changed under the first somatosensory operation, so as to adjust the orientation of the UAV to take a picture of the remote control device holder by the relative pose information.

[0046] Illustratively, after the UAV is controlled to enter the selfie stick mode in step S100, the UAV can recognize the remote control device holder by a target detection algorithm to take a picture of the remote control device holder.

[0047] Illustratively, as shown in FIG. 2, the UAV control system includes a remote control device 100 and a UAV 200. After a user operates the remote control device 100, the remote control device 100 sends a signal to the UAV 200. The UAV 200 performs corresponding actions based on the signal sent by the remote control device 100.

[0048] In an embodiment, in step S200, in response to the somatosensory operation on the remote control device, the UAV is controlled to adjust the orientation based on the somatosensory operation by the following way:

[0049] In response to the somatosensory operation on the remote control device, the UAV is controlled to move from an initial orientation to a target orientation. The initial orientation is the orientation of the UAV before the somatosensory operation, and the target orientation is the orientation of the UAV pointed to when the somatosensory operation stops.

[0050] Wherein, the trajectory from the initial orientation to the target orientation is an arc trajectory, the arc trajectory is a part of a spherical trajectory, the center of the spherical trajectory is the position of the remote control device holder, and the radius of the spherical trajectory is the distance between the UAV and the remote control device holder.

[0051] In the embodiment, the remote control device holder needs to move the UAV to change the orientation of the UAV in the case that the remote control device holder performs the somatic operation on the remote control device. In response to the somatic operation on the remote control device, the UAV is controlled to move from the initial orientation to the target orientation pointed by the remote control device when the somatic operation is stopped. Since the trajectory from the initial orientation to the target orientation is an arc trajectory and the arc trajectory is a part of the spherical trajectory, the UAV can take pictures around the remote control device holder. The orientation of the UAV is changed by the somatic operation, and the UAV can take pictures of the remote control device holder from different orientations to achieve different effects, thereby improving the effect of the selfie.

[0052] For example, as shown in FIG. 3, in response to the somatic operation on the remote control device 100, the UAV 200 moves from the initial orientation to the target orientation to take pictures of the remote control device holder from different orientations.

[0053] In an embodiment, the step of controlling the UAV to move from the initial orientation to the target orientation in response to the somatic operation on the remote control device in the above-mentioned step can be determined by the following method:

[0054] In response to the somatic operation on the remote control device, the relative rotation angle between the UAV and the remote control device remains unchanged during the process of controlling the UAV to move along the arc trajectory from the initial orientation to the target orientation following the somatic operation on the remote control device.

[0055] In the embodiment, the remote control device holder needs to move the UAV to change the orientation of the UAV in the case that the remote control device holder performs the somatic operation on the remote control device. In response to the somatic operation on the remote control device, the UAV is controlled to move from the initial orientation to the target orientation pointed by the remote control device when the somatic operation is stopped. Since the trajectory from the initial orientation to the target orientation is an arc trajectory and the arc trajectory is a part of the spherical trajectory, the UAV can take pictures around the remote control device holder. The orientation of the UAV is changed by the somatic operation, and the UAV can take pictures of the remote control device holder from different orientations to achieve different effects, thereby improving the effect of the selfie.

[0056] Exemplarily, as shown in FIG. 4, the center of the spherical trajectory is located at the origin of the spatial coordinate system. When the remote control device 100 rotates by an angle a clockwise or counterclockwise in the xy plane along the z axis, the unmanned aerial vehicle 200 moves along an arc-shaped trajectory corresponding to an angle a clockwise or counterclockwise in a plane parallel to the xy plane of the spherical trajectory relative to the origin along the z axis. When the remote control device 100 rotates by an angle β clockwise or counterclockwise in the xz plane along the y axis, the unmanned aerial vehicle 200 moves along an arc-shaped trajectory corresponding to an angle β clockwise or counterclockwise in a plane parallel to the xz plane of the spherical trajectory relative to the origin along the y axis. When the remote control device 100 rotates by an angle γ clockwise or counterclockwise in the yz plane along the x axis, the unmanned aerial vehicle 200 moves along an arc-shaped trajectory corresponding to an angle γ clockwise or counterclockwise in a plane parallel to the yz plane of the spherical trajectory relative to the origin along the x axis.

[0057] In an embodiment, the moving of the unmanned aerial vehicle from the initial orientation to the target orientation in response to the somatosensory operation on the remote control device in the above step can also be determined by the following manner:

[0058] When the somatosensory operation is the rotating operation of the remote control device in the target plane, the unmanned aerial vehicle is controlled to move along the arc-shaped trajectory in the target plane or a plane parallel to the target plane.

[0059] In the embodiment, since the remote control device only needs to be rotated in the target plane, the unmanned aerial vehicle can be moved in the corresponding plane to change the orientation of the unmanned aerial vehicle, thereby reducing the complexity of the selfie.

[0060] In an embodiment, the central angle of the arc-shaped trajectory corresponding to the moving of the unmanned aerial vehicle in the plane is positively correlated with the angle of the rotating of the remote control device in the target plane.

[0061] In the embodiment, by positively correlating the central angle of the arc-shaped trajectory corresponding to the moving of the unmanned aerial vehicle in the plane with the angle of the rotating of the remote control device in the target plane, the person holding the remote control device can make the unmanned aerial vehicle move to a farther position by increasing the rotating amount to conform to the habit of the person holding the remote control device, thereby reducing the complexity of the selfie.

[0062] In an embodiment, the distance of the moving of the unmanned aerial vehicle in the plane is positively correlated with the angle of the rotating of the remote control device in the target plane.

[0063] In the embodiment, by positively correlating the distance of the moving of the unmanned aerial vehicle in the plane with the angle of the rotating of the remote control device in the target plane, the person holding the remote control device can make the unmanned aerial vehicle move to a farther position by increasing the rotating amount to conform to the habit of the person holding the remote control device, thereby reducing the complexity of the selfie.

[0064] In an embodiment, the speed of the moving of the unmanned aerial vehicle in the plane is positively correlated with the speed of the rotating of the remote control device in the target plane.

[0065] In this embodiment, by making the speed of the unmanned aerial vehicle moving on the plane positively related to the speed of the remote control device rotating on the target plane, the person holding the remote control device can make the unmanned aerial vehicle move faster by increasing the rotating speed to conform to the habit of the person holding the remote control device, thereby reducing the complexity of the selfie.

[0066] In an embodiment, the speed of the unmanned aerial vehicle moving on the plane is a preset speed.

[0067] In this embodiment, by making the speed of the unmanned aerial vehicle moving on the plane a preset speed, the problem that the unmanned aerial vehicle moves too fast or too slow to affect the shooting of the person holding the remote control device is avoided, thereby reducing the complexity of the selfie.

[0068] Exemplarily, in the process of the remote control device rotating, the speed of the remote control device rotating can be detected, and it is determined whether the somatosensory operation is effective according to the speed of the remote control device rotating to avoid the unmanned aerial vehicle malfunctioning due to the misoperation of the person holding the remote control device. For example, when the speed of the remote control device rotating is 30° / s, it is determined that the somatosensory operation is effective. When the speed of the remote control device rotating is 180° / s, it is determined that the somatosensory operation is ineffective. Wherein, when the somatosensory operation is ineffective, the unmanned aerial vehicle is not controlled.

[0069] In an embodiment, the unmanned aerial vehicle control method further comprises:

[0070] In the selfie stick mode, in response to the movement operation on the remote control device, the unmanned aerial vehicle is controlled to move following the movement operation of the remote control device, and in the process of moving, the distance between the unmanned aerial vehicle and the remote control device is kept unchanged.

[0071] In this embodiment, by moving the unmanned aerial vehicle following the remote control device and keeping the distance between the unmanned aerial vehicle and the remote control device unchanged, the unmanned aerial vehicle can shoot pictures with different backgrounds without changing the distance, thereby improving the effect of the selfie.

[0072] Exemplarily, as shown in FIGS. 5-1 and 5-2, in the process of the person holding the remote control device controlling the unmanned aerial vehicle 200 through the remote control device 100, there is a certain reference object (such as a tree) nearby. After the person holding the remote control device performs a movement operation on the remote control device 100 to move away from the reference object, the unmanned aerial vehicle 200 moves following the remote control device 100 while keeping the distance between the unmanned aerial vehicle 200 and the remote control device 100 unchanged.

[0073] In an embodiment, the unmanned aerial vehicle control method further comprises:

[0074] In the selfie stick mode, in response to a composite operation on the remote control device, the composite operation including a somatic operation and a movement operation, the unmanned aerial vehicle is controlled to simultaneously adjust the orientation and the distance based on the composite operation, and in the process of adjusting, the relative rotation angle between the unmanned aerial vehicle and the remote control device remains unchanged, and the distance between the unmanned aerial vehicle and the remote control device remains unchanged.

[0075] In the embodiment, in the case that the remote control device holder performs the somatic operation on the remote control device, the remote control device holder needs to move the unmanned aerial vehicle to change the orientation of the unmanned aerial vehicle. In the case that the remote control device holder performs the movement operation on the remote control device, the remote control device holder needs to move the unmanned aerial vehicle to change the background picture of the shooting. In response to the composite operation on the remote control device, the unmanned aerial vehicle is controlled to simultaneously adjust the orientation and the distance based on the composite operation to adjust the orientation of the unmanned aerial vehicle while the relative rotation angle and the distance remain unchanged. The unmanned aerial vehicle is moved in the orientation with the relative rotation angle and the distance remaining unchanged through the composite operation, which can control the unmanned aerial vehicle to move to shoot the remote control device holder from different orientations with the angle of rotation and the distance of movement of the remote control device, thereby improving the selfie effect.

[0076] In an embodiment, as shown in FIG. 6, in the above step, in response to the somatic operation on the remote control device, the unmanned aerial vehicle is controlled to move from the initial orientation to the target orientation, which can also be determined by the following manner:

[0077] S210, determining real-time relative pose information corresponding to the somatic operation of the remote control device.

[0078] S220, determining real-time control quantity corresponding to the unmanned aerial vehicle according to the real-time relative pose information.

[0079] S230, controlling the unmanned aerial vehicle to move along the arc-shaped trajectory to the orientation corresponding to the real-time control quantity based on the real-time control quantity.

[0080] In the embodiment, the real-time relative pose information corresponding to the somatic operation of the remote control device is determined to determine the degree to which the remote control device holder needs to control the unmanned aerial vehicle to move. The real-time control quantity corresponding to the unmanned aerial vehicle is determined according to the real-time relative pose information to convert the somatic operation into the real-time control quantity. The unmanned aerial vehicle is controlled to move along the arc-shaped trajectory to the orientation corresponding to the real-time control quantity based on the real-time control quantity to move the unmanned aerial vehicle under the action of the real-time control quantity. Through the real-time control of the unmanned aerial vehicle, the unmanned aerial vehicle is applicable to various types of unmanned aerial vehicles without changing the inherent control method and avoids the delay of the movement of the unmanned aerial vehicle to affect the shooting effect, thereby improving the selfie effect and the universality of the selfie.

[0081] Exemplarily, the moving of the UAV from the initial orientation to the target orientation in response to the somatosensory operation on the remote control device in the above step can be determined in the following manner:

[0082] The real-time relative pose information corresponding to the somatosensory operation on the remote control device is determined.

[0083] Based on the real-time relative pose information, the UAV is controlled to move along the arc-shaped trajectory to the orientation corresponding to the real-time relative pose information.

[0084] Exemplarily, the moving of the UAV from the initial orientation to the target orientation in response to the somatosensory operation on the remote control device in the above step can be determined in the following manner:

[0085] The real-time relative pose information corresponding to the somatosensory operation on the remote control device is determined.

[0086] According to the real-time relative pose information, the control instruction corresponding to the UAV is determined.

[0087] Based on the control instruction, the UAV is controlled to move along the arc-shaped trajectory to the orientation corresponding to the control instruction.

[0088] In an embodiment, the real-time relative pose information corresponding to the somatosensory operation on the remote control device in the above step is determined in the following manner:

[0089] The real-time angle mapped to the corresponding axis during the somatosensory operation on the remote control device is determined, the corresponding axis including at least one of a pitch axis, a yaw axis and a roll axis, and the real-time angle mapped to the corresponding axis is taken as the real-time relative pose information.

[0090] In the present embodiment, since the angle of the remote control device on one or more of the pitch axis, the yaw axis and the roll axis changes during the somatosensory operation on the remote control device, the degree of real-time angle change can reflect the real-time relative pose information of the remote control device. Taking the real-time angle mapped to the corresponding axis during the somatosensory operation on the remote control device as the real-time relative pose information can determine the change of the remote control device under the somatosensory operation in real time to control the orientation of the UAV, thereby improving the reliability of the selfie.

[0091] Exemplarily, the rotation direction of the UAV can be the same as or opposite to the rotation direction of the remote control device under the somatosensory operation. The rotation angle of the UAV can be the same as or positively correlated to the rotation angle of the remote control device under the somatosensory operation.

[0092] In an embodiment, the UAV control method further comprises:

[0093] In response to the pointing operation on the remote control device, the UAV is controlled to move to the position pointed by the pointing operation.

[0094] In the embodiment, the remote control device holder can wish to move the UAV to a target position to take a photo of the remote control device holder. If the distance between the UAV and the remote control device holder is adjusted and / or the shooting angle of the UAV is adjusted, a large number of operations are required and it is difficult to accurately position. The pointing operation is used to control the UAV to move to the position pointed by the pointing operation. The UAV can quickly reach the target position to take a photo of the remote control device holder, thereby reducing the complexity of the selfie.

[0095] For example, the position pointed by the pointing operation can be the position pointed by the side of the remote control device away from the remote control device holder when the remote control device holder correctly holds the remote control device. In addition to quickly reaching the target position, the pointing operation can also make the UAV move according to the change of the pointing operation. For example, when the remote control device holder performs the pointing operation of writing the letter M, the UAV performs the movement of the letter M at the target position, so that the UAV can take a photo of the remote control device holder in a cool way to improve the effect of the selfie.

[0096] In an embodiment, the first operation includes one of a sliding operation on a first sliding key in the remote control device, a rolling operation on a first rolling key in the remote control device, a pressing operation on a first pressing key in the remote control device, a first click operation on a screen in the remote control device, a first touch operation on the remote control device, a first flicking operation on the remote control device, and a first voice operation on the remote control device.

[0097] In the embodiment, the remote control device can have physical keys, a screen, and a microphone. The selfie stick mode can be entered by performing an operation on the physical keys, the screen, or the microphone. The selfie stick mode is entered by performing a sliding operation on a first sliding key, a rolling operation on a first rolling key, a pressing operation on a first pressing key, a first click operation on a screen, a first touch operation, a first flicking operation, or a first voice operation in the remote control device. The selfie stick mode is entered in a simple way, thereby reducing the complexity of the selfie.

[0098] In an embodiment, the UAV control method further includes:

[0099] In the selfie stick mode, in response to a second operation on the remote control device, the distance between the UAV and the remote control device holder is adjusted.

[0100] In this embodiment, the distance between the remote control device and the unmanned aerial vehicle may need to be adjusted in order to achieve better selfie effect in different environments during the process of controlling the unmanned aerial vehicle to take a selfie. In response to the second operation on the remote control device, the distance between the remote control device and the unmanned aerial vehicle is adjusted to take a selfie of the person holding the remote control device from a different distance. The distance between the remote control device and the unmanned aerial vehicle is adjusted by the second operation, so that the image of the person holding the remote control device in the selfie is changed, thereby improving the selfie effect.

[0101] In one embodiment, the step of adjusting the distance between the remote control device and the unmanned aerial vehicle in response to the second operation on the remote control device can be determined as follows:

[0102] In the case where the second operation is a swinging operation on the remote control device, the unmanned aerial vehicle is controlled to move in multiple different stages based on the swinging operation to adjust the distance between the remote control device and the unmanned aerial vehicle.

[0103] In this embodiment, the person holding the remote control device wants to see the cool movement of the unmanned aerial vehicle and wants the unmanned aerial vehicle to take a selfie in a cool way when adjusting the distance between the remote control device and the unmanned aerial vehicle. In the case where the second operation is a swinging operation on the remote control device, the unmanned aerial vehicle is controlled to move in multiple different stages based on the swinging operation to achieve a cool effect. By controlling the unmanned aerial vehicle to move with the swinging operation, the unmanned aerial vehicle can move and take a selfie in a cool way with only one operation, thereby improving the selfie effect and reducing the complexity of the selfie.

[0104] In one embodiment, the step of controlling the unmanned aerial vehicle to move in multiple different stages based on the swinging operation can be determined as follows:

[0105] During the swinging operation, the unmanned aerial vehicle is controlled to move at a variable speed along a first target trajectory away from the person holding the remote control device.

[0106] After the swinging operation ends, the unmanned aerial vehicle is controlled to move at a constant speed along a second target trajectory away from the person holding the remote control device.

[0107] In this embodiment, during the swinging operation, the remote control device is in a moving state and the speed changes, and the unmanned aerial vehicle is controlled to move at a variable speed along a first target trajectory away from the person holding the remote control device. After the swinging operation ends, the remote control device is in a stationary state, and the unmanned aerial vehicle is controlled to move at a constant speed along a second target trajectory away from the person holding the remote control device. By controlling the unmanned aerial vehicle to move at different trajectories and speeds with the swinging operation, the unmanned aerial vehicle can move and take a selfie in a cool way, thereby improving the selfie effect and reducing the complexity of the selfie.

[0108] In an embodiment, the speed of the variable speed movement is positively correlated with the strength of the swinging operation.

[0109] In the embodiment, by positively correlating the speed of the variable speed movement with the strength of the swinging operation, the speed of the variable speed movement of the UAV can be adjusted by the strength of the swinging operation and the adjustment manner conforms to the habit of the holder of the remote control device, thereby improving the selfie effect and reducing the complexity of the selfie.

[0110] Exemplarily, under the swinging operation, the change relationship of the speed of the variable speed movement with time can be preset. A proportional coefficient is set in the change relationship, the proportional coefficient is positively correlated with the strength of the swinging operation, so that the speed of the variable speed movement increases with the increase of the strength of the swinging operation. The speed of the variable speed movement can gradually increase with time, or gradually decrease with time. Alternatively, the speed of the variable speed movement can be irrelevant to time, and only positively correlated with the strength of the swinging operation. For example, the speed of the variable speed movement is the preset speed multiplied by the proportional coefficient, and the proportional coefficient is positively correlated with the strength of the swinging operation. It can be understood that the above is only for illustration, and the determination manner of the speed of the variable speed movement is not limited in the disclosure.

[0111] It can be understood that the speed of the variable speed movement can also be negatively correlated with the strength of the swinging operation or irrelevant to the strength of the swinging operation. That is, the speed of the variable speed movement can be a preset variable speed, which is not limited here.

[0112] In an embodiment, the first target trajectory is determined based on the strength and / or the arc of the swinging operation.

[0113] In the embodiment, by determining the first target trajectory based on the strength and / or the arc of the swinging operation, the holder of the remote control device can make the UAV move at different trajectories under different swinging operations to achieve a cool effect, thereby improving the selfie effect and reducing the complexity of the selfie.

[0114] Exemplarily, the first target trajectory can be a trajectory preset under different force and / or arc of the swinging operation. For example, when the force and / or arc of the swinging operation is in a first preset range, the first target trajectory is a straight line trajectory. When the force and / or arc of the swinging operation is in a second preset range, the first target trajectory is a circular arc trajectory. When the force and / or arc of the swinging operation is in a third preset range, the first target trajectory is a spiral trajectory. Or, the first target trajectory can also be an arc trajectory, a radius of the arc trajectory being positively correlated with the force and / or arc of the swinging operation. Or, the first target trajectory can also be a spiral trajectory, a radius of the spiral trajectory being positively correlated with the force and / or arc of the swinging operation. It can be understood that the above is only for illustration, and the determination manner of the first target trajectory is not limited in the present disclosure.

[0115] It can be understood that the first target trajectory can also be irrelevant to the force and arc of the swinging operation. That is, the first target trajectory can be a preset trajectory, for example, can be a straight line trajectory, a circular arc trajectory, a spiral trajectory, etc., which is not limited herein.

[0116] In an embodiment, the speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory.

[0117] In the present embodiment, by determining the speed of the constant speed movement based on the speed of the variable speed movement and / or the first target trajectory, the movement speeds of the unmanned aerial vehicle in the two different stages have certain relevance to achieve a cool effect and the movements in the two stages can be smoothly connected, thereby improving the selfie effect and reducing the complexity of the selfie.

[0118] Exemplarily, the speed of the constant speed movement can be the speed at the end of the variable speed movement, the average speed of the variable speed movement, the initial speed of the variable speed movement, etc., can also be a ratio of the distance of the first target trajectory to a preset value, and can also be an average of the speed at the end of the variable speed movement and the ratio of the distance of the first target trajectory to the preset value, etc. It can be understood that the above is only for illustration, and the determination manner of the speed of the constant speed movement is not limited in the present disclosure.

[0119] It can be understood that the speed of the constant speed movement can also be irrelevant to the speed of the variable speed movement and the first target trajectory. That is, the speed of the constant speed movement can be a preset fixed speed, which is not limited herein.

[0120] In an embodiment, the second target trajectory is determined based on the first target trajectory.

[0121] In the embodiment, the second target trajectory is determined based on the first target trajectory, so that the motion trajectories of the UAV in the two different stages are related to each other to achieve a cool effect and the motion in the two stages can be smoothly connected, thereby improving the selfie effect and reducing the complexity of the selfie.

[0122] For example, the second target trajectory can be the same as the first target trajectory, or can be different from the first target trajectory. For example, in the case where the first target trajectory is an arc trajectory, the second target trajectory can be a straight line trajectory or a spiral trajectory. In the case where the first target trajectory is a straight line trajectory, the second target trajectory can be an arc trajectory or a spiral trajectory. In the case where the first target trajectory is a spiral trajectory, the second target trajectory can be a straight line trajectory or an arc trajectory. Alternatively, the second target trajectory can also be a straight line trajectory along which the first target trajectory ends. It can be understood that the above is only an example, and the determination manner of the second target trajectory is not limited in the present disclosure.

[0123] It can be understood that the second target trajectory can also be irrelevant to the first target trajectory. That is, the second target trajectory can be a preset trajectory, for example, can be a straight line trajectory, a circular arc trajectory, or a spiral trajectory, which is not limited herein.

[0124] In an embodiment, the control of the UAV to perform the motion in the plurality of different stages based on the swinging operation in the above steps can also be determined in the following manner:

[0125] During the swinging operation, the UAV is controlled to perform variable-speed motion along an arc trajectory, the radius of the arc trajectory gradually increases with the time duration of the swinging operation, and the central angle of the arc trajectory is the central angle of the swinging operation.

[0126] After the swinging operation ends, the UAV is controlled to perform constant-speed motion along a straight line trajectory away from the holder of the remote control device.

[0127] In the embodiment, during the swinging operation, the remote control device is in a motion state and the motion speed changes, and the UAV is controlled to perform variable-speed motion along an arc trajectory with a gradually increasing radius with the time duration of the swinging operation. After the swinging operation ends, the remote control device is in a stationary state, and the UAV is controlled to perform constant-speed motion along a straight line trajectory away from the holder of the remote control device so that the UAV performs motion based on inertia. By controlling the UAV to perform motion at different trajectories and speeds through the swinging operation, the UAV can perform motion and shooting in a cool manner, thereby improving the selfie effect and reducing the complexity of the selfie.

[0128] It can be understood that, during the swinging operation, the UAV can also perform constant-speed motion. After the swinging operation ends, the UAV can also perform variable-speed motion, which is not limited herein.

[0129] Exemplarily, the speed of the variable-speed movement can be positively correlated, negatively correlated or irrelevant to the strength of the swinging operation. The speed of the constant-speed movement can be determined based on the speed of the variable-speed movement, or can be a preset speed.

[0130] Exemplarily, the second operation can be a swinging operation, a waving operation, a moving operation, etc.

[0131] In an embodiment, the distance between the UAV and the holder of the remote control device can be determined by the following method in response to the second operation on the remote control device in the above steps:

[0132] In response to the second operation, the UAV is controlled to move along the line connecting the UAV and the holder of the remote control device to adjust the distance between the UAV and the holder of the remote control device.

[0133] In the embodiment, the remote control device is moved forward and backward by the second operation to control the UAV to move along the line connecting the UAV and the holder of the remote control device, and the UAV can simulate the extension and contraction of a real selfie stick to adjust the distance of the selfie without changing the angle, thereby reducing the complexity of the selfie.

[0134] In an embodiment, the moving speed of the UAV is positively correlated to the moving distance.

[0135] In the embodiment, the UAV can move at different speeds when moving along the line connecting the UAV and the holder of the remote control device. By positively correlating the moving speed of the UAV to the moving distance, the speed of the UAV can be adapted to the moving distance to enable the holder of the remote control device to take a photo, thereby improving the effect of the selfie.

[0136] In an embodiment, the moving speed of the UAV is a preset speed.

[0137] In the embodiment, by setting the moving speed of the UAV as a preset speed, the moving speed of the UAV is prevented from being too fast or too slow to affect the holder of the remote control device to take a photo, thereby reducing the complexity of the selfie.

[0138] In an embodiment, the second operation includes one of a sliding operation on a second sliding key of the remote control device, a rolling operation on a second rolling key of the remote control device, a pressing operation on a second pressing key of the remote control device, a second clicking operation on a screen of the remote control device, a second touch operation on the remote control device, a second swinging operation on the remote control device, and a second voice operation on the remote control device.

[0139] In the embodiment, the remote control device can have physical keys, a screen and a microphone. The distance between the unmanned aerial vehicle and the holder of the remote control device can be adjusted by operating the physical keys, the screen or the microphone. The unmanned aerial vehicle can move in the direction of the line connecting the unmanned aerial vehicle and the holder of the remote control device under the second sliding operation of the second sliding key, the second rolling operation of the second rolling key, the second pressing operation of the second pressing key, the second clicking operation of the screen, the second touch operation, the second flicking operation or the second voice operation, and the distance of the movement can be determined according to the degree of the operation. The distance between the unmanned aerial vehicle and the holder of the remote control device is adjusted by different operations, which can facilitate the operation of the holder of the remote control device who is not used to the first somatosensory operation, and the unmanned aerial vehicle can simulate the extension and retraction of the real selfie stick to adjust the distance of the selfie without changing the angle, thereby reducing the complexity of the selfie.

[0140] Exemplarily, after the unmanned aerial vehicle is controlled to enter the selfie stick mode in step S100, the position information is transmitted between the unmanned aerial vehicle and the remote control device to determine the relative distance and angle. When the distance between the unmanned aerial vehicle and the holder of the remote control device is adjusted by the second sliding operation of the second sliding key, the second rolling operation of the second rolling key, the second pressing operation of the second pressing key, the second clicking operation of the screen, the second touch operation, the second flicking operation or the second voice operation, the relative distance and angle can be combined to achieve. For example, the second sliding operation of the second sliding key, the second rolling operation of the second rolling key, the second pressing operation of the second pressing key, the second clicking operation of the screen, the second touch operation, the second flicking operation or the second voice operation can be converted into the distance in the horizontal direction and the distance in the vertical direction, and the unmanned aerial vehicle is controlled to move in the direction of the line connecting the unmanned aerial vehicle and the holder of the remote control device.

[0141] In an embodiment, the unmanned aerial vehicle control method further comprises:

[0142] In the selfie stick mode, in response to the third operation on the remote control device, the selfie stick mode is switched to another mode based on the third operation, and the another mode is a mode other than the selfie stick mode.

[0143] In the embodiment, the holder of the remote control device does not need the unmanned aerial vehicle to surround the holder for shooting in a special environment, and wants to change the shooting mode of the unmanned aerial vehicle. In response to the third operation on the remote control device, the selfie stick mode is switched to another mode, so that the unmanned aerial vehicle moves in the another mode to shoot the holder of the remote control device. The unmanned aerial vehicle can shoot the holder of the remote control device in different modes through the another mode, thereby improving the effect of the selfie.

[0144] In an embodiment, the third operation comprises one of a sliding operation on a third sliding key in the remote control device, a rolling operation on a third rolling key in the remote control device, a pressing operation on a third pressing key in the remote control device, a third clicking operation on a screen in the remote control device, a third touch operation on the remote control device, a third flicking operation on the remote control device, and a third voice operation on the remote control device.

[0145] In the embodiment, the remote control device can have physical keys, a screen, and a microphone. The remote control device can be switched from the selfie stick mode to another mode by operating the physical keys, the screen, or the microphone. The drone can be controlled to enter the other mode by a sliding operation on a third sliding key, a rolling operation on a third rolling key, a pressing operation on a third pressing key, a third clicking operation on a screen, a third touch operation, a third flicking operation, or a third voice operation in the remote control device. The other mode is entered in a simple manner, thereby reducing the complexity of the selfie.

[0146] In an embodiment, the other mode comprises a tracking mode.

[0147] In the tracking mode, the relative position between the drone and the remote control device is fixed.

[0148] In the embodiment, the remote control device is difficult to control the drone in a special environment (e.g., a surfing or cycling environment), and the drone is required to take pictures in a fixed relative position. In response to the third operation on the remote control device, the selfie stick mode is switched to the tracking mode, and the drone is caused to track the remote control device in a fixed relative position. The drone takes pictures of the remote control device in a fixed relative position in the tracking mode. The remote control device does not need to control the drone and can take stable pictures, thereby improving the selfie effect. The selfie stick mode is switched to the tracking mode by one operation. The switching between the selfie stick mode and the tracking mode is simple, thereby reducing the complexity of the selfie.

[0149] In an embodiment, the other mode comprises a first preset mode.

[0150] After the first preset mode is executed, the method further comprises:

[0151] The first preset mode is switched to the selfie stick mode, and the drone is controlled to move to a position before the first preset mode is started.

[0152] In the embodiment, the remote control device holder does not need the UAV to surround the remote control device holder for shooting in a special environment, and wants to change the shooting mode of the UAV. In response to the third operation on the remote control device, the selfie stick mode is switched to the first preset mode, and the UAV is controlled to move in the first preset mode to shoot the remote control device holder. After the first preset mode is executed, the remote control device holder wants the UAV to surround the remote control device holder for shooting again. The first preset mode is switched to the selfie stick mode, and the UAV is controlled to move to the position before the first preset mode is started, so that the UAV surrounds the remote control device holder for shooting from the position before the first preset mode is started. The UAV shoots the remote control device holder in the corresponding mode through the first preset mode, and the UAV can shoot the remote control device holder in different modes, thereby improving the selfie effect. Moreover, the selfie stick mode is switched to the first preset mode through one operation, and the switching mode between the selfie stick mode and the first preset mode is simple, thereby reducing the complexity of the selfie.

[0153] In an embodiment, the other mode includes the first preset mode.

[0154] After the first preset mode is executed, the UAV control method further includes:

[0155] The first preset mode is switched to the second preset mode.

[0156] In the embodiment, the remote control device holder does not need the UAV to surround the remote control device holder for shooting in a special environment, and wants to change the mode of the UAV to shoot in the corresponding mode. In response to the third operation on the remote control device, the selfie stick mode is switched to the first preset mode, and the UAV is controlled to move in the first preset mode to shoot the remote control device holder. After the first preset mode is executed, the remote control device holder wants the UAV to shoot in another mode, and the first preset mode is switched to the second preset mode. The UAV shoots the remote control device holder in the corresponding mode through the first preset mode and the second preset mode, and the UAV can shoot the remote control device holder in different modes, thereby improving the selfie effect. Moreover, the selfie stick mode is switched to the first preset mode through one operation, and the switching mode between the selfie stick mode and the first preset mode is simple, thereby reducing the complexity of the selfie.

[0157] Exemplarily, the first preset mode and the second preset mode are different modes. The first preset mode and the second preset mode can be a surround mode, an asteroid mode, a route mode, etc. The other mode can include one or more of the first preset mode and the second preset mode.

[0158] In an embodiment, the UAV control method further includes:

[0159] In the other mode, in response to the fourth operation on the remote control device, the selfie stick mode is switched back from the other mode.

[0160] In the embodiment, after the remote control device holder leaves the special environment, the unmanned aerial vehicle simulates the real selfie stick to surround the remote control device holder for shooting. In response to the fourth operation on the remote control device, the selfie stick mode is switched back from the other mode, so that the unmanned aerial vehicle simulates the real selfie stick to surround the remote control device holder in the manner of the remote control device holder for shooting. The other mode is switched to the selfie stick mode by one operation, the switching manner between the selfie stick mode and the other mode is simple, and thus the complexity of the selfie is reduced.

[0161] Exemplarily, the fourth operation includes one of a sliding operation on a fourth sliding key in the remote control device, a rolling operation on a fourth rolling key in the remote control device, a pressing operation on a fourth pressing key in the remote control device, a fourth tapping operation on a screen of the remote control device, a fourth touch operation on the remote control device, a fourth flicking operation on the remote control device, and a fourth voice operation on the remote control device.

[0162] In an embodiment, different shooting parameters are set for different other modes.

[0163] In the embodiment, different shooting parameters are set for different other modes, so that the remote control device holder can achieve different shooting effects through different shooting modes, and thus the complexity of the selfie is reduced.

[0164] Exemplarily, the shooting parameters can include one or more of a shooting angle, a shooting direction, acceleration and deceleration during video shooting, and a speed of the unmanned aerial vehicle.

[0165] In an embodiment, in the selfie stick mode, the unmanned aerial vehicle control method further includes:

[0166] In the case that there is a person within a preset range of the remote control device holder, the distance between the unmanned aerial vehicle and the remote control device holder is increased, and the surrounding speed of the unmanned aerial vehicle simulating the real selfie stick is reduced.

[0167] In the embodiment, in the selfie stick mode, the unmanned aerial vehicle simulates the real selfie stick to surround the remote control device holder for shooting. If there is a person near the remote control device holder, the unmanned aerial vehicle may collide with the person, and there is a safety hazard. In the case that there is a person within a preset range of the remote control device holder, the distance between the unmanned aerial vehicle and the remote control device holder is increased, and the surrounding speed of the unmanned aerial vehicle simulating the real selfie stick is reduced. By moving away from the remote control device holder and reducing the surrounding speed, the possibility of danger of the unmanned aerial vehicle is reduced, and thus the reliability of the selfie is improved.

[0168] In an embodiment, the unmanned aerial vehicle control method further includes:

[0169] In the selfie stick mode, a view angle of the unmanned aerial vehicle is determined.

[0170] The photographing is performed based on the view angle.

[0171] In the embodiment, the camera of the unmanned aerial vehicle can be multiple cameras directed in different directions, or the camera can be a panoramic camera, and the image captured by the unmanned aerial vehicle can be a panoramic image. In the selfie stick mode, the view angle of the unmanned aerial vehicle is determined, and the photographing is performed based on the view angle. Since the unmanned aerial vehicle can perform photographing based on the view angle, the remote control device holder and the environment in which the remote control device holder is located can be captured, thereby improving the photographing effect.

[0172] The embodiment of the present disclosure provides a method for controlling an unmanned aerial vehicle, as shown in FIG. 7, the method comprises:

[0173] S300, in response to a pressing operation on a first pressing key in the remote control device, the unmanned aerial vehicle is controlled to enter a selfie stick mode.

[0174] S310, in response to a motion sensing operation of the remote control device on a target plane, the unmanned aerial vehicle is controlled to move on the target plane or a plane parallel to the target plane.

[0175] S320, in response to a swinging operation of the remote control device, during the swinging operation, the unmanned aerial vehicle is controlled to move along a first target trajectory away from the remote control device holder.

[0176] S330, after the swinging operation ends, the unmanned aerial vehicle is controlled to move along a second target trajectory away from the remote control device holder.

[0177] S340, in response to a pointing operation of the remote control device, the unmanned aerial vehicle is controlled to move to a position pointed by the pointing operation.

[0178] S350, in response to a pressing operation on a third pressing key in the remote control device, the selfie stick mode is switched to a tracking mode.

[0179] S360, in response to a pressing operation on a fourth pressing key, the tracking mode is switched to the selfie stick mode.

[0180] S370, in response to a sliding operation on a third sliding key in the remote control device, the selfie stick mode is switched to a first preset mode.

[0181] S380, after the first preset mode ends, the first preset mode is switched to the selfie stick mode, and the unmanned aerial vehicle is controlled to move to a position before the first preset mode starts.

[0182] In the embodiment, in response to a pressing operation on the first pressing key in the remote control device, the remote control device holder needs to take a selfie by the UAV, and the UAV is controlled to enter the selfie stick mode. In response to a somatosensory operation on the remote control device in the target plane, the UAV is controlled to move to adjust the position of the UAV. In response to a swinging operation on the remote control device, the remote control device holder needs to adjust the distance between the UAV and the remote control device holder. During the swinging operation, the remote control device is in a motion state and the motion speed changes, and the UAV is controlled to move at a variable speed along a first target trajectory away from the remote control device holder. After the swinging operation ends, the remote control device is in a static state, and the UAV is controlled to move at a constant speed along a second target trajectory away from the remote control device holder. In response to a pointing operation on the remote control device, the UAV is controlled to move to the position pointed by the pointing operation, so that the UAV quickly moves to the target position. In response to a pressing operation on the third pressing key in the remote control device, the selfie stick mode is switched to the tracking mode, so that the UAV tracks the remote control device holder. In response to a pressing operation on the fourth pressing key, the tracking mode is switched to the selfie stick mode, so that the UAV stops tracking the remote control device holder. In response to a sliding operation on the third sliding key in the remote control device, the selfie stick mode is switched to a first preset mode, so that the UAV takes a photo of the remote control device holder in the first preset mode. After the first preset mode ends, the first preset mode is switched to the selfie stick mode, and the UAV is controlled to move to the position before the first preset mode starts to take a photo of the remote control device holder. Since the orientation of the UAV can be adjusted by the somatosensory operation in the selfie stick mode to take a selfie from different orientations, the remote control device holder can avoid difficulty in controlling the UAV to take a suitable photo, thereby improving the selfie effect and reducing the complexity of the selfie.

[0183] The embodiment of the present disclosure provides a UAV control method, as shown in FIG. 8, the method comprises:

[0184] S400, in response to a target operation on the remote control device, the UAV is controlled to move in multiple different stages based on the target operation to adjust the distance between the UAV and the remote control device holder.

[0185] In the embodiment, when adjusting the distance between the UAV and the remote control device holder, the remote control device holder wants to see the cool motion mode of the UAV. In response to a target operation on the remote control device, the UAV is controlled to move in multiple different stages based on the target operation to achieve a cool effect by multiple different stages of motion. By controlling the UAV to move by the target operation, the UAV can move in a cool way by only one operation, thereby improving the diversity of the UAV motion and reducing the complexity of the UAV control.

[0186] In an embodiment, in the case that the target operation is a flicking operation on the remote control device, the control of the UAV to perform the movement in multiple different stages based on the target operation in step S400 can be determined in the following manner:

[0187] In the process of the flicking operation, the control of the UAV to perform the variable speed movement along the first target trajectory away from the holder of the remote control device.

[0188] After the flicking operation ends, the control of the UAV to perform the constant speed movement along the second target trajectory away from the holder of the remote control device.

[0189] In the embodiment, in the process of the flicking operation, the remote control device is in a moving state and the moving speed changes, and the control of the UAV to perform the variable speed movement along the first target trajectory away from the holder of the remote control device. After the flicking operation ends, the remote control device is in a stationary state, and the control of the UAV to perform the constant speed movement along the second target trajectory away from the holder of the remote control device. By controlling the UAV to move along different trajectories and at different speeds through the flicking operation, the UAV can move in a cool way, thereby improving the diversity of UAV movement and reducing the complexity of UAV control.

[0190] In an embodiment, the speed of the variable speed movement is positively correlated with the strength of the flicking operation.

[0191] In the embodiment, by positively correlating the speed of the variable speed movement with the strength of the flicking operation, the speed of the variable speed movement of the UAV can be adjusted by the strength of the flicking operation, and the adjustment manner conforms to the habit of the holder of the remote control device, thereby reducing the complexity of UAV control.

[0192] For example, under the flicking operation, the change relationship of the speed of the variable speed movement with time can be preset. A proportional coefficient is set in the change relationship, and the proportional coefficient is positively correlated with the strength of the flicking operation, so that the speed of the variable speed movement increases with the increase of the strength of the flicking operation. The speed of the variable speed movement can gradually increase with time, or can gradually decrease with time. Alternatively, the speed of the variable speed movement can be irrelevant to time, and only positively correlated with the strength of the flicking operation. For example, the speed of the variable speed movement is a preset speed multiplied by a proportional coefficient, and the proportional coefficient is positively correlated with the strength of the flicking operation. It can be understood that the above is only an example, and the determination manner of the speed of the variable speed movement is not limited in the present disclosure.

[0193] It can be understood that the speed of the variable speed movement can also be negatively correlated with the strength of the flicking operation or irrelevant to the strength of the flicking operation. That is, the speed of the variable speed movement can be a preset variable speed, which is not limited here.

[0194] In an embodiment, the first target trajectory is determined based on the strength and / or the arc of the flicking operation.

[0195] In the embodiment, the first target trajectory is determined based on the strength and / or the arc of the swinging operation, so that the remote control device holder can make the UAV move at different trajectories under different swinging operations to achieve a cool effect, thereby improving the diversity of UAV movement.

[0196] For example, the first target trajectory can be a trajectory preset under different strength and / or arc of the swinging operation. For example, when the strength and / or arc of the swinging operation is in a first preset range, the first target trajectory is a straight line trajectory. When the strength and / or arc of the swinging operation is in a second preset range, the first target trajectory is a circular arc trajectory. When the strength and / or arc of the swinging operation is in a third preset range, the first target trajectory is a spiral trajectory. Alternatively, the first target trajectory can be an arc trajectory, and the radius of the arc trajectory is positively correlated with the strength and / or arc of the swinging operation. Alternatively, the first target trajectory can be a spiral trajectory, and the radius of the spiral trajectory is positively correlated with the strength and / or arc of the swinging operation. The arc of the swinging operation can be the arc of the swinging of the remote control device, or can be the amplitude of the swinging of the remote control device. It can be understood that the above is only an example, and the determination manner of the first target trajectory is not limited in the present disclosure.

[0197] It can be understood that the first target trajectory can also be irrelevant to the strength and arc of the swinging operation. That is, the first target trajectory can be a preset trajectory, for example, a straight line trajectory, a circular arc trajectory, a spiral trajectory, etc., which is not limited herein.

[0198] In an embodiment, the speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory.

[0199] In the embodiment, the speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory, so that the movement speeds of the UAV in the two different stages have a certain correlation to achieve a cool effect and the movements in the two stages can be smoothly connected, thereby improving the diversity of UAV movement.

[0200] For example, the speed of the constant speed movement can be the speed at the end of the variable speed movement, the average speed of the variable speed movement, the initial speed of the variable speed movement, etc., can also be the ratio of the distance of the first target trajectory to a preset value, and can also be the average of the speed at the end of the variable speed movement and the ratio of the distance of the first target trajectory to the preset value, etc. It can be understood that the above is only an example, and the determination manner of the speed of the constant speed movement is not limited in the present disclosure.

[0201] It can be understood that the speed of the constant speed movement can also be irrelevant to the speed of the variable speed movement and the first target trajectory. That is, the speed of the constant speed movement can be a preset fixed speed, which is not limited herein.

[0202] In an embodiment, the second target trajectory is determined based on the first target trajectory.

[0203] In the embodiment, by determining the second target trajectory based on the first target trajectory, the movement trajectories of the UAV in the two different stages are related to each other to achieve a cool effect and the movements in the two stages can be smoothly connected, thereby improving the diversity of the UAV movement.

[0204] For example, the second target trajectory can be the same as the first target trajectory, or can be different from the first target trajectory. For example, in the case where the first target trajectory is an arc trajectory, the second target trajectory can be a straight line trajectory or a spiral trajectory. In the case where the first target trajectory is a straight line trajectory, the second target trajectory can be an arc trajectory or a spiral trajectory. In the case where the first target trajectory is a spiral trajectory, the second target trajectory can be a straight line trajectory or an arc trajectory. Alternatively, the second target trajectory can also be a straight line trajectory along which the first target trajectory ends. It can be understood that the above is only an example, and the determination manner of the second target trajectory is not limited in the present disclosure.

[0205] It can be understood that the second target trajectory can also be irrelevant to the first target trajectory. That is, the second target trajectory can be a preset trajectory, for example, can be a straight line trajectory, a circular arc trajectory, or a spiral trajectory, which is not limited herein.

[0206] In an embodiment, in the case where the target operation is a flicking operation on the remote control device, the control of the UAV to move in multiple different stages based on the target operation in step S400 can also be determined in the following manner:

[0207] In the process of the flicking operation, the UAV is controlled to move along an arc trajectory at a variable speed, the radius of the arc trajectory gradually increases with the time duration of the flicking operation, and the central angle of the arc trajectory is the central angle of the flicking operation.

[0208] After the flicking operation ends, the UAV is controlled to move along a straight line trajectory away from the holder of the remote control device at a constant speed.

[0209] In the embodiment, in the process of the flicking operation, the remote control device is in a moving state and the moving speed changes, and the UAV is controlled to move along an arc trajectory with a gradually increasing radius with the time duration of the flicking operation. After the flicking operation ends, the remote control device is in a stationary state, and the UAV is controlled to move along a straight line trajectory away from the holder of the remote control device at a constant speed so that the UAV moves based on inertia. By controlling the UAV to move at different trajectories and speeds through the flicking operation, the UAV can move in a cool manner, thereby improving the diversity of the UAV movement and reducing the complexity of the UAV control.

[0210] It can be understood that the unmanned aerial vehicle can also move at a constant speed during the swinging operation. After the swinging operation ends, the unmanned aerial vehicle can also move at a variable speed, which is not limited here.

[0211] Exemplarily, the speed of the variable speed movement can be positively correlated, negatively correlated or irrelevant to the strength of the swinging operation. The speed of the constant speed movement can be determined based on the speed of the variable speed movement, or can be a preset speed.

[0212] In an embodiment, the unmanned aerial vehicle control method further comprises:

[0213] In response to the somatosensory operation on the remote control device, the unmanned aerial vehicle is controlled to move from an initial position to a target position, the initial position being the position of the unmanned aerial vehicle before the somatosensory operation, and the target position being the position of the unmanned aerial vehicle pointed to when the somatosensory operation stops.

[0214] The trajectory from the initial position to the target position is an arc trajectory, and the arc trajectory is a part of a spherical trajectory, the center of the spherical trajectory being the position of the holder of the remote control device, and the radius of the spherical trajectory being the distance between the unmanned aerial vehicle and the holder of the remote control device.

[0215] In this embodiment, since the holder of the remote control device needs to move the unmanned aerial vehicle to change the position of the unmanned aerial vehicle when performing the somatosensory operation on the remote control device, in response to the somatosensory operation on the remote control device, the unmanned aerial vehicle is controlled to move from the initial position before the somatosensory operation to the target position pointed to when the somatosensory operation stops. Since the trajectory from the initial position to the target position is an arc trajectory, and the arc trajectory is a part of a spherical trajectory, the unmanned aerial vehicle can revolve around the holder of the remote control device. By changing the position of the unmanned aerial vehicle through the somatosensory operation, the unmanned aerial vehicle can be controlled to move only by the somatosensory operation, thereby reducing the complexity of the control of the unmanned aerial vehicle.

[0216] In an embodiment, the step of controlling the unmanned aerial vehicle to move from the initial position to the target position in response to the somatosensory operation on the remote control device can be determined in the following manner:

[0217] In response to the somatosensory operation on the remote control device, the relative rotation angle between the unmanned aerial vehicle and the remote control device remains unchanged during the process of the unmanned aerial vehicle following the somatosensory operation of the remote control device to move along the arc trajectory from the initial position to the target position.

[0218] In the embodiment, the remote control device holder needs to move the UAV to change the orientation of the UAV in the case that the remote control device holder performs the somatosensory operation on the remote control device. In response to the somatosensory operation on the remote control device, the orientation of the UAV is adjusted without changing the relative rotation angle during the process that the UAV follows the somatosensory operation of the remote control device to move along the arc-shaped track from the initial orientation to the target orientation. Since the somatosensory operation lasts for a certain time, the UAV follows the remote control device in real time to keep the relative rotation angle unchanged during the movement of the remote control device. The orientation movement of the UAV with the relative rotation angle unchanged through the somatosensory operation can control the angle of the spherical track movement of the UAV with the angle of the rotation of the remote control device, and the angle of the movement of the UAV can be consistent with the angle of the rotation of the remote control device, thereby reducing the complexity of the UAV control.

[0219] In an embodiment, the step of controlling the UAV to move from the initial orientation to the target orientation in response to the somatosensory operation on the remote control device can also be determined in the following manner:

[0220] When the somatosensory operation is the rotation operation of the remote control device on the target plane, the UAV is controlled to move along the arc-shaped track on the target plane or a plane parallel to the target plane.

[0221] In the embodiment, the remote control device only needs to be rotated on the target plane, and the UAV can be moved on the corresponding plane to change the orientation of the UAV, thereby reducing the complexity of the UAV control.

[0222] In an embodiment, the central angle of the arc-shaped track corresponding to the movement of the UAV on the plane is positively correlated with the angle of the rotation of the remote control device on the target plane.

[0223] In the embodiment, by positively correlating the central angle of the arc-shaped track corresponding to the movement of the UAV on the plane with the angle of the rotation of the remote control device on the target plane, the remote control device holder can move the UAV to a farther position by increasing the rotation amount to meet the habit of the remote control device holder, thereby reducing the complexity of the UAV control.

[0224] In an embodiment, the distance of the movement of the UAV on the plane is positively correlated with the angle of the rotation of the remote control device on the target plane.

[0225] In the embodiment, by positively correlating the distance of the movement of the UAV on the plane with the angle of the rotation of the remote control device on the target plane, the remote control device holder can move the UAV to a farther position by increasing the rotation amount to meet the habit of the remote control device holder, thereby reducing the complexity of the UAV control.

[0226] In an embodiment, the speed of the movement of the UAV on the plane is positively correlated with the speed of the rotation of the remote control device on the target plane.

[0227] In this embodiment, by making the speed of the UAV moving on the plane positively related to the speed of the remote control device rotating on the target plane, the person holding the remote control device can make the UAV move faster by increasing the rotating speed to conform to the habit of the person holding the remote control device, thereby reducing the complexity of the UAV control.

[0228] In an embodiment, the speed of the UAV moving on the plane is a preset speed.

[0229] In this embodiment, by making the speed of the UAV moving on the plane a preset speed, the UAV is prevented from moving too fast or too slow, thereby reducing the complexity of the UAV control.

[0230] For example, when the speed of the remote control device rotating is 30° / s, it is determined that the somatosensory operation is valid. When the speed of the remote control device rotating is 180° / s, it is determined that the somatosensory operation is invalid. Wherein, when the somatosensory operation is invalid, the UAV is not controlled.

[0231] In an embodiment, the response to the somatosensory operation on the remote control device in the above step to control the UAV to move from the initial position to the target position can also be determined in the following way:

[0232] Determine the real-time relative pose information corresponding to the somatosensory operation of the remote control device.

[0233] According to the real-time relative pose information, determine the real-time control amount corresponding to the UAV.

[0234] Based on the real-time control amount, control the UAV to move along the arc-shaped trajectory to the position corresponding to the real-time control amount.

[0235] In this embodiment, the real-time relative pose information corresponding to the somatosensory operation of the remote control device is determined to determine the degree to which the person holding the remote control device needs to control the UAV to move. According to the real-time relative pose information, the real-time control amount corresponding to the UAV is determined to convert the somatosensory operation into the real-time control amount. Based on the real-time control amount, the UAV is controlled to move along the arc-shaped trajectory to the position corresponding to the real-time control amount, so that the UAV moves under the action of the real-time control amount. By controlling the UAV to move in real time, the UAV does not need to change the inherent control method and is applicable to various types of UAVs and avoids delay in the movement of the UAV, thereby improving the reliability of the UAV control.

[0236] For example, the response to the somatosensory operation on the remote control device in the above step to control the UAV to move from the initial position to the target position can also be determined in the following way:

[0237] determining real-time relative pose information corresponding to the body-sensing operation of the remote control device.

[0238] controlling the UAV to move along an arc-shaped trajectory to a position corresponding to the real-time relative pose information based on the real-time relative pose information.

[0239] Exemplarily, the controlling the UAV to move from the initial position to the target position in response to the body-sensing operation of the remote control device in the above steps can also be determined by the following way:

[0240] determining real-time relative pose information corresponding to the body-sensing operation of the remote control device.

[0241] determining control instructions of the UAV according to the real-time relative pose information.

[0242] controlling the UAV to move along an arc-shaped trajectory to a position corresponding to the control instructions based on the control instructions.

[0243] In an embodiment, the UAV control method further comprises:

[0244] controlling the UAV to move following the movement operation of the remote control device, and keeping the distance between the UAV and the remote control device unchanged during the movement.

[0245] In this embodiment, the UAV moves following the remote control device through the movement operation and the distance between the UAV and the remote control device is unchanged, so the UAV can adjust the position without changing the distance, thereby reducing the complexity of the UAV control.

[0246] In an embodiment, the UAV control method further comprises:

[0247] controlling the UAV to adjust the position and the distance simultaneously based on the compound operation of the remote control device, the compound operation comprising the body-sensing operation and the movement operation, and keeping the relative rotation angle between the UAV and the remote control device unchanged and the distance between the UAV and the remote control device unchanged during the adjustment.

[0248] In the embodiment, the remote control device holder needs to move the UAV to change the orientation of the spherical trajectory in the case that the remote control device holder performs somatic operation on the remote control device. The remote control device holder needs to move the UAV to change the position of the spherical trajectory in the case that the remote control device holder performs movement operation on the remote control device. In response to the composite operation on the remote control device, the UAV is controlled to simultaneously adjust the orientation and the distance based on the composite operation to adjust the orientation of the UAV without changing the relative rotation angle and the distance. The UAV is moved in the orientation with the relative rotation angle and the distance unchanged through the composite operation, so that the UAV is controlled to move with the rotation angle and the moving distance of the remote control device, thereby reducing the complexity of the UAV control.

[0249] In an embodiment, the UAV control method further includes:

[0250] In response to the pointing operation on the remote control device, the UAV is controlled to move to the position pointed by the pointing operation.

[0251] In the embodiment, the remote control device holder can wish the UAV to move to a target position, and it is difficult to accurately position the UAV by adjusting the distance between the UAV and the remote control device holder and / or the attitude of the UAV. The UAV is controlled to move to the position pointed by the pointing operation, so that the UAV can quickly reach the target position, thereby reducing the complexity of the UAV control.

[0252] In one example embodiment, a remote control device is provided, including a processor and a memory, the memory storing a computer program, when the computer program instructions are executed by the processor, the processor is configured to:

[0253] In response to the first operation on the remote control device, the UAV is controlled to enter a selfie stick mode.

[0254] In the selfie stick mode, in response to the somatic operation on the remote control device, the UAV is controlled to adjust the orientation based on the somatic operation, the orientation being the orientation of the UAV relative to the remote control device holder.

[0255] In one example embodiment, the processor is configured to:

[0256] In response to the somatic operation on the remote control device, the UAV is controlled to move from an initial orientation to a target orientation, the initial orientation being the orientation of the UAV before the somatic operation, and the target orientation being the orientation of the UAV pointed to when the somatic operation stops.

[0257] The trajectory from the initial orientation to the target orientation is an arc trajectory, the arc trajectory being a part of a spherical trajectory, the center of the spherical trajectory being the position of the remote control device holder, and the radius of the spherical trajectory being the distance between the UAV and the remote control device holder.

[0258] In an example embodiment, the processor is configured to:

[0259] In response to the somatic operation on the remote control device, the processor controls the UAV to follow the somatic operation of the remote control device to move along the arc-shaped trajectory from the initial orientation to the target orientation, and the relative rotation angle between the UAV and the remote control device remains unchanged.

[0260] In an example embodiment, the processor is configured to:

[0261] When the somatic operation is a rotation operation of the remote control device on the target plane, the processor controls the UAV to move along the arc-shaped trajectory on the target plane or a plane parallel to the target plane.

[0262] In an example embodiment, the central angle of the arc-shaped trajectory corresponding to the movement of the UAV on the plane is positively correlated with the angle of rotation of the remote control device on the target plane. Or, the distance of the movement of the UAV on the plane is positively correlated with the angle of rotation of the remote control device on the target plane.

[0263] In an example embodiment, the speed of the movement of the UAV on the plane is positively correlated with the speed of the rotation of the remote control device on the target plane. Or, the speed of the movement of the UAV on the plane is a preset speed.

[0264] In an example embodiment, the processor is configured to:

[0265] In the selfie stick mode, in response to the movement operation on the remote control device, the processor controls the UAV to move following the movement operation of the remote control device, and the distance between the UAV and the remote control device remains unchanged during the movement.

[0266] In an example embodiment, the processor is configured to:

[0267] In the selfie stick mode, in response to the composite operation on the remote control device, the composite operation including a somatic operation and a movement operation, the processor controls the UAV to simultaneously adjust the orientation and the distance based on the composite operation, and the relative rotation angle between the UAV and the remote control device remains unchanged and the distance between the UAV and the remote control device remains unchanged during the adjustment.

[0268] In an example embodiment, the processor is configured to:

[0269] Determine real-time relative pose information corresponding to the somatic operation of the remote control device.

[0270] According to the real-time relative pose information, determine the real-time control quantity corresponding to the UAV.

[0271] Based on the real-time control quantity, control the UAV to move along the arc-shaped trajectory to the orientation corresponding to the real-time control quantity.

[0272] In one example embodiment, the processor is configured to:

[0273] determine a real-time angle of the remote control device mapped to a corresponding axis during the body-sensing operation, the corresponding axis comprising at least one of a pitch axis, a yaw axis, and a roll axis, and take the real-time angle mapped to the corresponding axis as the real-time relative pose information.

[0274] In one example embodiment, the processor is configured to:

[0275] in response to the pointing operation on the remote control device, control the UAV to move to a position pointed by the pointing operation.

[0276] In one example embodiment, the first operation comprises one of a sliding operation on a first sliding key in the remote control device, a rolling operation on a first rolling key in the remote control device, a pressing operation on a first pressing key in the remote control device, a first tapping operation on a screen in the remote control device, a first touch operation on the remote control device, a first flicking operation on the remote control device, and a first voice operation on the remote control device.

[0277] In one example embodiment, the processor is configured to:

[0278] in the selfie stick mode, in response to the second operation on the remote control device, adjust a distance between the UAV and a holder of the remote control device.

[0279] In one example embodiment, the processor is configured to:

[0280] in a case where the second operation is a flicking operation on the remote control device, control the UAV to move in a plurality of different stages based on the flicking operation to adjust the distance between the UAV and the holder of the remote control device.

[0281] In one example embodiment, the processor is configured to:

[0282] in a process of the flicking operation, control the UAV to move in a variable speed along a first target trajectory away from the holder of the remote control device.

[0283] after the flicking operation ends, control the UAV to move in a constant speed along a second target trajectory away from the holder of the remote control device.

[0284] In one example embodiment, the speed of the variable speed movement is positively correlated with a force of the flicking operation. And / or,

[0285] the first target trajectory is determined based on the force and / or an arc of the flicking operation. And / or,

[0286] the speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory. And / or,

[0287] The second target trajectory is determined based on the first target trajectory.

[0288] In one example embodiment, the processor is configured to:

[0289] During the swinging operation, the unmanned aerial vehicle is controlled to move along an arc trajectory at a variable speed, a radius of the arc trajectory gradually increases with a time duration of the swinging operation, and a central angle of the arc trajectory is a central angle of the swinging operation.

[0290] After the swinging operation ends, the unmanned aerial vehicle is controlled to move along a straight line trajectory away from the remote control device holder at a constant speed.

[0291] In one example embodiment, the processor is configured to:

[0292] In response to the second operation, the unmanned aerial vehicle is controlled to move in a direction of a line connecting the unmanned aerial vehicle and the remote control device holder to adjust a distance between the unmanned aerial vehicle and the remote control device holder.

[0293] In one example embodiment, a moving speed of the unmanned aerial vehicle is positively correlated with a moving distance. Or, the moving speed of the unmanned aerial vehicle is a preset speed.

[0294] In one example embodiment, the second operation includes one of a sliding operation on a second sliding key in the remote control device, a rolling operation on a second rolling key in the remote control device, a pressing operation on a second pressing key in the remote control device, a second clicking operation on a screen in the remote control device, a second touch operation on the remote control device, a second swinging operation on the remote control device, and a second voice operation on the remote control device.

[0295] In one example embodiment, the processor is configured to:

[0296] In the selfie stick mode, in response to a third operation on the remote control device, the selfie stick mode is switched to another mode based on the third operation, the other mode being a mode other than the selfie stick mode.

[0297] In one example embodiment, the third operation includes one of a sliding operation on a third sliding key in the remote control device, a rolling operation on a third rolling key in the remote control device, a pressing operation on a third pressing key in the remote control device, a third clicking operation on a screen in the remote control device, a third touch operation on the remote control device, a third swinging operation on the remote control device, and a third voice operation on the remote control device.

[0298] In one example embodiment, the processor is configured to:

[0299] In the other mode, in response to a fourth operation on the remote control device, the selfie stick mode is switched back from the other mode.

[0300] In one example embodiment, the different other modes correspond to different settings of shooting parameters.

[0301] In one example embodiment, the processor is configured to:

[0302] In the selfie stick mode, a view angle of the drone is determined.

[0303] A view is taken based on the view angle.

[0304] In one example embodiment, a remote control device is provided, comprising a processor and a memory, the memory storing a computer program, when instructions of the computer program are executed by the processor, the processor is configured to:

[0305] In response to a target operation on the remote control device, control the drone to move in a plurality of different stages based on the target operation, to adjust a distance between the drone and a hand holder of the remote control device.

[0306] In one example embodiment, in a case where the target operation is a flicking operation on the remote control device, the processor is configured to:

[0307] During the flicking operation, control the drone to move at a variable speed along a first target trajectory away from the hand holder of the remote control device.

[0308] After the flicking operation ends, control the drone to move at a constant speed along a second target trajectory away from the hand holder of the remote control device.

[0309] In one example embodiment, the speed of the variable speed movement is positively correlated with a strength of the flicking operation. And / or,

[0310] The first target trajectory is determined based on the strength and / or an arc of the flicking operation. And / or,

[0311] The speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory. And / or,

[0312] The second target trajectory is determined based on the first target trajectory.

[0313] In one example embodiment, in a case where the target operation is a flicking operation on the remote control device, the processor is configured to:

[0314] During the flicking operation, control the drone to move at a variable speed along an arc trajectory, a radius of the arc trajectory gradually increases with a time duration of the flicking operation, and a central angle of the arc trajectory is a central angle of the flicking operation.

[0315] After the flicking operation ends, control the drone to move at a constant speed along a straight line trajectory away from the hand holder of the remote control device.

[0316] In one example embodiment, the processor is configured to:

[0317] In response to the somatosensory operation on the remote control device, control the UAV to move from an initial position to a target position, the initial position being a position of the UAV before the somatosensory operation, and the target position being a position of the UAV pointed to when the somatosensory operation is stopped.

[0318] In one example embodiment, the processor is configured to:

[0319] In response to the somatosensory operation on the remote control device, control the UAV to follow the somatosensory operation of the remote control device to move along an arc-shaped trajectory from the initial position to the target position, and the relative rotation angle between the UAV and the remote control device remains unchanged during the movement.

[0320] In one example embodiment, the processor is configured to:

[0321] In response to the somatosensory operation on the remote control device, control the UAV to follow the somatosensory operation of the remote control device to move along an arc-shaped trajectory from the initial position to the target position, and the relative rotation angle between the UAV and the remote control device remains unchanged during the movement.

[0322] In one example embodiment, the processor is configured to:

[0323] In one example embodiment, the arc-shaped trajectory of the UAV moving in the plane corresponds to a central angle of a circle, and the central angle of the circle is positively correlated with the angle of rotation of the remote control device on the target plane. Or, the distance of the UAV moving in the plane is positively correlated with the angle of rotation of the remote control device on the target plane.

[0324] In one example embodiment, the speed of the UAV moving in the plane is positively correlated with the speed of the remote control device rotating on the target plane. Or, the speed of the UAV moving in the plane is a preset speed.

[0325] In one example embodiment, the processor is configured to:

[0326] In response to the movement operation on the remote control device, control the UAV to move following the movement operation of the remote control device, and maintain the distance between the UAV and the remote control device unchanged during the movement.

[0327] In one example embodiment, the processor is configured to:

[0328] In response to the pointing operation on the remote control device, control the UAV to move to a position pointed to by the pointing operation.

[0329] In one example embodiment, a drone control system is provided, the drone control system comprising a remote control device and a drone.

[0330] The remote control device is configured to send a first control signal to the drone in response to a first operation on the remote control device. In the selfie stick mode, a second control signal is sent to the drone in response to a motion sensing operation on the remote control device.

[0331] The drone is configured to enter the selfie stick mode based on the received first control signal. In the selfie stick mode, an orientation adjustment is made based on the received second control signal, the orientation referring to an orientation of the drone relative to a holder of the remote control device.

[0332] In one example embodiment, the drone is configured to move from an initial orientation to a target orientation based on the received second control signal, the initial orientation being an orientation of the drone before the motion sensing operation, and the target orientation being an orientation of the drone pointed to when the motion sensing operation stops.

[0333] In one example embodiment, a trajectory from the initial orientation to the target orientation is an arc trajectory, the arc trajectory being a part of a spherical trajectory, a center of the spherical trajectory being a position of the holder of the remote control device, and a radius of the spherical trajectory being a distance between the drone and the holder of the remote control device.

[0334] In one example embodiment,

[0335] The drone is configured to follow the motion sensing operation of the remote control device along the arc trajectory from the initial orientation to the target orientation without changing a relative rotation angle between the drone and the remote control device based on the received second control signal.

[0336] In one example embodiment, the drone is configured to move along the arc trajectory in a target plane or a plane parallel to the target plane based on the received second control signal when the motion sensing operation is a rotation operation of the remote control device in the target plane.

[0337] In one example embodiment, a central angle of the arc trajectory corresponding to the movement of the drone in the plane is positively correlated with an angle of the rotation of the remote control device in the target plane. Or, a distance of the movement of the drone in the plane is positively correlated with the angle of the rotation of the remote control device in the target plane.

[0338] In one example embodiment, a speed of the movement of the drone in the plane is positively correlated with a speed of the rotation of the remote control device in the target plane. Or, the speed of the movement of the drone in the plane is a preset speed.

[0339] In one example embodiment, the remote control device is configured to send a third control signal to the drone in response to a movement operation on the remote control device in the selfie stick mode.

[0340] The UAV is configured to move following the movement operation of the remote control device based on the received third control signal, and keep the distance between the UAV and the remote control device unchanged during the movement.

[0341] In an example embodiment, the remote control device is configured to, in the selfie stick mode, send a fourth control signal to the UAV in response to a composite operation on the remote control device, the composite operation comprising a motion sensing operation and a movement operation.

[0342] The UAV is configured to simultaneously adjust the azimuth and the distance based on the received fourth control signal, and keep the relative rotation angle between the UAV and the remote control device unchanged and keep the distance between the UAV and the remote control device unchanged during the adjustment.

[0343] In an example embodiment, the remote control device is configured to determine real-time relative pose information corresponding to the motion sensing operation of the remote control device.

[0344] The real-time control amount corresponding to the UAV is determined according to the real-time relative pose information.

[0345] The first control signal is sent to the UAV based on the real-time control amount.

[0346] The UAV is configured to move to the azimuth corresponding to the real-time control amount along the arc-shaped trajectory based on the received first control signal.

[0347] In an example embodiment, the remote control device is configured to determine real-time angles mapped to corresponding axes during the motion sensing operation of the remote control device, the corresponding axes comprising at least one of a pitch axis, a yaw axis and a roll axis, and take the real-time angles mapped to the corresponding axes as the real-time relative pose information.

[0348] In an example embodiment, the remote control device is configured to send a fifth control signal to the UAV in response to a pointing operation on the remote control device.

[0349] The UAV is configured to move to the position pointed by the pointing operation based on the received fifth control signal.

[0350] In an example embodiment, the first operation comprises one of a sliding operation on a first sliding key in the remote control device, a rolling operation on a first rolling key in the remote control device, a pressing operation on a first pressing key in the remote control device, a first clicking operation on a screen in the remote control device, a first touch operation on the remote control device, a first flicking operation on the remote control device, and a first voice operation on the remote control device.

[0351] In one example embodiment, the remote control device is configured to, in the selfie stick mode, send a sixth control signal to the UAV in response to a second operation on the remote control device.

[0352] The UAV is configured to adjust the distance between the UAV and the remote control device holder based on the received sixth control signal.

[0353] In one example embodiment, the UAV is configured to, in the case that the second operation is a flicking operation on the remote control device, perform a plurality of different stages of movement based on the flicking operation based on the received sixth control signal to adjust the distance between the UAV and the remote control device holder.

[0354] In one example embodiment, the UAV is configured to, during the flicking operation, perform a variable speed movement along a first target trajectory away from the remote control device holder.

[0355] After the flicking operation ends, perform a constant speed movement along a second target trajectory away from the remote control device holder.

[0356] In one example embodiment, the speed of the variable speed movement is positively correlated with the strength of the flicking operation. And / or, the first target trajectory is determined based on the strength and / or the arc of the flicking operation. And / or, the speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory. And / or, the second target trajectory is determined based on the first target trajectory.

[0357] In one example embodiment, the UAV is configured to, during the flicking operation, perform a variable speed movement along an arc trajectory, the radius of the arc trajectory gradually increases with the time duration of the flicking operation, and the central angle of the arc trajectory is the central angle of the flicking operation.

[0358] After the flicking operation ends, perform a constant speed movement along a straight line trajectory away from the remote control device holder.

[0359] In one example embodiment, the UAV is configured to, based on the received sixth control signal, move in the direction of the line connecting the remote control device holder to adjust the distance between the UAV and the remote control device holder.

[0360] In one example embodiment, the speed of the movement of the UAV is positively correlated with the distance of the movement. Or, the speed of the movement of the UAV is a preset speed.

[0361] In one example embodiment, the second operation includes one of a sliding operation on a second sliding key in the remote control device, a rolling operation on a second rolling key in the remote control device, a pressing operation on a second pressing key in the remote control device, a second clicking operation on a screen in the remote control device, a second touch operation on the remote control device, a second flicking operation on the remote control device, and a second voice operation on the remote control device.

[0362] In one example embodiment, the remote control device is configured to, in the selfie stick mode, send a seventh control signal to the UAV in response to a third operation on the remote control device.

[0363] The UAV is configured to switch from the selfie stick mode to another mode based on the received seventh control signal, the another mode being a mode other than the selfie stick mode.

[0364] In one example embodiment, the third operation comprises one of a sliding operation on a third sliding key in the remote control device, a rolling operation on a third rolling key in the remote control device, a pressing operation on a third pressing key in the remote control device, a third tapping operation on a screen in the remote control device, a third touch operation on the remote control device, a third flicking operation on the remote control device, and a third voice operation on the remote control device.

[0365] In one example embodiment, the remote control device is configured to, in the another mode, send an eighth control signal to the UAV in response to a fourth operation on the remote control device.

[0366] The UAV is configured to switch from the another mode back to the selfie stick mode based on the received eighth control signal.

[0367] In one example embodiment, different another modes correspond to different shooting parameter settings.

[0368] In one example embodiment, the UAV is configured to, in the selfie stick mode, determine a view angle.

[0369] Shooting is performed based on the view angle.

[0370] In one example embodiment, there is provided a UAV control system, the UAV control system comprising a remote control device and a UAV.

[0371] The remote control device is configured to send a first target signal to the UAV in response to a target operation on the remote control device by a remote control device holder.

[0372] The UAV is configured to perform a plurality of different stages of movement based on the received first target signal to adjust a distance between the remote control device holder and the UAV.

[0373] In one example embodiment, the UAV is configured to, in a case where the target operation is a flicking operation on the remote control device, perform a variable speed movement along a first target trajectory away from the remote control device holder during the flicking operation based on the received first target signal.

[0374] After the flicking operation ends, perform a constant speed movement along a second target trajectory away from the remote control device holder.

[0375] In an example embodiment, the speed of the variable-speed motion is positively correlated with the strength of the flicking operation. And / or, the first target trajectory is determined based on the strength and / or the arc of the flicking operation. And / or, the speed of the constant-speed motion is determined based on the speed of the variable-speed motion and / or the first target trajectory. And / or, the second target trajectory is determined based on the first target trajectory.

[0376] In an example embodiment, the UAV is configured to, in the case that the target operation is a flicking operation on the remote control device, based on the received first target signal, make variable-speed motion along an arc trajectory during the flicking operation, the radius of the arc trajectory gradually increases with the time duration of the flicking operation, and the central angle of the arc trajectory is the central angle of the flicking operation.

[0377] After the flicking operation ends, make constant-speed motion along a straight line trajectory away from the remote control device holder.

[0378] In an example embodiment, the remote control device is configured to, in response to a somatic operation on the remote control device, send a second target signal to the UAV.

[0379] The UAV is configured to, based on the received second target signal, move from an initial position to a target position, the initial position being the position of the UAV before the somatic operation, and the target position being the position of the UAV pointed to when the somatic operation stops.

[0380] Wherein the trajectory from the initial position to the target position is an arc trajectory, the arc trajectory is a part of a spherical trajectory, the center of the spherical trajectory is the position of the remote control device holder, and the radius of the spherical trajectory is the distance between the UAV and the remote control device holder.

[0381] In an example embodiment, the UAV is configured to, based on the received second target signal, follow the somatic operation of the remote control device to move from the initial position to the target position along the arc trajectory, and the relative rotation angle between the UAV and the remote control device does not change during the movement.

[0382] In an example embodiment, the UAV is configured to, in the case that the somatic operation is a rotation operation on the remote control device in a target plane, based on the received second target signal, move along an arc trajectory in the target plane or a plane parallel to the target plane.

[0383] In an example embodiment, the central angle of the arc trajectory corresponding to the movement of the UAV in the plane is positively correlated with the angle of rotation of the remote control device in the target plane. Or, the distance of the movement of the UAV in the plane is positively correlated with the angle of rotation of the remote control device in the target plane.

[0384] In one example embodiment, the speed of the movement of the UAV in the plane is positively correlated with the speed of the turning of the remote control device in the target plane. Or, the speed of the movement of the UAV in the plane is a preset speed.

[0385] In one example embodiment, the remote control device is configured to, in response to the movement operation of the remote control device, send a third target signal to the UAV.

[0386] The UAV is configured to, based on the received third target signal, move following the movement operation of the remote control device, and keep the distance between the UAV and the remote control device unchanged during the movement.

[0387] In one example embodiment, the remote control device is configured to, in response to the pointing operation of the remote control device, send a fourth target signal to the UAV.

[0388] The UAV is configured to, based on the received fourth target signal, move to the position pointed by the pointing operation.

[0389] In one example embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps of any of the above methods. The computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0390] In one example embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps of any of the above methods.

[0391] Referring to FIG. 9, a structure block diagram of the remote control device 100 according to the present disclosure will now be described. The remote control device 100 includes a computing unit 101, which can perform various appropriate actions and processes according to a computer program stored in a ROM 102 or a computer program loaded from a storage unit 108 to a RAM 103. In the RAM 103, various programs and data required for the operation of the remote control device 100 can also be stored. The computing unit 101, the ROM 102, and the RAM 103 are connected to each other through a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0392] A plurality of components in the remote control device 100 are connected to the I / O interface 105, including an input unit 106, an output unit 107, a storage unit 108, and a communication unit 109. The input unit 106 can be any type of device that can input information to the remote control device 100, and can receive inputted digital or character information, and generate key signal inputs related to a hander setting and / or function control of the remote control device 100, and can include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 107 can be any type of device that can present information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 108 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 109 allows the remote control device 100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0393] The computing unit 101 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 101 performs various methods and processes described above. For example, in some embodiments, the above-described methods can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 108. In some embodiments, part or all of the computer program can be loaded and / or installed onto the remote control device 100 via the ROM 102 and / or the communication unit 109. When the computer program is loaded onto the RAM 103 and executed by the computing unit 101, one or more steps of the above-described methods can be performed. Alternatively, in other embodiments, the computing unit 101 can be configured to perform the above-described methods by any other appropriate means, such as by means of firmware.

[0394] The remote control device 100 can be implemented with one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic elements, for performing the above-described methods.

[0395] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0396] It should be understood that the application is not limited to the precise construction and methods described herein and as shown in the drawings, and various modifications and changes can be made without departing from the scope of the application. The scope of the application is limited only by the claims that follow. Industrial Applicability

[0397] In the unmanned aerial vehicle control method, remote control device, system and medium provided by the embodiments of the present disclosure, after entering the selfie stick mode, the orientation of the unmanned aerial vehicle is adjusted through motion sensing operation, so that the unmanned aerial vehicle takes pictures from different orientations. Without learning the operation method of the unmanned aerial vehicle, the unmanned aerial vehicle can take the required pictures, thereby improving the selfie effect.

Claims

A method for controlling a UAV, characterized in that The method comprises: in response to a first operation on the remote control device, controlling the unmanned aerial vehicle to enter a selfie stick mode; in the selfie stick mode, in response to a motion sensing operation on the remote control device, controlling the unmanned aerial vehicle to adjust an orientation based on the motion sensing operation, the orientation referring to an orientation of the unmanned aerial vehicle relative to a hand holder of the remote control device. The method of claim 1, wherein The response to the motion sensing operation on the remote control device and the control of the unmanned aerial vehicle to adjust the orientation based on the motion sensing operation comprise: in response to the motion sensing operation on the remote control device, controlling the unmanned aerial vehicle to move from an initial orientation to a target orientation, the initial orientation being an orientation of the unmanned aerial vehicle before the motion sensing operation, and the target orientation being an orientation of the unmanned aerial vehicle pointed to when the motion sensing operation stops; wherein a trajectory from the initial orientation to the target orientation is an arc trajectory, the arc trajectory being a part of a spherical trajectory, a spherical center of the spherical trajectory being a position of the hand holder of the remote control device, and a radius of the spherical trajectory being a distance between the unmanned aerial vehicle and the hand holder of the remote control device. The method according to claim 2, characterized in that The response to the motion sensing operation on the remote control device and the control of the unmanned aerial vehicle to move from the initial orientation to the target orientation comprise: in response to the motion sensing operation on the remote control device, controlling the unmanned aerial vehicle to follow the motion sensing operation of the remote control device to move along the arc trajectory from the initial orientation to the target orientation, a relative rotation angle between the unmanned aerial vehicle and the remote control device being unchanged. The method according to claim 2, characterized in that The response to the motion sensing operation on the remote control device and the control of the unmanned aerial vehicle to move from the initial orientation to the target orientation comprise: when the motion sensing operation is a rotation operation of the remote control device on a target plane, controlling the unmanned aerial vehicle to move along the arc trajectory on the target plane or a plane parallel to the target plane. The method according to claim 4, characterized in that A central angle of the arc trajectory corresponding to the movement of the unmanned aerial vehicle in the plane is positively correlated with an angle of the rotation of the remote control device on the target plane; or, a distance of the movement of the unmanned aerial vehicle in the plane is positively correlated with the angle of the rotation of the remote control device on the target plane. The method according to claim 4 or 5, characterized in that A speed of the movement of the unmanned aerial vehicle in the plane is positively correlated with a speed of the rotation of the remote control device on the target plane; or, the speed of the movement of the unmanned aerial vehicle in the plane is a preset speed. The method of claim 1, wherein The method further comprises: in the selfie stick mode, in response to a movement operation on the remote control device, controlling the unmanned aerial vehicle to move following the movement operation of the remote control device, and keeping a distance between the unmanned aerial vehicle and the remote control device unchanged during the movement. The method of claim 1, wherein The method further comprises: in the selfie stick mode, in response to a composite operation on the remote control device, the composite operation comprising a motion sensing operation and a movement operation, controlling the unmanned aerial vehicle to simultaneously adjust an orientation and a distance based on the composite operation, and keeping a relative rotation angle between the unmanned aerial vehicle and the remote control device unchanged and keeping a distance between the unmanned aerial vehicle and the remote control device unchanged during the adjustment. The method according to claim 2, characterized in that The response to the motion sensing operation on the remote control device and the control of the unmanned aerial vehicle to move from the initial orientation to the target orientation comprise: determine real-time relative pose information corresponding to the body-sensing operation of the remote control device; determine real-time control quantity of the UAV according to the real-time relative pose information; control the UAV to move along the arc-shaped trajectory to a position corresponding to the real-time control quantity based on the real-time control quantity. The method of claim 9, wherein The method further comprises: determine real-time relative pose information corresponding to the body-sensing operation of the remote control device; The method of claim 1, wherein determine real-time angle of the remote control device mapped to a corresponding axis during the body-sensing operation, the corresponding axis comprising at least one of a pitch axis, a yaw axis and a roll axis, and take the real-time angle mapped to the corresponding axis as the real-time relative pose information. The method further comprises: The method of claim 1, wherein control the UAV to move to a position pointed by a pointing operation of the remote control device in response to the pointing operation. The method of claim 1, wherein The first operation comprises one of a sliding operation on a first sliding key of the remote control device, a rolling operation on a first rolling key of the remote control device, a pressing operation on a first pressing key of the remote control device, a first clicking operation on a screen of the remote control device, a first touch operation on the remote control device, a first flicking operation on the remote control device, and a first voice operation on the remote control device. The method further comprises: The method of claim 13, wherein adjust a distance between the UAV and a person holding the remote control device in response to a second operation of the remote control device in the selfie stick mode. The method further comprises: The method of claim 14, wherein control the UAV to move in different stages based on the flicking operation to adjust the distance between the UAV and the person holding the remote control device in a case that the second operation is a flicking operation on the remote control device. The method further comprises: control the UAV to move at a variable speed along a first target trajectory away from the person holding the remote control device during the flicking operation; The method of claim 15, wherein control the UAV to move at a constant speed along a second target trajectory away from the person holding the remote control device after the flicking operation. The speed of the variable speed motion is positively correlated with the strength of the flicking operation; and / or The first target trajectory is determined based on the strength and / or the arc of the flicking operation; and / or The speed of the constant speed motion is determined based on the speed of the variable speed motion and / or the first target trajectory; and / or The method of claim 14, wherein The second target trajectory is determined based on the first target trajectory. The method further comprises: control the UAV to move at a variable speed along an arc-shaped trajectory during the flicking operation, a radius of the arc-shaped trajectory gradually increases with time, and a central angle of the arc-shaped trajectory is a central angle of the flicking operation; control the UAV to move at a constant speed along a straight line trajectory away from the person holding the remote control device after the flicking operation. The method of claim 13, wherein The adjusting the distance between the UAV and the remote controller holder in response to the second operation on the remote controller comprises: controlling the UAV to move in a direction of a line connecting the UAV and the remote controller holder to adjust the distance between the UAV and the remote controller holder in response to the second operation. The method of claim 18, wherein The moving speed of the UAV is positively correlated with the moving distance; or the moving speed of the UAV is a preset speed. The method of claim 13, wherein The second operation comprises one of a sliding operation on a second sliding key, a rolling operation on a second rolling key, a pressing operation on a second pressing key, a second clicking operation on a screen, a second touch operation, a second flicking operation, and a second voice operation of the remote controller. The method according to any one of claims 1 to 20, characterized in that The method further comprises: In the selfie stick mode, switching the selfie stick mode to another mode based on a third operation on the remote controller in response to the third operation, the another mode being a mode other than the selfie stick mode. The method of claim 21, wherein The third operation comprises one of a sliding operation on a third sliding key, a rolling operation on a third rolling key, a pressing operation on a third pressing key, a third clicking operation on a screen, a third touch operation, a third flicking operation, and a third voice operation of the remote controller. The method of claim 21, wherein The method further comprises: In the another mode, switching back to the selfie stick mode from the another mode in response to a fourth operation on the remote controller. The method of claim 21, wherein Different shooting parameter settings correspond to different another modes. The method according to any one of claims 1 to 24, characterized in that The method further comprises: In the selfie stick mode, determining a view angle of the UAV; Taking a picture based on the view angle. A method for controlling a UAV, characterized in that The method comprises: controlling the UAV to move in a plurality of different stages based on a target operation on the remote controller to adjust the distance between the UAV and the remote controller holder. The method of claim 26, wherein In a case where the target operation is a flicking operation on the remote controller, the controlling the UAV to move in the plurality of different stages based on the target operation comprises: controlling the UAV to move at a variable speed along a first target trajectory away from the remote controller holder during the flicking operation; controlling the UAV to move at a constant speed along a second target trajectory away from the remote controller holder after the flicking operation. The method of claim 27, wherein The speed of the variable speed movement is positively correlated with the strength of the flicking operation; and / or The first target trajectory is determined based on the strength and / or the arc of the flicking operation; and / or The speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory; and / or The second target trajectory is determined based on the first target trajectory. The method of claim 26, wherein In a case where the target operation is a flicking operation on the remote control device, the controlling the UAV to move based on the target operation comprises: During the flicking operation, the UAV is controlled to move along an arc trajectory at a variable speed, a radius of the arc trajectory gradually increases with a time duration of the flicking operation, and a central angle of the arc trajectory is a central angle of the flicking operation. After the flicking operation ends, the UAV is controlled to move along a straight line trajectory away from a hand holder of the remote control device at a constant speed. The method of claim 26, wherein The method further comprises: In response to a somatosensory operation on the remote control device, the UAV is controlled to move from an initial position to a target position, the initial position being a position of the UAV before the somatosensory operation, and the target position being a position of the UAV pointed to when the somatosensory operation stops. A trajectory from the initial position to the target position is an arc trajectory, the arc trajectory is a part of a spherical trajectory, a spherical center of the spherical trajectory is a position of a hand holder of the remote control device, and a radius of the spherical trajectory is a distance between the UAV and the hand holder of the remote control device. The method of claim 30, wherein The controlling the UAV to move from the initial position to the target position in response to the somatosensory operation on the remote control device comprises: In response to the somatosensory operation on the remote control device, the UAV is controlled to follow the somatosensory operation of the remote control device to move along the arc trajectory from the initial position to the target position, and a relative rotation angle between the UAV and the remote control device is unchanged. The method of claim 30, wherein The controlling the UAV to move from the initial position to the target position in response to the somatosensory operation on the remote control device comprises: In a case where the somatosensory operation is a rotation operation of the remote control device on a target plane, the UAV is controlled to move along the arc trajectory on the target plane or a plane parallel to the target plane. The method of claim 32, wherein A central angle corresponding to the arc trajectory of the movement of the UAV in the plane is positively correlated with an angle of the rotation of the remote control device on the target plane, or a distance of the movement of the UAV in the plane is positively correlated with the angle of the rotation of the remote control device on the target plane. The method according to claim 32 or 33, characterized in that A speed of the movement of the UAV in the plane is positively correlated with a speed of the rotation of the remote control device on the target plane, or the speed of the movement of the UAV in the plane is a preset speed. The method of claim 26, wherein The method further comprises: In response to a movement operation on the remote control device, the UAV is controlled to move following the movement operation of the remote control device, and a distance between the UAV and the remote control device is kept unchanged during the movement. The method according to any one of claims 26 to 35, characterized in that The method further comprises: In response to a pointing operation on the remote control device, the UAV is controlled to move to a position pointed to by the pointing operation. A remote control device comprising a memory and a processor, said memory storing a computer program, characterized in that, When the computer program instructions are executed by the processor, the processor is configured to: In response to a first operation on the remote control device, the UAV is controlled to enter a selfie stick mode. In the selfie stick mode, the processor is configured to: The apparatus of claim 37, wherein In response to the somatic operation on the remote control device, control the UAV to move from an initial position to a target position, the initial position being the position of the UAV before the somatic operation, and the target position being the position of the UAV pointed to when the somatic operation is stopped. The trajectory from the initial position to the target position is an arc trajectory, the arc trajectory being a part of a spherical trajectory, the center of the spherical trajectory being the position of the person holding the remote control device, and the radius of the spherical trajectory being the distance between the UAV and the person holding the remote control device. The processor is configured to: The apparatus of claim 38, wherein In response to the somatic operation on the remote control device, control the UAV to follow the somatic operation of the remote control device to move along the arc trajectory from the initial position to the target position, the relative rotation angle between the UAV and the remote control device being unchanged. The processor is configured to: The apparatus of claim 38, wherein When the somatic operation is a rotation operation of the remote control device on a target plane, control the UAV to move along the arc trajectory on the target plane or a plane parallel to the target plane. The central angle of the arc trajectory corresponding to the movement of the UAV in the plane is positively correlated with the angle of rotation of the remote control device on the target plane; or, the distance of the movement of the UAV in the plane is positively correlated with the angle of rotation of the remote control device on the target plane. The apparatus of claim 40, wherein The speed of the movement of the UAV in the plane is positively correlated with the speed of the rotation of the remote control device on the target plane; or, the speed of the movement of the UAV in the plane is a preset speed. The apparatus according to claim 40 or 41, characterized in that The processor is configured to: The apparatus of claim 37, wherein In the selfie stick mode, in response to a movement operation on the remote control device, control the UAV to move following the movement operation of the remote control device, and keep the distance between the UAV and the remote control device unchanged during the movement. The processor is configured to: The apparatus of claim 37, wherein In the selfie stick mode, in response to a composite operation on the remote control device, the composite operation including a somatic operation and a movement operation, control the UAV to simultaneously adjust the position and the distance based on the composite operation, and keep the relative rotation angle between the UAV and the remote control device unchanged and the distance between the UAV and the remote control device unchanged during the adjustment. The processor is configured to: The apparatus of claim 38, wherein Determine real-time relative pose information corresponding to the somatic operation of the remote control device; According to the real-time relative pose information, determine a real-time control amount corresponding to the UAV; Based on the real-time control amount, control the UAV to move along the arc trajectory to a position corresponding to the real-time control amount. The processor is configured to: The apparatus of claim 45, wherein ​ determining a real-time angle of the remote control device mapped to a corresponding axis during the somatosensory operation, the corresponding axis comprising at least one of a pitch axis, a yaw axis and a roll axis, and taking the real-time angle mapped to the corresponding axis as the real-time relative pose information. The apparatus of claim 37, wherein The processor is configured to: in response to a pointing operation on the remote control device, control the UAV to move to a position pointed by the pointing operation. The apparatus of claim 37, wherein The first operation comprises one of a sliding operation on a first sliding key in the remote control device, a rolling operation on a first rolling key in the remote control device, a pressing operation on a first pressing key in the remote control device, a first clicking operation on a screen in the remote control device, a first touch operation on the remote control device, a first flicking operation on the remote control device, and a first voice operation on the remote control device. The apparatus of claim 37, wherein The processor is configured to: in the selfie stick mode, in response to a second operation on the remote control device, adjust a distance between the UAV and a person holding the remote control device. The apparatus of claim 49, wherein The processor is configured to: in a case where the second operation is a flicking operation on the remote control device, control the UAV to move in multiple different stages based on the flicking operation to adjust the distance between the UAV and the person holding the remote control device. The apparatus of claim 50, wherein The processor is configured to: in a process of the flicking operation, control the UAV to move along a first target trajectory away from the person holding the remote control device at a variable speed; after the flicking operation ends, control the UAV to move along a second target trajectory away from the person holding the remote control device at a constant speed. The apparatus of claim 51, wherein a speed of the variable speed movement is positively correlated with a force of the flicking operation; and / or, the first target trajectory is determined based on the force and / or an arc of the flicking operation; and / or, a speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory; and / or, the second target trajectory is determined based on the first target trajectory. The apparatus of claim 50, wherein The processor is configured to: in a process of the flicking operation, control the UAV to move along an arc trajectory at a variable speed, a radius of the arc trajectory gradually increases with a time duration of the flicking operation, and a central angle of the arc trajectory is a central angle of the flicking operation; after the flicking operation ends, control the UAV to move along a straight line trajectory away from the person holding the remote control device at a constant speed. The apparatus of claim 49, wherein The processor is configured to: in response to the second operation, control the UAV to move in a direction of a line connecting the person holding the remote control device to adjust the distance between the UAV and the person holding the remote control device. The apparatus of claim 54, wherein a moving speed of the UAV is positively correlated with a moving distance; or, the moving speed of the UAV is a preset speed. The apparatus of claim 49, wherein The second operation comprises one of a sliding operation on a second sliding key in the remote control device, a rolling operation on a second rolling key in the remote control device, a pressing operation on a second pressing key in the remote control device, a second clicking operation on a screen in the remote control device, a second touch operation on the remote control device, a second flicking operation on the remote control device, and a second voice operation on the remote control device. The apparatus of any one of claims 37 to 56, wherein The processor is configured to: In the selfie stick mode, in response to a third operation on the remote control device, switch the selfie stick mode to another mode based on the third operation, the another mode being a mode other than the selfie stick mode. The apparatus of claim 57, wherein The third operation comprises one of a sliding operation on a third sliding key in the remote control device, a rolling operation on a third rolling key in the remote control device, a pressing operation on a third pressing key in the remote control device, a third clicking operation on a screen in the remote control device, a third touch operation on the remote control device, a third flicking operation on the remote control device, and a third voice operation on the remote control device. The apparatus of claim 57, wherein The processor is configured to: In the another mode, in response to a fourth operation on the remote control device, switch back to the selfie stick mode from the another mode. The apparatus of claim 57, wherein Different shooting parameter settings correspond to different another modes. The apparatus of any one of claims 37 to 60, wherein The processor is configured to: In the selfie stick mode, determine a view angle of the unmanned aerial vehicle; Capture a view based on the view angle. A remote control device comprising a memory and a processor, said memory storing a computer program, characterized in that, When the computer program instructions are executed by the processor, the processor is configured to: In response to a target operation on a remote control device, control an unmanned aerial vehicle to move in multiple different stages based on the target operation, to adjust a distance between the unmanned aerial vehicle and a hand holder of the remote control device. The apparatus of claim 62, wherein In a case where the target operation is a flicking operation on the remote control device, the processor is configured to: During the flicking operation, control the unmanned aerial vehicle to move at a variable speed along a first target trajectory away from the hand holder of the remote control device; After the flicking operation ends, control the unmanned aerial vehicle to move at a constant speed along a second target trajectory away from the hand holder of the remote control device. The apparatus of claim 63, wherein The speed of the variable speed movement is positively correlated with a force of the flicking operation; and / or, The first target trajectory is determined based on the force and / or an arc of the flicking operation; and / or, The speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory; and / or, The second target trajectory is determined based on the first target trajectory. The apparatus of claim 62, wherein In a case where the target operation is a flicking operation on the remote control device, the processor is configured to: During the flicking operation, control the unmanned aerial vehicle to move at a variable speed along an arc trajectory, a radius of the arc trajectory gradually increases with a time duration of the flicking operation, and a central angle of the arc trajectory is a central angle of the flicking operation; After the flicking operation ends, control the unmanned aerial vehicle to move at a constant speed along a straight line trajectory away from the hand holder of the remote control device. The apparatus of claim 62, wherein The processor is configured to: in response to the somatic operation on the remote control device, controlling the UAV to move from an initial position to a target position, the initial position being a position of the UAV before the somatic operation, and the target position being a position of the UAV pointed to when the somatic operation is stopped; wherein a trajectory from the initial position to the target position is an arc trajectory, the arc trajectory being a part of a spherical trajectory, a center of the spherical trajectory being a position of a person holding the remote control device, and a radius of the spherical trajectory being a distance between the UAV and the person holding the remote control device. The apparatus of claim 66, wherein The processor is configured to: in response to the somatic operation on the remote control device, controlling the UAV to follow the somatic operation on the remote control device to move along the arc trajectory from the initial position to the target position, and keeping a relative rotation angle between the UAV and the remote control device unchanged. The apparatus of claim 66, wherein The processor is configured to: when the somatic operation is a rotation operation of the remote control device on a target plane, controlling the UAV to move along the arc trajectory on the target plane or a plane parallel to the target plane. The apparatus of claim 68, wherein A central angle of the arc trajectory corresponding to the movement of the UAV on the plane is positively correlated with an angle of the rotation of the remote control device on the target plane; or, a distance of the movement of the UAV on the plane is positively correlated with the angle of the rotation of the remote control device on the target plane. The apparatus of claim 68 or 69, wherein A speed of the movement of the UAV on the plane is positively correlated with a speed of the rotation of the remote control device on the target plane; or, the speed of the movement of the UAV on the plane is a preset speed. The apparatus of claim 62, wherein The processor is configured to: in response to a movement operation on the remote control device, controlling the UAV to move following the movement operation on the remote control device, and keeping a distance between the UAV and the remote control device unchanged during the movement. The apparatus of any one of claims 62 to 71, wherein The processor is configured to: in response to a pointing operation on the remote control device, controlling the UAV to move to a position pointed to by the pointing operation. A drone control system, characterized by The UAV control system comprises a remote control device and a UAV; The remote control device is configured to, in response to a first operation on the remote control device, send a first control signal to the UAV; and in a selfie stick mode, in response to a somatic operation on the remote control device, send a second control signal to the UAV. The UAV is configured to, based on the received first control signal, enter the selfie stick mode. In the selfie stick mode, based on the received second control signal, perform position adjustment, the position being a position of the UAV relative to a person holding the remote control device. The system according to claim 73, wherein The UAV is configured to, based on the received second control signal, move from an initial position to a target position, the initial position being a position of the UAV before the somatic operation, and the target position being a position of the UAV pointed to when the somatic operation is stopped. Wherein, the trajectory from the initial position to the target position is an arc trajectory, the arc trajectory is a part of a spherical trajectory, the spherical trajectory has a spherical center at a position of a holder of the remote control device, and the spherical trajectory has a radius of a distance between the UAV and the holder of the remote control device. The system of claim 74, wherein, The UAV is configured to, based on the received second control signal, follow the somatic operation of the remote control device in the process of moving from the initial position to the target position along the arc trajectory, and keep the relative rotation angle between the UAV and the remote control device unchanged. The system of claim 74, wherein, The UAV is configured to, based on the received second control signal, move along the arc trajectory on the target plane or a plane parallel to the target plane when the somatic operation is a rotation operation of the remote control device on the target plane. The system of claim 76, wherein The central angle of the arc trajectory corresponding to the plane movement of the UAV is positively correlated with the angle of the rotation of the remote control device on the target plane; or, the distance of the plane movement of the UAV is positively correlated with the angle of the rotation of the remote control device on the target plane. The system of claim 76 or 77, wherein The speed of the plane movement of the UAV is positively correlated with the speed of the rotation of the remote control device on the target plane; or, the speed of the plane movement of the UAV is a preset speed. The system of claim 73, wherein, The remote control device is configured to, in the selfie stick mode, send a third control signal to the UAV in response to a movement operation of the remote control device; The UAV is configured to, based on the received third control signal, move following the movement operation of the remote control device, and keep the distance between the UAV and the remote control device unchanged during the movement. The system of claim 73, wherein, The remote control device is configured to, in the selfie stick mode, send a fourth control signal to the UAV in response to a composite operation of the remote control device, the composite operation including a somatic operation and a movement operation; The UAV is configured to, based on the received fourth control signal, simultaneously adjust the position and the distance, and keep the relative rotation angle between the UAV and the remote control device unchanged and keep the distance between the UAV and the remote control device unchanged during the adjustment. The system of claim 74, wherein, The remote control device is configured to determine real-time relative pose information corresponding to the somatic operation of the remote control device; Determine a real-time control amount of the UAV based on the real-time relative pose information; Send the first control signal to the UAV based on the real-time control amount; The UAV is configured to, based on the received first control signal, move to a position corresponding to the real-time control amount along the arc trajectory. The system of claim 81, wherein, The remote control device is configured to determine a real-time angle of the remote control device mapping to a corresponding axis during the somatosensory operation, the corresponding axis comprising at least one of a pitch axis, a yaw axis and a roll axis, and take the real-time angle mapping to the corresponding axis as the real-time relative pose information. The system of claim 73, wherein, The remote control device is configured to send a fifth control signal to the UAV in response to a pointing operation on the remote control device; The UAV is configured to move to a position pointed by the pointing operation based on the received fifth control signal. The system of claim 73, wherein The first operation comprises one of a sliding operation on a first sliding key in the remote control device, a rolling operation on a first rolling key in the remote control device, a pressing operation on a first pressing key in the remote control device, a first clicking operation on a screen in the remote control device, a first touch operation on the remote control device, a first flicking operation on the remote control device, and a first voice operation on the remote control device. The system of claim 73, wherein, The remote control device is configured to send a sixth control signal to the UAV in response to a second operation on the remote control device in the selfie stick mode; The UAV is configured to adjust a distance between the remote control device and a holder of the remote control device based on the received sixth control signal. The system of claim 85, wherein, The UAV is configured to move in a plurality of different stages based on the flicking operation to adjust the distance between the remote control device and the holder of the remote control device based on the received sixth control signal in a case that the second operation is a flicking operation on the remote control device. The system of claim 86, wherein, The UAV is configured to move in a variable speed along a first target trajectory away from the holder of the remote control device during the flicking operation; The UAV is configured to move in a constant speed along a second target trajectory away from the holder of the remote control device after the flicking operation ends. The system of claim 87, wherein The speed of the variable speed movement is positively correlated with a force of the flicking operation; and / or, The first target trajectory is determined based on the force and / or an arc of the flicking operation; and / or, The speed of the constant speed movement is determined based on the speed of the variable speed movement and / or the first target trajectory; and / or, The second target trajectory is determined based on the first target trajectory. The system of claim 86, wherein, The UAV is configured to move in a variable speed along an arc trajectory during the flicking operation, a radius of the arc trajectory gradually increases with a time duration of the flicking operation, and a central angle of the arc trajectory is a central angle of the flicking operation; The UAV is configured to move in a constant speed along a straight line trajectory away from the holder of the remote control device after the flicking operation ends. The system of claim 85, wherein, The unmanned aerial vehicle is configured to move along a direction of a line between the unmanned aerial vehicle and the remote control device holder to adjust a distance between the unmanned aerial vehicle and the remote control device holder based on the received sixth control signal. The system of claim 90, wherein The moving speed of the unmanned aerial vehicle is positively correlated with the moving distance; or the moving speed of the unmanned aerial vehicle is a preset speed. The system of claim 85, wherein The second operation includes one of a sliding operation on a second sliding key of the remote control device, a rolling operation on a second rolling key of the remote control device, a pressing operation on a second pressing key of the remote control device, a second clicking operation on a screen of the remote control device, a second touch operation on the remote control device, a second flicking operation on the remote control device, and a second voice operation on the remote control device. The system according to any one of claims 73 to 92, wherein The remote control device is configured to, in the selfie stick mode, send a seventh control signal to the unmanned aerial vehicle in response to a third operation on the remote control device. The unmanned aerial vehicle is configured to switch the selfie stick mode to another mode based on the received seventh control signal, the another mode being a mode other than the selfie stick mode. The system of claim 93, wherein The third operation includes one of a sliding operation on a third sliding key of the remote control device, a rolling operation on a third rolling key of the remote control device, a pressing operation on a third pressing key of the remote control device, a third clicking operation on a screen of the remote control device, a third touch operation on the remote control device, a third flicking operation on the remote control device, and a third voice operation on the remote control device. The system according to claim 93, wherein The remote control device is configured to, in the another mode, send an eighth control signal to the unmanned aerial vehicle in response to a fourth operation on the remote control device. The unmanned aerial vehicle is configured to switch back to the selfie stick mode from the another mode based on the received eighth control signal. The system of claim 93, wherein Different ones of the another modes correspond to different shooting parameter settings. The system according to any one of claims 73 to 96, wherein The unmanned aerial vehicle is configured to determine a view angle in the selfie stick mode. Shooting is performed based on the view angle. A drone control system, characterized by The unmanned aerial vehicle control system includes a remote control device and an unmanned aerial vehicle. The remote control device is configured to send a first target signal to the unmanned aerial vehicle in response to a target operation on the remote control device by a remote control device holder. The unmanned aerial vehicle is configured to perform a plurality of different stages of movement to adjust a distance to the remote control device holder based on the received first target signal. The system according to claim 98, wherein The unmanned aerial vehicle is configured to, in a case where the target operation is a flicking operation on the remote control device, perform variable speed movement along a first target trajectory away from the remote control device holder during the flicking operation based on the received first target signal. After the flicking operation ends, constant speed movement is performed along a second target trajectory away from the remote control device holder. The system of claim 99, wherein a speed of the variable-speed movement is positively correlated with a strength of the flicking operation; and / or the first target trajectory is determined based on the strength and / or the arc of the flicking operation; and / or a speed of the constant-speed movement is determined based on the speed of the variable-speed movement and / or the first target trajectory; and / or the second target trajectory is determined based on the first target trajectory. The system of claim 98, wherein the UAV is configured to, in a case that the target operation is a flicking operation on the remote control device, based on the received first target signal, make a variable-speed movement along an arc trajectory during the flicking operation, a radius of the arc trajectory gradually increases with a time duration of the flicking operation, and a central angle of the arc trajectory is a central angle of the flicking operation; after the flicking operation ends, make a constant-speed movement along a straight line trajectory away from a hand holder of the remote control device. The system of claim 98, wherein the remote control device is configured to, in response to a somatosensory operation on the remote control device, send a second target signal to the UAV; the UAV is configured to, based on the received second target signal, move from an initial position to a target position, the initial position being a position of the UAV before the somatosensory operation, and the target position being a position of the UAV pointed to when the somatosensory operation stops; wherein a trajectory from the initial position to the target position is an arc trajectory, the arc trajectory being a part of a spherical trajectory, a spherical center of the spherical trajectory being a position of a hand holder of the remote control device, and a radius of the spherical trajectory being a distance between the UAV and the hand holder of the remote control device. The system of claim 102, wherein the UAV is configured to, based on the received second target signal, follow the somatosensory operation of the remote control device to move along the arc trajectory from the initial position to the target position, and a relative rotation angle between the UAV and the remote control device is unchanged. The system of claim 102, wherein the UAV is configured to, in a case that the somatosensory operation is a rotation operation of the remote control device on a target plane, based on the received second target signal, move along the arc trajectory on the target plane or a plane parallel to the target plane. The system of claim 104, wherein a central angle of a circle corresponding to the arc trajectory of the movement of the UAV in the plane is positively correlated with an angle of the rotation of the remote control device on the target plane; or, a distance of the movement of the UAV in the plane is positively correlated with the angle of the rotation of the remote control device on the target plane. The system according to claim 104 or 105, characterized in that a speed of the movement of the UAV in the plane is positively correlated with a speed of the rotation of the remote control device on the target plane; or, the speed of the movement of the UAV in the plane is a preset speed. The system of claim 98, wherein the remote control device is configured to, in response to a movement operation on the remote control device, send a third target signal to the UAV; The unmanned aerial vehicle is configured to move following the movement operation of the remote control device based on the received third target signal, and keep the distance between the unmanned aerial vehicle and the remote control device unchanged during the movement. The system of any one of claims 98 to 107, wherein, The remote control device is configured to send a fourth target signal to the unmanned aerial vehicle in response to a pointing operation of the remote control device. The unmanned aerial vehicle is configured to move to a position pointed by the pointing operation based on the received fourth target signal. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 36.

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