Method for displaying pose of unmanned aerial vehicle, computer device, storage medium, program product and unmanned aerial vehicle carrier

Abstract

Disclosed in the present application are a method for displaying the pose of an unmanned aerial vehicle, a computer device, a storage medium, a program product and an unmanned aerial vehicle carrier. The method comprises: generating a three-dimensional image of an unmanned aerial vehicle and a base plate assembly, wherein the three-dimensional image of the unmanned aerial vehicle is located in the space above the base plate assembly; and in response to a pose change of the unmanned aerial vehicle, the three-dimensional image of the unmanned aerial vehicle undergoing a corresponding pose change relative to the base plate assembly. In the embodiments of the present application, the three-dimensional pose display of an unmanned aerial vehicle is realized by means of the cooperation between a three-dimensional image of the unmanned aerial vehicle and a base plate assembly; and in response to a pose change of the unmanned aerial vehicle, a pose change of the three-dimensional image of the unmanned aerial vehicle relative to the base plate assembly is correspondingly controlled, such that a user can intuitively and accurately learn the pose of the unmanned aerial vehicle in the process of controlling the unmanned aerial vehicle, without the need for performing additional learning by the user, thereby reducing the learning cost of the user.

Description

Method for displaying pose of unmanned aerial vehicle, computer device, storage medium, program product and unmanned aerial vehicle TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method for displaying pose of an unmanned aerial vehicle, a computer device, a storage medium, a program product and an unmanned aerial vehicle. BACKGROUND

[0002] With the increasing expansion of the application field of unmanned aerial vehicles, the occasions of using unmanned aerial vehicles have become increasingly diversified. A user can control an unmanned aerial vehicle to fly to a destination through a control terminal. The user needs to constantly adjust the flight control parameters of the unmanned aerial vehicle when controlling the unmanned aerial vehicle to fly to the destination, so that the unmanned aerial vehicle can safely fly to the destination. In related technologies, in order to facilitate the user to understand the position and attitude of the unmanned aerial vehicle, a two-dimensional plane map capable of displaying the position of the unmanned aerial vehicle in real time and attitude data of the unmanned aerial vehicle are provided. However, for the user, it is of high learning cost to understand the position and attitude of the unmanned aerial vehicle through the two-dimensional plane map and the attitude data, and it is not intuitive enough to observe.

[0003] SUMMARY

[0004] Embodiments of the present application provide a method for displaying pose of an unmanned aerial vehicle, a computer device, a storage medium, a program product and an unmanned aerial vehicle, which are used to at least solve one of the above technical problems.

[0005] In a first aspect, embodiments of the present application provide a method for displaying pose of an unmanned aerial vehicle, comprising: generating an unmanned aerial vehicle stereoscopic image and a chassis assembly, the unmanned aerial vehicle stereoscopic image being located above the chassis assembly; in response to a change in pose of the unmanned aerial vehicle, the unmanned aerial vehicle stereoscopic image changes in pose relative to the chassis assembly.

[0006] In some embodiments, the change in pose of the unmanned aerial vehicle at least includes one of a pitch change, a roll change and a heading change of the unmanned aerial vehicle; in response to the change in pose of the unmanned aerial vehicle, the unmanned aerial vehicle stereoscopic image changes in pose relative to the chassis assembly, comprising: in response to the pitch change of the unmanned aerial vehicle, controlling the unmanned aerial vehicle stereoscopic image to change in pitch relative to the chassis assembly; and / or in response to the roll change of the unmanned aerial vehicle, controlling the unmanned aerial vehicle stereoscopic image to change in roll relative to the chassis assembly; and / or in response to the heading change of the unmanned aerial vehicle, controlling the heading change of the unmanned aerial vehicle stereoscopic image.

[0007] In some embodiments, the method for displaying pose of the unmanned aerial vehicle further comprises: in response to the pitch change of the unmanned aerial vehicle, generating a pitch indication assembly that changes with the degree of pitch change in a front space or a rear space of the unmanned aerial vehicle stereoscopic image.

[0008] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a change in the roll of the UAV, generating a roll indication component that changes with the degree of roll change in the left or right space of the stereoscopic image of the UAV.

[0009] In some embodiments, the edge of the chassis component is provided with a direction identifier; in response to a change in the heading of the UAV, the heading of the stereoscopic image of the UAV is controlled to change, comprising: in response to a change in the heading of the UAV, the direction identifier is controlled to change position relative to the stereoscopic image of the UAV.

[0010] In some embodiments, the surface of the chassis component is provided with a home point identifier; the method further comprises: in response to a change in the position of the UAV and / or a change in the position of the home point, the stereoscopic image of the UAV remains unchanged relative to the chassis component, and the home point is controlled to change position on the surface of the chassis component accordingly.

[0011] In some embodiments, the surface of the chassis component is provided with a remote controller identifier; the method further comprises: in response to a change in the position of the UAV and / or a change in the position of the remote controller, the stereoscopic image of the UAV remains unchanged relative to the chassis component, and the remote controller identifier is controlled to change position on the surface of the chassis component accordingly.

[0012] In some embodiments, the surface of the chassis component is provided with a home point identifier; the method further comprises: in response to a change in the position of the UAV and / or a change in the position of the home point, the position of the home point on the surface of the chassis component remains unchanged, and the stereoscopic image of the UAV is controlled to change position relative to the home point accordingly.

[0013] In some embodiments, the surface of the chassis component is provided with a remote controller identifier; the method further comprises: in response to a change in the position of the UAV and / or a change in the position of the remote controller, the position of the remote controller identifier on the surface of the chassis component remains unchanged, and the stereoscopic image of the UAV is controlled to change position relative to the remote controller identifier accordingly.

[0014] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a change in the position of the UAV, the size of the stereoscopic image of the UAV is controlled to change; wherein the farther the position of the UAV is from the home point, the smaller the stereoscopic image of the UAV is.

[0015] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a control operation of the user on the stereoscopic image of the UAV, the UAV is controlled accordingly; and / or, in response to an operation of the user on the pose adjustment shortcut component, the UAV is adjusted to a preset pose; and / or, in response to pose data input by the user, the pose of the UAV is controlled.

[0016] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a display mode switching operation of the user or in response to a preset condition being met, controlling the computer device to switch from the first display mode to a second display mode; wherein when the first display mode is a two-dimensional display mode, the second display mode is a three-dimensional display mode; and when the first display mode is a three-dimensional display mode, the second display mode is a two-dimensional display mode.

[0017] In a second aspect, the embodiments of the present application provide a computer device, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method of displaying the pose of the UAV according to any of the embodiments of the present application.

[0018] In some embodiments, the computer device is configured with a display module, wherein the display module comprises a first display area and a second display area; the first display area is configured to display the pose of the UAV, and the second display area is configured to display the image captured by the UAV. In some embodiments, the first display area and / or the second display area displays flight data of the UAV.

[0019] In some embodiments, the processor is configured to: when a movement instruction is received or it is detected that a preset movement condition is met, control the UAV to fly to the remote controller and capture an image of the location of the remote controller according to the relative position relationship between the UAV and the remote controller; or when a movement instruction is received or it is detected that a preset movement condition is met, control the UAV carrier to drive to the remote controller and capture an image of the location of the remote controller according to the relative position relationship between the UAV carrier and the remote controller.

[0020] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program / instruction, wherein the computer program / instruction is executed by a processor to implement the steps of the method of displaying the pose of the UAV according to any of the embodiments of the present application.

[0021] In a fourth aspect, the embodiments of the present application provide a computer program product, comprising a computer program / instruction, wherein the computer program / instruction is executed by a processor to implement the steps of the method of displaying the pose of the UAV according to any of the embodiments of the present application.

[0022] In a fifth aspect, the embodiments of the present application provide a UAV carrier, comprising the computer device according to any of the embodiments of the present application, and the UAV carrier is further configured to carry a UAV.

[0023] The unmanned aerial vehicle pose is displayed stereoscopically by cooperation of the unmanned aerial vehicle stereoscopic image and the chassis assembly in the embodiments of the present application, and the unmanned aerial vehicle stereoscopic image is controlled to change the pose relative to the chassis assembly in response to the change of the unmanned aerial vehicle pose, so that the user can intuitively and accurately know the unmanned aerial vehicle pose during the unmanned aerial vehicle control without additional learning, thereby reducing the learning cost of the user. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] FIG. 1 is a flowchart of an embodiment of the method for displaying the unmanned aerial vehicle pose of the present application;

[0026] FIG. 2 is a schematic diagram of an embodiment of the display of the unmanned aerial vehicle stereoscopic image and the chassis assembly in the present application;

[0027] FIG. 3 is a schematic diagram of an embodiment of the display of the unmanned aerial vehicle pitch in the present application;

[0028] FIG. 4 is a schematic diagram of another embodiment of the display of the unmanned aerial vehicle pitch in the present application;

[0029] FIG. 5 is a schematic diagram of an embodiment of the display of the unmanned aerial vehicle roll in the present application;

[0030] FIG. 6 is a schematic diagram of an embodiment of the display of the unmanned aerial vehicle clockwise roll in the present application;

[0031] FIG. 7 is a schematic diagram of an embodiment of the display of the unmanned aerial vehicle counterclockwise roll in the present application;

[0032] FIG. 8 is a schematic diagram of an embodiment of the display of the direction mark on the chassis assembly in the present application;

[0033] FIG. 9 is a schematic diagram of another embodiment of the display of the direction mark on the chassis assembly in the present application;

[0034] FIG. 10 is a display interface schematic diagram of an embodiment of the computer device in the present application;

[0035] FIG. 11 is a display interface schematic diagram of another embodiment of the computer device in the present application;

[0036] FIG. 12 is a display interface schematic diagram of another embodiment of the computer device in the present application;

[0037] FIG. 13 is a structural schematic diagram of an embodiment of the computer device of the present application. DETAILED DESCRIPTION

[0038] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0039] It should also be noted that, in this document, the terms "comprising" and "including" not only include those elements, but also include other elements not explicitly listed, or further include elements inherent in the process, method, article or device. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of other identical elements in the process, method, article or device comprising the elements.

[0040] The present application provides a method for displaying the pose of a UAV, which is used for displaying the pose of the UAV in real time during the flight of the UAV, so as to facilitate the user to intuitively observe the pose of the UAV. The execution subject of the method can be a computer device, for example, a UAV remote controller, a smart phone, a tablet computer, a vehicle-mounted electronic device, a VR device, etc., which is not limited in the present application. Through the method for displaying the pose of the UAV, the pose of the UAV can be displayed stereoscopically on the computer device. The computer device can directly communicate with the UAV, or can indirectly obtain the pose information of the UAV through a device communicating with the UAV.

[0041] As shown in FIG. 1, the embodiments of the present application provide a method for displaying the pose of a UAV, which is used for a computer device, and the method comprises the following steps:

[0042] S10, generating a UAV stereoscopic image and a chassis assembly, wherein the UAV stereoscopic image is located above the space of the chassis assembly.

[0043] Exemplarily, the stereoscopic image of the UAV can match the actual appearance of the UAV. For example, for UAVs of different models and different appearances, stereoscopic images of UAVs of different appearances are generated accordingly. The chassis assembly is in a stereoscopic shape, and the outer contour of the top view thereof can be circular, square, polygonal, or the like, which is not limited in the present application. The chassis assembly is used to indicate the plane on which the ground is located, so as to show the spatial relationship between the UAV and the ground, thereby reflecting the pose of the UAV in the three-dimensional space more realistically. Further, for the remote controller used by the user and the home point (for example, the UAV carrier) on the ground, corresponding marks can also be set on the surface of the chassis assembly, so that the relative positional relationship between the UAV and the remote controller, the home point, and the like can be more intuitively displayed.

[0044] Exemplarily, the stereoscopic image of the UAV can be generated in advance for UAVs of different models and different appearances, and can be stored locally or in the cloud. The stereoscopic image of the UAV can be obtained by using the 3D image rendering method in the prior art, and the specific algorithm is not limited in the present application. In use, the system can automatically match the stereoscopic image of the UAV of the corresponding appearance from the local or the cloud according to the model of the currently connected UAV, or match the stereoscopic image of the UAV of the corresponding appearance from the local or the cloud according to the model of the UAV input by the user. After the matching stereoscopic image of the UAV is obtained, the component can be displayed on the display area of the computer device in the form of a component.

[0045] In addition, for the chassis assembly, a plurality of chassis assemblies of different shapes can be obtained by using the 3D image rendering method in the prior art, and the specific algorithm is not limited in the present application. In use, the user can be configured with a chassis assembly of a default shape, or the chassis assembly can be matched according to the selection of the user among a plurality of chassis assemblies of different shapes.

[0046] As shown in FIG. 2, the stereoscopic image of the UAV and the chassis assembly in the present application are shown. By setting the stereoscopic image of the UAV in the space above the chassis assembly, a stereoscopic space can be more intuitively constructed. The outer contour of the top view of the chassis assembly in the present embodiment is circular.

[0047] S20, in response to the change of the pose of the UAV, the stereoscopic image of the UAV changes the corresponding pose relative to the chassis assembly.

[0048] Exemplarily, the pose change of the UAV in the application includes but is not limited to the following cases: case one, the pose change of the UAV caused by the user operating the remote controller, in this case, the pose change amount (pitch angle change amount, roll angle change amount, heading change amount, etc.) of the UAV can be obtained according to the user's operation on the remote controller, and then the pose of the stereoscopic image of the UAV is adjusted according to the pose change amount of the UAV; case two, the pose change of the UAV caused by the external wind blowing, in this case, the pose change amount of the UAV can be obtained according to the sensor carried by the UAV, and then the pose of the stereoscopic image of the UAV is adjusted according to the pose change amount of the UAV; case three, the pose change of the UAV caused by the user directly touching the stereoscopic image of the UAV, in this case, the pose of the stereoscopic image of the UAV is adjusted according to the pose change amount of the UAV corresponding to the user's touch operation; case four, the pose change of the UAV caused by the user inputting the pose parameter, etc., in this case, the pose of the stereoscopic image of the UAV is adjusted directly according to the pose parameter input by the user.

[0049] In the embodiment of the application, the pose of the UAV is displayed stereoscopically through the cooperation of the stereoscopic image of the UAV and the chassis assembly, and the pose of the stereoscopic image of the UAV is changed relative to the chassis assembly in response to the pose change of the UAV, so that the user can intuitively and accurately understand the pose of the UAV during the operation of the UAV, without the need for additional learning, thereby reducing the learning cost of the user.

[0050] In some embodiments, the pose change of the UAV at least includes one of the pitch change, the roll change and the heading change of the UAV. Correspondingly, in response to the pose change of the UAV, the stereoscopic image of the UAV changes the pose relative to the chassis assembly, including:

[0051] in response to the pitch change of the UAV, the stereoscopic image of the UAV is controlled to change the pitch relative to the chassis assembly; and / or, in response to the roll change of the UAV, the stereoscopic image of the UAV is controlled to change the roll relative to the chassis assembly; and / or, in response to the heading change of the UAV, the heading of the stereoscopic image of the UAV is controlled to change.

[0052] In the embodiment, the stereoscopic image of the UAV is controlled to change the pose relative to the chassis assembly in the three dimensions of pitch, roll and heading, which realizes the intuitive display of the pose change of the stereoscopic image of the UAV in the three-dimensional space, so that the pose change of the UAV during flight is clear at a glance, which facilitates the user to observe and improves the user experience.

[0053] The applicant found in the process of implementing the present application that when the UAV stereoscopic image is small or the UAV stereoscopic image only has a small change in pose, it is not easy to be observed. Therefore, the applicant proposes the following optional embodiment: the method for displaying the pose of the UAV further comprises: in response to the change in the pitch of the UAV, generating a pitch indication component that changes with the degree of pitch in the front space or the rear space of the UAV stereoscopic image. Wherein, the pitch indication component comprises a pitch-up indication component and a pitch-down indication component, the pitch-up indication component is used to indicate the pitch-up degree of the UAV, and the pitch-down indication component is used to indicate the pitch-down degree of the UAV. Wherein, the 3D rendering algorithm in the related prior art can be used to generate the pitch indication component, and the present application does not limit the specific algorithm. In some embodiments, the pitch indication component is a whole component (for example, a strip-shaped graphic component), and the corresponding pitch-up indication component and pitch-down indication component are opposite ends of the pitch indication component. When the UAV has no pitch angle, the pitch indication component is hidden under the lower surface of the chassis component; when the UAV pitches up, the pitch-up indication component extends from the upper surface of the chassis component, and as the pitch-up angle of the UAV increases, the length of the pitch-up indication component extending from the upper surface of the chassis component becomes longer; when the UAV pitches down, the pitch-up indication component is retracted below the lower surface of the chassis component, and the pitch-down indication component extends from the upper surface of the chassis component, and as the pitch-down angle of the UAV increases, the length of the pitch-down indication component extending from the upper surface of the chassis component becomes longer.

[0054] As shown in FIG. 3, it is a schematic diagram of an embodiment of the present application for displaying the pitch-up degree of the UAV through the pitch-up indication component. FIG. 4 is a schematic diagram of another embodiment of the present application for displaying the pitch-up degree of the UAV through the pitch-up indication component. In FIGS. 3 and 4, the pitch-up indication component is located in front of the UAV and grows upward from the surface of the disc-shaped chassis component, and the height of the pitch-up indication component in FIG. 4 is greater than that in FIG. 3, to indicate that the pitch-up degree of the UAV stereoscopic image in FIG. 4 is greater than that in FIG. 3.

[0055] As shown in FIGS. 3 and 4, the pitch indication component is an arc-shaped indication strip component with a certain width, one end of the arc-shaped indication strip component is the pitch-up indication component, and the opposite end is the pitch-down indication component (in the state of the UAV in FIG. 2, the UAV has no pitch angle, and at this time the pitch indication component is hidden under the chassis component).

[0056] For example, the relationship between the pitch-up angle of the UAV and the height of the pitch-up indication component can be equally matched according to the maximum pitch-up angle of the UAV (for example, 90 degrees) and the maximum height of the pitch-up indication component above the upper surface of the chassis component (for example, 1.8 cm) (for example, according to the data of 90 degrees and 1.8 cm, it can be determined that the height of the pitch-up indication component increases by 0.02 cm for every 1 degree increase in the pitch-up angle).

[0057] In some embodiments, when the UAV pitches up or down by a certain angle, the arc-shaped indicating band assembly is controlled to rotate by the same angle around the ball center corresponding to the arc-shaped indicating band assembly. For example, the ball center corresponding to the arc-shaped indicating band assembly is the center of the disc assembly. When the UAV pitches up, the arc-shaped indicating band assembly is controlled to rotate towards one end of the pitch-up indicating assembly; when the UAV pitches down, the arc-shaped indicating band assembly is controlled to rotate towards one end of the pitch-down indicating assembly.

[0058] Similarly, the matching relationship between the pitch-down angle of the UAV and the pitch-down indicating assembly can be determined according to the above manner. It should be noted that the above is only an example, and the specific implementation manner is not limited in the present application.

[0059] As shown in FIG. 5 is a schematic diagram of an embodiment of the present application for displaying the pitch-down degree of the UAV by the pitch-down indicating assembly. In FIG. 5, the pitch-down indicating assembly is located at the rear of the UAV (relative to the front of the UAV in the above embodiment), and grows upward from the surface of the disc-shaped disc assembly. In some embodiments, the pitch-down indicating assembly with different heights can be configured to match different pitch-down degrees of the UAV.

[0060] It should be noted that the pitch-up indicating assembly and the pitch-down indicating assembly in the above embodiments are only examples, and as long as they are convenient for adaptive indication of the pitch-up and pitch-down degrees of the UAV, the specific forms of the pitch-up indicating assembly and the pitch-down indicating assembly are not limited in the present application.

[0061] The applicant found in the process of implementing the present application that when the UAV stereoscopic image is small or the UAV stereoscopic image only has a small change in pose, it is not easy to be observed. Therefore, the applicant proposes the following optional embodiment: the method for displaying the pose of the UAV further comprises: in response to a change in the roll of the UAV, generating a roll indication component that changes with the degree of roll in the left space or the right space of the UAV stereoscopic image. Wherein, the roll indication component comprises a clockwise roll indication component and a counterclockwise roll component, the clockwise roll indication component is used to indicate the degree of roll of the UAV in the clockwise direction, and the counterclockwise roll component is used to indicate the degree of roll of the UAV in the counterclockwise direction. Wherein, the 3D rendering algorithm in the related prior art can be used to generate the roll indication component, and the present application does not limit the specific algorithm. In some embodiments, the roll indication component is a whole component, and the corresponding clockwise roll indication component and counterclockwise roll component are opposite ends of the roll indication component. When the UAV has no roll angle, the roll indication component is hidden under the lower surface of the chassis component; when the UAV rolls clockwise, the clockwise roll indication component extends from the upper surface of the chassis component, and as the clockwise roll angle of the UAV increases, the length of the clockwise roll indication component extending out of the upper surface of the chassis component becomes longer; when the UAV rolls counterclockwise, the clockwise roll indication component is retracted below the lower surface of the chassis component, and the counterclockwise roll component extends from the upper surface of the chassis component, and as the counterclockwise roll angle of the UAV increases, the length of the counterclockwise roll component extending out of the upper surface of the chassis component becomes longer.

[0062] As shown in FIG. 6, it is a schematic diagram of an embodiment of the present application for displaying the degree of clockwise roll of the UAV through the clockwise roll component. Wherein, the clockwise roll component is located on the left side of the UAV stereoscopic image in FIG. 6, and grows upward from the surface of the disc-shaped chassis component. In some embodiments, different heights of the clockwise roll component can be configured to match different degrees of clockwise roll of the UAV, and the greater the roll degree, the higher the height of the roll component.

[0063] As shown in FIG. 7, it is a schematic diagram of another embodiment of the present application for displaying the degree of counterclockwise roll of the UAV through the counterclockwise roll component. Wherein, the counterclockwise roll component is located on the right side of the UAV stereoscopic image in FIG. 7, and grows upward from the surface of the disc-shaped chassis component. In some embodiments, different heights of the counterclockwise roll component can be configured to match different degrees of counterclockwise roll of the UAV, and the greater the roll degree, the higher the height of the roll component.

[0064] As shown in FIGS. 6 and 7, the roll indication component is an arc-shaped indication band component with a certain width, one end of the arc-shaped indication band component is the clockwise roll component, and the opposite end is the counterclockwise roll component (in the state of FIG. 2, the UAV has no roll angle, and at this time the roll indication component is hidden under the chassis component).

[0065] Exemplarily, the relationship between the roll angle of the UAV and the height of the clockwise roll assembly can be matched equally according to the maximum clockwise roll angle of the UAV (e.g., 90 degrees) and the maximum height of the clockwise roll assembly beyond the upper surface of the chassis assembly (e.g., 1.8 cm) (e.g., according to the data of 90 degrees and 1.8 cm, it can be determined that the roll angle increases by 1 degree, and the corresponding height of the clockwise roll assembly increases by 0.02 cm). Similarly, the matching relationship between the counterclockwise roll angle of the UAV and the counterclockwise roll assembly can be determined. It should be noted that the above is only an example, and the specific implementation mode is not limited in the present application.

[0066] In some embodiments, when the UAV has a certain angle of clockwise roll or counterclockwise roll, the arc-shaped indicating band assembly is controlled to rotate the same angle around the center of the sphere. When the UAV has clockwise roll, the arc-shaped indicating band assembly is controlled to rotate towards one end of the clockwise roll assembly; when the UAV has counterclockwise roll, the arc-shaped indicating band assembly is controlled to rotate towards one end of the counterclockwise roll assembly.

[0067] It should be noted that the clockwise roll indicating assembly and the counterclockwise roll assembly in the above embodiments are only examples, and as long as they facilitate the adaptive indication of the roll degree of the UAV, the specific form of the clockwise roll indicating assembly and the counterclockwise roll assembly is not limited in the present application.

[0068] In some embodiments, when the UAV has both pitch and roll, the corresponding pitch indicating assembly and roll indicating assembly are displayed on the chassis assembly at the same time. In order to facilitate the user to distinguish and observe more intuitively, the pitch indicating assembly and the roll indicating assembly can be configured with different colors.

[0069] Further, when the UAV has both pitch and roll, the roll of the UAV can be reflected by setting the height difference between the two sides of the end of the pitch indicating assembly protruding from the upper surface of the chassis assembly; and / or the pitch of the UAV can be reflected by setting the height difference between the two sides of the end of the roll indicating assembly protruding from the upper surface of the chassis assembly.

[0070] For example, when the UAV has a pitch angle and a clockwise roll angle, the left side of the pitch indicating assembly is higher than the right side, and the front side of the clockwise roll indicating assembly is lower than the back side. The same applies to other cases, which will not be described here.

[0071] In the present embodiment, the same indicating assembly (pitch indicating assembly or roll indicating assembly) is used to indicate the pose of the UAV in two dimensions, which facilitates the user to understand the pose of the UAV from more angles.

[0072] Further, in order to realize intuitive display of the change of the heading of the UAV, the following optional embodiment is provided: a direction mark is arranged on the edge of the chassis assembly. Correspondingly, in response to the change of the heading of the UAV, the heading of the stereoscopic image of the UAV is controlled to change, including: in response to the change of the heading of the UAV, the position of the direction mark relative to the stereoscopic image of the UAV is controlled to change. Exemplarily, the relative position between the stereoscopic image of the UAV and the chassis assembly can be kept unchanged, the position of the direction mark relative to the stereoscopic image of the UAV is realized by controlling the position of the direction mark on the edge of the chassis assembly to change; or the position of the direction mark on the edge of the chassis assembly can be kept unchanged, the position of the direction mark relative to the stereoscopic image of the UAV is realized by rotating the chassis assembly.

[0073] As shown in FIG. 8, an embodiment of the application in which a direction mark is arranged on the chassis assembly is shown; as shown in FIG. 9, another embodiment of the application in which a direction mark is arranged on the chassis assembly is shown. In FIGS. 8 and 9, the direction mark “N” is located at different positions on the edge of the chassis assembly to indicate the change of the heading of the UAV. As shown in FIG. 8, one end of the UAV with the camera faces north (the direction corresponding to the direction mark “N”), as shown in FIG. 9, one end of the UAV with the camera faces west (the left side of the direction mark “N”). If the UAV changes from the orientation in FIG. 8 to the orientation in FIG. 9, the orientation of the UAV relative to the user is kept unchanged during the change, and the direction mark “N” can be controlled to gradually move from the position directly opposite the UAV to the right side of the UAV (i.e. move in the opposite direction of the heading of the UAV) along the edge of the chassis assembly.

[0074] In the embodiment, the orientation of the UAV relative to the user is kept unchanged, and the change of the heading of the UAV is realized by changing the position of the direction mark relative to the stereoscopic image of the UAV. In this way, the change of the heading of the UAV is presented from the first perspective of the user, which is more in line with the observation habits of the user and facilitates the user to more intuitively and accurately obtain the change of the heading of the UAV.

[0075] In some embodiments, the position of the return point mark is controlled to change to display the change of the position of the UAV with the stereoscopic image of the UAV as the center. An optional implementation is as follows:

[0076] As shown in FIG. 2 and FIG. 3, a home point mark H is arranged on the upper surface of the chassis assembly. In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a change in the position of the UAV and / or a change in the position of the home point, the UAV stereoscopic image remains unchanged in position relative to the chassis assembly, and the home point mark H is controlled to change in position on the surface of the chassis assembly accordingly. The home point can be fixed (e.g., a fixed position where the UAV takes off) or movable (e.g., in the case of a vehicle-mounted UAV, the vehicle is a movable home point).

[0077] For example, when the user controls the UAV to change in position through a computer device (e.g., a remote controller), the UAV stereoscopic image in the display interface of the corresponding computer device remains unchanged in position relative to the chassis assembly, and the home point mark H is controlled to change in position on the surface of the chassis assembly accordingly (e.g., the position information of the UAV and the position information of the home point are obtained, the relative position relationship between the two, including direction, distance, height, etc., is calculated, then the relative position relationship between the UAV stereoscopic image and the home point mark H is calculated based on the relative position relationship between the UAV and the home point according to the pre-stored transformation relationship between the three-dimensional space coordinates and the image space coordinates, and further the position information of the home point mark H is obtained in combination with the position information of the UAV stereoscopic image, so as to control the home point mark H to move to the corresponding position); or, in the case of a vehicle-mounted UAV, when the aircraft is in a hovering state, the user drives the vehicle to travel, the UAV stereoscopic image in the display interface of the corresponding computer device remains unchanged in position relative to the chassis assembly, and the home point mark H corresponding to the vehicle is controlled to change in position on the surface of the chassis assembly accordingly (e.g., a mapping point of the UAV is arranged on the surface of the chassis assembly; the relative position relationship between the mapping point of the UAV on the surface of the chassis assembly and the vehicle mark is determined according to the relative position relationship between the position of the UAV projected on the ground and the position of the vehicle on the ground; then the position of the vehicle mark is calculated according to the fixed position of the mapping point, the above relative position relationship, and the pre-stored transformation relationship between the three-dimensional space coordinates and the image space coordinates, so as to control the home point mark H corresponding to the vehicle to move to the corresponding position); or, in the case of a vehicle-mounted UAV, when the vehicle is in a traveling state, the user controls the UAV to change in position through a computer device, the UAV stereoscopic image in the display interface of the corresponding computer device remains unchanged in position relative to the chassis assembly, and the home point mark is controlled to change in position on the surface of the chassis assembly accordingly.

[0078] In the embodiment, the position of the UAV stereoscopic image relative to the chassis assembly remains unchanged, and only the position of the home point marker H on the chassis assembly changes to reflect the relative position change of the UAV relative to the home point. The user can intuitively know the position relationship of the UAV relative to the home point by observing the relative position relationship between the UAV stereoscopic image and the home point marker H.

[0079] As shown in FIG. 2, the UAV stereoscopic image is located directly in front of the home point marker H, and accordingly the user can intuitively know that the current UAV is located directly above the front of the home point (e.g., a vehicle). As shown in FIG. 3, the UAV stereoscopic image is located in the front left of the home point marker H, and accordingly the user can intuitively know that the current UAV is located directly above the front left of the home point (e.g., a vehicle).

[0080] In some embodiments, a UAV mapping point T is further provided on the upper surface of the chassis assembly, and the UAV mapping point T always remains unchanged at a fixed position of the chassis assembly (e.g., the UAV mapping point T is located at the center of the chassis assembly) to demonstrate that the position of the UAV stereoscopic image relative to the chassis assembly remains unchanged.

[0081] In the embodiment, the UAV mapping point is provided on the upper surface of the chassis assembly and located on the same display plane as the home point marker H, which facilitates the user to more intuitively know the orientation of the UAV relative to the home point through the relative position relationship between the UAV mapping point and the home point marker H.

[0082] Further, to facilitate the user to more accurately master the orientation of the UAV relative to the home point, the upper surface of the chassis assembly is divided into four quadrants by auxiliary lines with the home point as the center (as shown in FIGS. 2-9, the horizontal auxiliary line and the vertical auxiliary line pass through the home point marker H). In this way, the orientation of the UAV relative to the home point can be quickly and accurately determined by observing the quadrant in which the UAV mapping point is located.

[0083] In some embodiments, the position change of the UAV stereoscopic image is controlled to demonstrate the position change of the UAV with the home point marker as the center. An alternative implementation is as follows:

[0084] The home point marker is provided on the surface of the chassis assembly; the method further comprises: in response to the position change of the UAV and / or the position change of the home point, the position of the home point marker on the surface of the chassis assembly remains unchanged, and the corresponding position change of the UAV stereoscopic image relative to the home point marker is controlled. The home point can be fixed (e.g., a fixed position where the UAV takes off) or movable (e.g., in the application scenario of a vehicle-mounted UAV, the vehicle is a movable home point).

[0085] Exemplarily, the home point mark is located at the center of the chassis assembly and keeps the position unchanged. The position change of the UAV mapping point T relative to the home point mark is controlled to reflect the position change of the UAV relative to the home point.

[0086] In some embodiments, the position change of the UAV mapping point T relative to the home point mark is controlled to reflect the position change of the UAV relative to the home point. An alternative implementation is as follows:

[0087] The home point mark H and the UAV mapping point T are arranged on the surface of the chassis assembly; the method further comprises: in response to the position change of the UAV and / or the position change of the home point, the position of the home point mark on the surface of the chassis assembly keeps unchanged, and the corresponding position change of the UAV mapping point T relative to the home point mark is controlled. The home point can be fixed (for example, a fixed position where the UAV takes off) or movable (for example, in the application scenario of a vehicle-mounted UAV, the vehicle is a movable home point).

[0088] Exemplarily, the home point mark is located at the center of the chassis assembly and keeps the position unchanged. The position change of the UAV mapping point T relative to the home point mark is controlled to reflect the position change of the UAV relative to the home point.

[0089] In some application scenarios, the user controls the UAV to fly out from a preset take-off / home point by using a remote controller, but the user is not at the take-off / home point (for example, in the application scenario of a vehicle-mounted UAV, the user controls the UAV to take off from the vehicle by using a handheld remote controller, and then the user leaves the vehicle and goes to other places). At this time, the position of the UAV needs to be considered relative to the remote controller when the position of the UAV is displayed. For this purpose, the applicant proposes the following embodiments:

[0090] The position change of the remote controller mark relative to the UAV stereoscopic image is controlled to reflect the position change of the UAV. An alternative implementation is as follows:

[0091] As shown in FIG. 8, another schematic diagram for displaying the position of the UAV in the application is shown. In this embodiment, the remote controller mark Y is arranged on the surface of the chassis assembly; the method for displaying the position of the UAV further comprises: in response to the position change of the UAV and / or the position change of the remote controller, the UAV stereoscopic image keeps the position unchanged relative to the chassis assembly, and the corresponding position change of the remote controller mark Y on the surface of the chassis assembly is controlled.

[0092] In this embodiment, the relative position relationship between the UAV and the remote controller is embodied by keeping the UAV stereoscopic image unchanged relative to the chassis assembly, and controlling the position change of the remote controller identifier Y on the upper surface of the chassis assembly. The relative position relationship between the UAV and the remote controller is displayed in a manner that the UAV stereoscopic image is centered and the remote controller identifier Y is movable.

[0093] As shown in FIG. 8, in some embodiments, a home point identifier H and a remote controller identifier Y are arranged on the surface of the chassis assembly to display the relative position relationship between the home point and the remote controller. As mentioned in the foregoing embodiments, after the user controls the UAV to take off by the remote controller on the vehicle (which simultaneously serves as the home point), the user can leave the vehicle with the remote controller. The relative position relationship between the user holding the remote controller and the vehicle can be intuitively displayed by this embodiment. Especially in the case that the distance between the two is far, the personnel on the home point vehicle or the autonomous vehicle can drive the vehicle to the position of the remote controller according to the position relationship, without the personnel operating the remote controller moving back and forth; or, in the case that the personnel operating the remote controller has not controlled the UAV for a long time, or the remote controller identifier disappears, or the position of the remote controller reaches a certain dangerous area (such as a cliff edge, an accident site or other dangerous areas identified by a pre-stored map or images taken by the UAV), or the personnel on the home point want to determine whether the personnel operating the remote controller is safe, i.e. when the preset moving condition is met, the vehicle can be driven to view according to the position, or the UAV can be directly controlled to reach the position Y to take a picture for viewing.

[0094] In some embodiments, the position change of the UAV stereoscopic image is controlled to display the position change of the UAV, with the remote controller identifier as the center. An alternative implementation is as follows:

[0095] The remote controller identifier is arranged on the surface of the chassis assembly; the method further comprises: in response to the position change of the UAV and / or the position change of the remote controller, the position of the remote controller identifier on the surface of the chassis assembly remains unchanged, and the position of the UAV stereoscopic image relative to the remote controller identifier is controlled to change correspondingly.

[0096] In this embodiment, the relative position relationship between the UAV and the remote controller is embodied by keeping the remote controller identifier unchanged relative to the chassis assembly, and controlling the position change of the UAV stereoscopic image above the chassis assembly. The relative position relationship between the UAV and the remote controller is displayed in a manner that the remote controller identifier is centered and the UAV stereoscopic image is movable. This embodiment is especially suitable for the perspective of the operator of the remote controller, which is the habitual perspective of the operator; the position relationship between the mapping point, the home point and the remote controller of the UAV can be more intuitively embodied, and the UAV can be more conveniently controlled.

[0097] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a change in the position of the UAV, controlling a change in the size of the stereoscopic image of the UAV; wherein the further the position of the UAV is from the home point, the smaller the stereoscopic image of the UAV is.

[0098] As shown in the stereoscopic images of the UAV in FIG. 8 and FIG. 9, the stereoscopic image of the UAV in FIG. 9 is smaller than that in FIG. 8. This indicates that the UAV is further from the home point in the state shown in FIG. 9 than in FIG. 8. By controlling the size of the stereoscopic image of the UAV in accordance with the distance of the UAV from the home point, the change in the distance of the UAV can be dynamically reflected.

[0099] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a control operation of the user on the stereoscopic image of the UAV, controlling the pose of the UAV accordingly.

[0100] By way of example, the control operation of the user on the stereoscopic image of the UAV includes, but is not limited to, at least one of single-click, double-click, single-point touch, multi-point touch, long-press touch, drag touch, and gesture manipulation in the air. The selection and manipulation of the stereoscopic image of the UAV can be achieved through the above control operations. For example, the stereoscopic image of the UAV is selected through single-click or double-click or long-press touch, the stereoscopic image of the UAV is dragged to a desired position through drag touch (correspondingly, a control instruction of the UAV is generated and the remote control of the UAV is achieved), the pose of the stereoscopic image of the UAV is adjusted through single-point touch / slide in a certain direction (correspondingly, a control instruction of the UAV for pose adjustment is generated and the remote control of the pose of the UAV is achieved), for example, the pitch, roll, and heading of the stereoscopic image of the UAV are controlled through single-point touch, or the pitch of the stereoscopic image of the UAV is controlled through upward / downward slide, or the roll of the stereoscopic image of the UAV is controlled through left / right slide, or the heading of the stereoscopic image of the UAV is controlled through clockwise / anticlockwise slide; the zoom-in and zoom-out of the stereoscopic image of the UAV are controlled through multi-point touch (for example, double-finger touch), and correspondingly, a control instruction of the UAV for zoom-in and zoom-out is generated and the flight control of the UAV is achieved; the pose adjustment of the stereoscopic image of the UAV is achieved through gesture manipulation in the air, for example, the roll of the stereoscopic image of the UAV is controlled through left / right hand swing, the pitch of the stereoscopic image of the UAV is controlled through up / down hand swing, and the heading of the stereoscopic image of the UAV is controlled through clockwise / anticlockwise arc swing. It should be noted that the above is only an example of the control operation, and the specific implementation form is not limited in the present application.

[0101] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to an operation of the user on the pose adjustment shortcut component, adjusting the UAV to a preset pose; or, in response to pose data input by the user, controlling the pose of the UAV.

[0102] Exemplarily, a pose adjustment shortcut component for user to control the pose of the UAV is arranged in the display interface, and the user can directly click the pose adjustment shortcut component to quickly and accurately adjust the pose of the UAV. The pose adjustment shortcut component can be a virtual button corresponding to a set of pose data (for example, preset with at least one of a pitch angle, a roll angle, a heading angle, etc.); the pose adjustment shortcut component can also include a plurality of virtual buttons corresponding to a plurality of sets of set pose data; or the pose adjustment shortcut component can form a drop-down list after being clicked, and the drop-down list includes a plurality of sets of selectable pose data. The set pose data can be the pose data corresponding to a default pose; or the set pose data can be the pose data corresponding to the pose at the last moment before returning; or the set pose data can be the pose data corresponding to the most frequently used pose obtained by analyzing the user's operation habits, etc. The above is only an example of the implementation form of the pose shortcut component, and the present application is not limited in this regard.

[0103] In addition, the user can also input the required pose data in a manual input manner to more accurately control the pose of the UAV as needed. For example, the user can perform a preset operation on the stereoscopic image of the UAV to trigger an information input interface, and in the information input interface, the user can input the desired pose data.

[0104] In some embodiments, the method of displaying the pose of the UAV further comprises: in response to a display mode switching operation of the user, controlling the computer device to switch from a first display mode to a second display mode; wherein when the first display mode is a two-dimensional display mode, the second display mode is a three-dimensional display mode; and when the first display mode is a three-dimensional display mode, the second display mode is a two-dimensional display mode. The display mode switching operation can be based on a touch operation of the user on the display interface, a predetermined gesture performed by the user, or a voice instruction of the user, etc., and the present application is not limited in this regard. The three-dimensional display mode is shown in FIG. 10 to display the stereoscopic image and the chassis component of the UAV, and the two-dimensional display mode is shown in FIGS. 11 and 12 to display the two-dimensional identifier and the two-dimensional map / two-dimensional chassis of the UAV. The specific content will be described in subsequent embodiments, and will not be described here.

[0105] The embodiments of the present application also provide a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method of displaying the pose of the UAV according to any of the embodiments of the present application. The computer device can be a UAV remote controller, a smartphone, a tablet computer, a vehicle-mounted electronic device, a VR device, etc., and the present application is not limited in this regard.

[0106] In some embodiments, the computer device is configured with a display module including a first display area and a second display area; wherein the first display area is configured to display the pose of the UAV, and the second display area is configured to display the image captured by the UAV.

[0107] As shown in FIG. 10, it is a display interface diagram of an embodiment of the display module of the computer device in the present application. In the lower left corner of the display interface, the pose of the UAV is displayed in a 3D form, which can be displayed according to the method of displaying the pose of the UAV in the above embodiments. The main imaging area of the display interface displays the real scene captured by the UAV. In some embodiments, the first display area and / or the second display area displays the flight data of the UAV. The flight data includes attitude data, distance to the home point, aircraft altitude, latitude and longitude information, etc.

[0108] In some embodiments, the processor is further configured to: in response to a display mode switching operation of the user, control the first display area to switch from a first display mode to a second display mode; wherein when the first display mode is a two-dimensional display mode, the second display mode is a three-dimensional display mode; and when the first display mode is a three-dimensional display mode, the second display mode is a two-dimensional display mode.

[0109] For example, the user can switch the first display area from the first display mode to the second display mode by clicking a preset mode switching button. As shown in the left side of FIGS. 10 and 11, it is a mode switching button. For example, pressing the mode switching button in the state shown in FIG. 10 can switch the display mode to the state shown in FIG. 11; and pressing the mode switching button in the state shown in FIG. 11 can switch the display mode to the state shown in FIG. 10.

[0110] As shown in FIG. 11, it is a display interface diagram of another embodiment of the display module of the computer device in the present application. This embodiment corresponds to the application scenario of the vehicle-mounted UAV. The lower left corner of the display interface presents a two-dimensional map, and the icons of the UAV and the vehicle are also marked, so as to show the relative position relationship between the real UAV and the vehicle through the relative position relationship between the UAV icon and the vehicle icon. The main imaging area of the display interface displays the real scene captured by the UAV. In this embodiment, the user can not only understand the relative position of the UAV with respect to the vehicle, but also can understand the traffic situation on the ground in real time, and can realize the navigation of the vehicle by using the two-dimensional map. The generation method of the two-dimensional map includes but is not limited to: obtaining a two-dimensional map containing the position of the vehicle through the navigation map of the vehicle; and further obtaining the position information of the UAV (for example, the latitude and longitude information projected to the ground), and then setting the UAV identifier at the corresponding position of the two-dimensional map according to the position information.

[0111] In some embodiments, the display mode can also be automatically switched according to preset conditions. For example, when the distance between the UAV and the vehicle is greater than a preset threshold, the display mode will be automatically switched to the display mode shown in FIG. 12, so that the relative position relationship between the UAV and the vehicle can be more intuitively shown.

[0112] FIG. 12 is a display interface of another embodiment of the display module of the computer device according to the present application. In the display interface, the UAV identifier and the home point identifier are shown in a two-dimensional form in the lower left corner of the display interface, and the main imaging area of the display interface shows the real scene photographed by the UAV. As shown in FIG. 12, in this embodiment, a two-dimensional view showing the relative position and pose of the UAV and the home point is generated with the UAV as the center and the home point as the relative moving point. When the position of the UAV changes, the position of the UAV identifier in the two-dimensional view remains unchanged, and the home point identifier is controlled to change the position accordingly. The four directions, i.e., south, east, west and north (S, E, W, N), are marked in the two-dimensional view to identify the directions.

[0113] In some embodiments, the display mode shown in FIG. 12 can be switched to when a preset condition is met (e.g., the distance between the UAV and the home point is greater than a preset threshold) or when the user presses the mode switching button shown in FIG. 10. The two-dimensional display mode in this embodiment is convenient for showing the relative position relationship between the UAV and the home point when the distance is relatively large. In actual operation, the display mode shown in FIG. 10 is used when the UAV is initially launched, and as the UAV flies farther and farther away, the 3D display mode shown in FIG. 10 is no longer sufficient to clearly show the relative position of the UAV with respect to the home point. At this time, the two-dimensional display mode shown in FIG. 12 can be switched to in response to the preset condition being met or in response to the user clicking the mode switching button, so that the position of the UAV with respect to the home point can be more intuitively understood.

[0114] In some embodiments, the processor is configured to control the UAV to fly to the remote controller and photograph the image of the position of the remote controller according to the relative position relationship between the UAV and the remote controller when the movement instruction is received or it is detected that the preset movement condition is met, or control the UAV carrier to drive to the remote controller and photograph the image of the position of the remote controller according to the relative position relationship between the UAV carrier and the remote controller when the movement instruction is received or it is detected that the preset movement condition is met. The processor can communicate with the remote controller and the UAV.

[0115] The computer readable storage medium according to the present application has the computer program / instructions stored thereon, and the computer program / instructions are executed by the processor to implement the steps of the method for displaying the position of the UAV according to any one of the embodiments of the present application.

[0116] The embodiment of the present application further provides a computer program product comprising computer programs / instructions, which, when executed by a processor, implement the steps of the method for displaying the pose of the UAV according to any of the embodiments of the present application.

[0117] The embodiment of the present application further provides a UAV carrier comprising the computer device according to any of the embodiments of the present application, and the UAV carrier is further used for carrying the UAV. For example, the UAV carrier is provided with a parking apron for parking the UAV, and the computer device is in communication with the UAV, and the display device for displaying the pose of the UAV, wherein the display device can be the same device as the computer device. The UAV carrier includes but is not limited to a car and a robot, etc. Taking the car as an example, the application scenario that can be implemented is a car-mounted UAV scenario. In the car-mounted UAV application scenario, the 3D display mode of the pose of the UAV in the foregoing embodiments can be presented on the car screen, and can also be displayed on a handheld remote controller with a display screen or a user terminal bound with the UAV. In this way, the UAV controller can hold the remote controller to control the UAV away from the vehicle, and the personnel on the vehicle can also know the pose of the UAV, the positional relationship between the UAV and the vehicle, the positional relationship between the UAV and the remote controller, and the positional relationship between the vehicle and the remote controller, etc. in real time according to the car screen.

[0118] Further, when the computer device of the UAV carrier receives a moving instruction or detects that a preset moving condition is met, the UAV is controlled to fly to the remote controller according to the relative positional relationship between the UAV and the remote controller, and an image of the position of the remote controller is shot; or when the computer device of the UAV carrier receives a moving instruction or detects that a preset moving condition is met, the UAV carrier is controlled to drive to the remote controller according to the relative positional relationship between the UAV carrier and the remote controller, and an image of the position of the remote controller is shot. The moving instruction can be, for example, a driver operation instruction or a pick-up instruction remotely sent by a remote controller operator, and the preset moving condition can be, for example, that the remote controller operator has not moved for a long time, or the remote controller identifier disappears, or the display remote controller reaches a certain dangerous area.

[0119] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of actions, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application. In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0120] FIG. 13 is a schematic diagram of a hardware structure of a computer device for executing the method for displaying the pose of the UAV according to another embodiment of the present application. As shown in FIG. 13, the device includes:

[0121] The one or more processors 1310 and the memory 1320, of which one processor 1310 is taken as an example in FIG. 13. The device for executing the method for displaying the pose of the UAV can also include an input device 1330 and an output device 1340. The processor 1310, the memory 1320, the input device 1330 and the output device 1340 can be connected through a bus or other means, of which the connection through the bus is taken as an example in FIG. 13.

[0122] The memory 1320, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the method for displaying the pose of the UAV in the embodiments of the present application. The processor 1310 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 1320, that is, implements the method for displaying the pose of the UAV according to the above method embodiments. The memory 1320 can include a storage program area and a storage data area, wherein the storage program area can store an operating system and at least one application program required by a function; the storage data area can store data created according to the use of the device for displaying the pose of the UAV, etc. In addition, the memory 1320 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1320 can optionally include a memory remotely arranged with respect to the processor 1310, which can be connected to the device for displaying the pose of the UAV through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0123] The input device 1330 can receive input digital or character information, and generate signals related to the user settings and function control of the device for displaying the pose of the UAV. The output device 1340 can include a display device such as a display screen. The one or more modules are stored in the memory 1320, and when executed by the one or more processors 1310, the method for displaying the pose of the UAV in any of the above method embodiments is executed.

[0124] The above products can execute the method provided by the embodiments of the present application, have the corresponding function modules and beneficial effects of executing the method. Technical details not described in detail in the embodiments can be referred to the method provided by the embodiments of the present application.

[0125] The computer device of the embodiments of the present application exists in various forms, including but not limited to:

[0126] (1) Mobile communication device: The feature of this kind of device is to have mobile communication function, and to provide voice and data communication as the main target. This kind of terminal includes: smart phone (such as iPhone), multimedia phone, functional phone, and low-end phone, etc.

[0127] (2) Ultra-mobile personal computer device: This kind of device belongs to the category of personal computer, has computing and processing function, and generally has mobile Internet feature. This kind of terminal includes: PDA, MID and UMPC device, etc., such as iPad.

[0128] (3) Portable entertainment device: This kind of device can display and play multimedia content. This kind of device includes: VR device, AR device, and smart toy and portable car navigation device.

[0129] (4) Other electronic devices with data interaction function.

[0130] The device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0131] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art can be embodied in the form of software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the method described in each embodiment or some part of the embodiment.

[0132] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for displaying a pose of a UAV, comprising: generating a UAV stereoscopic image and a chassis component, the UAV stereoscopic image being located above a space of the chassis component; in response to a pose change of the UAV, the UAV stereoscopic image has a corresponding pose change relative to the chassis component.

2. The method of claim 1, wherein, the pose change of the UAV at least comprises one of a pitch change, a roll change and a heading change of the UAV; in response to the pose change of the UAV, the UAV stereoscopic image has a corresponding pose change relative to the chassis component, comprising: in response to a pitch change of the UAV, controlling the UAV stereoscopic image to have a pitch change relative to the chassis component; and / or in response to a roll change of the UAV, controlling the UAV stereoscopic image to have a roll change relative to the chassis component; and / or in response to a heading change of the UAV, controlling the UAV stereoscopic image to have a heading change.

3. The method of claim 2, wherein, further comprising: in response to a pitch change of the UAV, generating a pitch indication component in a front space or a back space of the UAV stereoscopic image, the pitch indication component changing with the pitch change; 4. The method of claim 2, wherein, further comprising: in response to a roll change of the UAV, generating a roll indication component in a left space or a right space of the UAV stereoscopic image, the roll indication component changing with the roll change.

5. The method of claim 2, wherein, a direction mark is arranged on an edge of the chassis component; in response to a heading change of the UAV, controlling the UAV stereoscopic image to have a heading change, comprising: in response to a heading change of the UAV, controlling the direction mark to have a position change relative to the UAV stereoscopic image.

6. The method according to any one of claims 1-5, characterized in that, a home point mark is arranged on a surface of the chassis component; the method further comprises: in response to a position change of the UAV and / or a position change of the home point, the UAV stereoscopic image keeps a position unchanged relative to the chassis component, and the home point is controlled to have a corresponding position change on the surface of the chassis component.

7. The method of claim 6, wherein, a remote controller mark is arranged on the surface of the chassis component; the method further comprises: in response to a position change of the UAV and / or a position change of the remote controller, the remote controller mark keeps a position unchanged on the surface of the chassis component, and the UAV stereoscopic image is controlled to have a corresponding position change relative to the remote controller mark.

8. The method according to any one of claims 1-5, characterized in that, the home point mark is arranged on the surface of the chassis component; the method further comprises: in response to a position change of the UAV and / or a position change of the home point, the home point keeps a position unchanged on the surface of the chassis component, and the UAV stereoscopic image is controlled to have a corresponding position change relative to the home point.

9. The method of claim 8, wherein, the remote controller mark is arranged on the surface of the chassis component; the method further comprises: in response to a position change of the UAV and / or a position change of the remote controller, the remote controller mark keeps a position unchanged on the surface of the chassis component, and the UAV stereoscopic image is controlled to have a corresponding position change relative to the remote controller mark.

10. The method according to any one of claims 1-5, characterized in that, the method further comprises: in response to a position change of the UAV, controlling a size change of the UAV stereoscopic image; wherein the farther the UAV is from the home point, the smaller the UAV stereoscopic image is.

11. The method according to any one of claims 1-5, characterized in that, The method further comprises: in response to a user control operation on the stereoscopic image of the UAV, controlling the UAV correspondingly.

12. The method of any one of claims 1-5, wherein, The method further comprises: in response to a user operation on the pose adjustment shortcut component, adjusting the UAV to a preset pose.

13. The method of any one of claims 1-5, wherein, The method further comprises: in response to user input pose data, controlling the pose of the UAV.

14. The method of any one of claims 1-5, wherein, The method further comprises: in response to a user display mode switching operation or in response to a preset condition being met, controlling the computer device to switch from a first display mode to a second display mode; wherein when the first display mode is a two-dimensional display mode, the second display mode is a three-dimensional display mode; and when the first display mode is a three-dimensional display mode, the second display mode is a two-dimensional display mode.

15. A computer device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program comprises instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-14. The processor executes the computer program to implement the steps of the method of any one of claims 1-14.

16. The computer device of claim 15, wherein, The computer device is configured with a display module, the display module comprising a first display area and a second display area; wherein the first display area is used to display the pose of the UAV, and the second display area is used to display the image captured by the UAV.

17. The computer device of claim 16, wherein, The first display area and / or the second display area displays flight data of the UAV.

18. The computer device of claim 15, wherein, The processor is configured to: when a movement instruction is received or it is detected that a preset movement condition is met, according to the relative position relationship between the UAV and the remote controller, controlling the UAV to fly to the remote controller and capture an image of the location of the remote controller; or when a movement instruction is received or it is detected that a preset movement condition is met, according to the relative position relationship between the UAV carrier and the remote controller, controlling the UAV carrier to drive to the remote controller and capture an image of the location of the remote controller.

19. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instruction is executed by the processor to implement the steps of the method of any one of claims 1-14.

20. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instruction is executed by the processor to implement the steps of the method of any one of claims 1-14.

21. An unmanned aerial vehicle, comprising: The computer device of any one of claims 15-18, wherein the UAV carrier is further configured to carry a UAV. The computer device of any one of claims 15-18, wherein the UAV carrier is further configured to carry a UAV.

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