Unmanned aerial vehicle control method, control device, unmanned aerial vehicle and unmanned aerial vehicle control system

Abstract

Disclosed in the embodiments are an unmanned aerial vehicle control method, a control device, an unmanned aerial vehicle and an unmanned aerial vehicle control system. The method comprises: when the control mode of an unmanned aerial vehicle is a first control mode or a second control mode, in response to a viewing angle adjustment operation for a first control device, displaying a corresponding first target viewing angle picture, wherein the first target viewing angle picture is determined, on the basis of the viewing angle adjustment operation, from image data collected by the unmanned aerial vehicle; when the control mode of the unmanned aerial vehicle is the first control mode, the first control device has photographing control permission for the first target viewing angle picture; and when the control mode of the unmanned aerial vehicle is the second control mode, the first control device has manipulation control permission for the unmanned aerial vehicle.

Description

Control methods, control equipment, drones and drone control systems Technical Field

[0001] This application relates to, but is not limited to, the field of unmanned aerial vehicle (UAV) control, and particularly to a UAV control method, control device, UAV, and UAV control system. Background Technology

[0002] In related technologies, drones can obtain control commands through wireless communication connections and then execute those commands. However, when operators control drones using flight goggles, mobile terminals, or other control devices, they can usually only receive and display the raw images captured by the drone, which is not conducive to meeting the personalized viewing needs of the images captured by the drone. Summary of the Invention

[0003] This application provides a control method, control device, drone, and drone control system for a drone.

[0004] According to a first aspect of the embodiments of this application, a control method for an unmanned aerial vehicle (UAV) is provided. The method is applied to a first control device, and the UAV is communicatively connected to the first control device. The method includes:

[0005] When the control mode of the UAV is the first control mode or the second control mode, in response to the viewing angle adjustment operation of the first control device, the corresponding first target view screen is displayed, wherein the first target view screen is determined from the image data collected by the UAV based on the viewing angle adjustment operation;

[0006] When the control mode of the drone is the first control mode, the first control device has the authority to shoot the image from the first target perspective; when the control mode of the drone is the second control mode, the first control device has the authority to operate the drone.

[0007] According to a second aspect of the embodiments of this application, a control method for a drone is provided, applied to a second control device, wherein the drone is communicatively connected to the second control device. The method includes: when the control mode of the drone is a first control mode or a second control mode, displaying a flight heading image, a second target view image, or the current display image of the first control device of the drone, wherein the flight heading image is determined from image data collected by the drone based on the drone's flight heading, and the second target view image is determined from image data collected by the drone based on the viewing angle adjustment operation of the second control device; the first control device and the second control device are different devices; when the control mode of the drone is the first control mode, the second control device has operational control authority over the drone; when the control mode of the drone is the second control mode, the second control device has shooting control authority over the second target view image.

[0008] According to a third aspect of the embodiments of this application, a control method for a drone is provided, applied to a target control device for the drone. The drone and the target control device are communicatively connected. The target control device includes a target display module. The method includes: when the control mode of the drone is a first control mode, displaying a flight heading image, a third target view image, or the current display image of the first control device of the drone through the target display module, wherein the flight heading image is determined from image data collected by the drone based on the drone's flight heading, and the third target view image is determined from image data collected by the drone based on the viewing angle adjustment operation of the target control device. The target control device and the first control device are different devices. When the control mode of the drone is the first control mode, the target control device has operational control authority over the drone.

[0009] According to a fourth aspect of the embodiments of this application, a control method for a drone is provided, applied to a target control device of the drone. The method includes: manipulating the drone to fly when the control mode of the drone is a first control mode or a second control mode; when the control mode of the drone is the first control mode, a first control device of the drone has shooting control authority over the currently displayed screen of the first control device, and a second control device of the drone has manipulating control authority over the drone; when the control mode of the drone is the second control mode, the first control device has manipulating control authority over the drone, and the second control device has shooting control authority over the currently displayed screen of the second control device, wherein the target control device, the first control device, and the second control device are different devices.

[0010] According to a fifth aspect of the embodiments of this application, a control method for a drone is provided, applied to a drone, the drone including an image acquisition module, the method comprising: acquiring image data through the image acquisition module; sending the image data to a control device of the drone, the control device including a first control device of the drone and / or a target control device of the drone, the target control device having operational control authority over the drone, the target control device being a different device from the first control device; when the control mode of the drone is a first control mode, the first control device of the drone has shooting control authority over a first target viewpoint image, the first target viewpoint image being determined from the image data based on the viewing angle adjustment operation of the first control device; when the control mode of the drone is a second control mode, the first control device of the drone has operational control authority over the drone.

[0011] According to a sixth aspect of the embodiments of this application, a first control device is provided, the first control device comprising: a first communication module for acquiring image data collected by a drone; a first display module for displaying an image; a first memory for storing instructions; and a first processor for calling the instructions stored in the first memory to perform the following operations: when the control mode of the drone is a first control mode or a second control mode, in response to a viewing angle adjustment operation for the first control device, controlling the first display module to display a corresponding first target viewing angle image, wherein the first target viewing angle image is determined from the image data based on the viewing angle adjustment operation; when the control mode of the drone is the first control mode, the first control device has shooting control authority for the first target viewing angle image; when the control mode of the drone is the second control mode, the first control device has operation control authority for the drone.

[0012] According to a seventh aspect of the embodiments of this application, a second control device is provided, the second control device comprising: a second communication module for acquiring image data collected by a drone and communicating with a first control device of the drone, wherein the first control device and the second control device are different devices; a second display module for displaying an image; a second memory for storing instructions; and a second processor for calling the instructions stored in the second memory to perform the following operations: when the control mode of the drone is a first control mode or a second control mode, controlling the second display module to display a flight heading image, a second target view image, or the current display image of the first control device of the drone, wherein the flight heading image is determined from the image data based on the flight heading of the drone, and the second target view image is determined from the image data based on the viewing angle adjustment operation of the second control device; when the control mode of the drone is the first control mode, the second control device has operational control authority over the drone; when the control mode of the drone is the second control mode, the second control device has shooting control authority over the second target view image.

[0013] According to an eighth aspect of the embodiments of this application, a target control device is provided, the target control device comprising: a third communication module for acquiring image data collected by a drone and communicating with a first control device of the drone, wherein the target control device and the first control device are different devices; a target display module for displaying an image; a third memory for storing instructions; and a third processor for calling the instructions stored in the third memory to perform the following operations: when the control mode of the drone is a first control mode, displaying a flight heading image, a third target view image, or the current display image of the first control device of the drone through the target display module, wherein the flight heading image is determined from the image data based on the flight heading of the drone, and the third target view image is determined from the image data based on the viewing angle adjustment operation of the target control device, wherein the target control device and the first control device are different devices; when the control mode of the drone is the first control mode, the target control device has control authority over the drone.

[0014] According to a ninth aspect of the embodiments of this application, another target control device is provided, the target control device comprising: a fourth communication module for communicating with the drone; a fourth memory for storing instructions; and a fourth processor for calling the instructions stored in the fourth memory to perform the following operations: when the control mode of the drone is a first control mode or a second control mode, manipulating the drone to fly; when the control mode of the drone is the first control mode, a first control device of the drone has shooting control authority over the current display screen of the first control device, and a second control device of the drone has manipulating control authority over the drone; when the control mode of the drone is the second control mode, the first control device has manipulating control authority over the drone, and the second control device has shooting control authority over the current display screen of the second control device, wherein the target control device, the first control device, and the second control device are different devices.

[0015] According to a tenth aspect of the present application, a drone is provided, the drone comprising: an image acquisition module for acquiring image data; a fifth communication module for communicating with a target control device of the drone; a fifth memory for storing instructions; and a fifth processor for calling the instructions stored in the fifth memory to perform the following operations: acquiring image data through the image acquisition module; sending the image data to the control device of the drone; the control device comprising a first control device of the drone and / or a target control device of the drone, the target control device having operational control authority over the drone, the target control device being a different device from the first control device; when the control mode of the drone is a first control mode, the first control device of the drone has shooting control authority over a first target viewpoint image, the first target viewpoint image being determined from the image data based on the viewing angle adjustment operation of the first control device; when the control mode of the drone is a second control mode, the first control device of the drone has operational control authority over the drone.

[0016] According to an eleventh aspect of the present application, a drone control system is provided, the drone control system including the drone, at least one first control device, and at least one target control device; the drone is connected to the first control device, and the target control device is connected to the first control device or to the drone.

[0017] In some embodiments, the system further includes at least one of the aforementioned second control devices, the second control device forming a communication connection with the first control device.

[0018] It can be seen that when the drone is in different control modes, the first control device has different permissions. The first control device can display the corresponding first target view based on the viewing angle adjustment operation. The viewing angle adjustment operation is usually generated based on the user's viewing needs. Therefore, the screen displayed by the first control device can meet the user's personalized viewing needs for the images collected by the drone to a certain extent. Attached Figure Description

[0019] Figure 1 is a flowchart of a control method applied to a first control device according to an embodiment of this application;

[0020] Figure 2 is a schematic diagram of the first type of image transmission link provided in the embodiments of this application;

[0021] Figure 3 is a schematic diagram of the second type of image transmission link provided in the embodiments of this application;

[0022] Figure 4 is a schematic diagram of the third type of image transmission link provided in the embodiments of this application;

[0023] Figure 5 is a flowchart of a control method applied to a second control device according to an embodiment of this application;

[0024] Figure 6 is a flowchart of a first control method applied to a target control device according to an embodiment of this application;

[0025] Figure 7 is a flowchart of a second control method applied to a target control device according to an embodiment of this application;

[0026] Figure 8 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of this application;

[0027] Figure 9 is a schematic diagram of the structure of the first control device according to an embodiment of this application;

[0028] Figure 10 is a schematic diagram of the structure of the second control device according to an embodiment of this application;

[0029] Figure 11 is a schematic diagram of the structure of a target control device according to an embodiment of this application;

[0030] Figure 12 is a schematic diagram of the structure of another target control device according to an embodiment of this application;

[0031] Figure 13 is a schematic diagram of the circuit structure of the UAV according to an embodiment of this application;

[0032] Figure 14 is a schematic diagram of the structure of the unmanned aerial vehicle control system according to an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In the following description, the term "some embodiments" refers to a subset of all possible embodiments. However, it is understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terminology used herein is for the purpose of describing this application only and is not intended to limit this application.

[0034] In related technologies, when users control drones using head-mounted displays (such as flight goggles) or mobile terminals, they typically only receive and display the raw images captured by the drone through these control devices. The technical solutions in these technologies suffer from at least the following problems: 1) The images displayed by the head-mounted displays or mobile terminals are usually the raw images captured by the drone, failing to meet the personalized viewing needs of drone-captured images; 2) The images received by the devices used by the drone operator and the viewers are completely identical, making differentiation impossible based on sharing needs; 3) When the head-mounted display and mobile terminal lose communication, there is a lack of safety protection measures for the drone, increasing the flight safety risks of the drone.

[0035] To address the aforementioned technical problems in related technologies, this application proposes a technical solution based on embodiments of the present application. Embodiments of the present application can be applied to scenarios involving sharing image data collected by a drone. The drone control method of this application can be applied to a first control device, a second control device, a target control device, or the drone itself; the first control device, the second control device, and the target control device are different control devices. The drone establishes a communication connection with the first control device, and the target control device establishes a communication connection with the first control device, or with the drone; the second control device establishes a communication connection with the first control device.

[0036] For example, the first control device can be a head-mounted display device such as flight goggles, or a control device specifically designed for manipulating the flight of a drone. The number of first control devices can be one or more. The second control device can be a mobile terminal such as a mobile phone or tablet computer. The number of second control devices can be one or more. The target control device can be a motion-sensing control device for the drone. For example, the target control device can be a controller, remote controller, or other device. The target control device may or may not have a target display module. The target display module can be implemented through a display screen such as a touch screen.

[0037] Figure 1 is a flowchart of a control method for a drone applied to a first control device according to an embodiment of this application. As shown in Figure 1, the process includes:

[0038] Step 101: When the control mode of the UAV is the first control mode or the second control mode, in response to the viewing angle adjustment operation of the first control device, the corresponding first target view screen is displayed, wherein the first target view screen is determined from the image data collected by the UAV based on the viewing angle adjustment operation.

[0039] In this embodiment, an image acquisition module can be installed on the drone, which can collect image data during the drone's flight. For example, the drone can be a panoramic drone, and the image data can be panoramic image data collected by the panoramic drone. A panoramic drone refers to a drone capable of panoramic photography. This drone can be equipped with a module for panoramic photography, or it can carry a device capable of panoramic photography, such as a panoramic camera. The module or device capable of panoramic photography can, for example, consist of fisheye lenses, specifically including two or more fisheye lenses. Through panoramic photography, the panoramic image captured by the panoramic drone can cover the entire spherical space, for example, 360° horizontally × 180° vertically.

[0040] It is worth noting that in practical applications, there are various ways to construct a module or device capable of panoramic shooting. For example, it can also be composed of a fisheye lens and / or a wide-angle lens. This application does not limit the construction of the module or device capable of panoramic shooting or the number of lenses used.

[0041] Panoramic images captured by a panoramic drone refer to images obtained through a module or device on the drone capable of panoramic photography. Specifically, when the module or device capable of panoramic photography includes at least two lenses, the panoramic images captured by the panoramic drone can specifically include images captured by each lens individually, the sum of which satisfies the requirement of a panoramic view (e.g., 360° horizontal × 180° vertical); or, the panoramic images captured by the panoramic drone can specifically include a stitched image obtained by combining the images captured by each lens, the corresponding view of which satisfies the requirement of a panoramic view (e.g., 360° horizontal × 180° vertical). For example, a panoramic drone may be equipped with two fisheye lenses capable of panoramic photography; then, the panoramic images captured by the panoramic drone can specifically include images captured by each of these two fisheye lenses individually, or, the panoramic images captured by the panoramic drone can specifically include a stitched image obtained by combining the images captured by these two fisheye lenses.

[0042] The drone can send image data to the first control device. Taking a panoramic drone as an example, the image data sent by the drone to the first control device can include complete panoramic image data or partial panoramic image data. The partial panoramic image data can meet the first control device's requirements for using panoramic image data.

[0043] When the drone's control mode is either the first or second control mode, the drone operator uses the drone's target control device to control the drone's flight. This target control device is a different device from the first control device. In this way, regardless of whether the drone is in the first or second control mode, it can be conveniently controlled to fly using the target control device.

[0044] For example, when the target control device is a motion-sensing control device for a drone, flight parameters such as the drone's flight path, altitude, and landing point can be controlled through the motion-sensing control device and its control components. The control components may include at least one of the following: a joystick, a scroll wheel, or preset buttons.

[0045] In some embodiments, when the control mode of the drone is a first control mode, the first control device is used by users other than the drone operator, for example, the users other than the drone operator can be spectators; exemplarily, when the control mode of the drone is a first control mode, the second control device is used by the drone operator.

[0046] The two scenarios of the first control mode are explained below.

[0047] In the first scenario, the first control mode refers to a mode in which the drone operator displays images and / or interacts with the drone via a second control device. The devices used by the drone operator include the second control device and a target control device. Referring to Figure 2, in the first scenario, image data collected by the drone 200 can be transmitted to the second control device 202 via the first control device 201. The drone operator can view the images displayed on the second control device 202 and interact with it. In this embodiment, the interaction between the drone operator and the second control device 202 includes, but is not limited to, human-computer interaction operations such as clicking, double-clicking, dragging, and voice control.

[0048] It can be seen that when the drone's control mode is the first control mode, the second control device can meet the drone operator's viewing needs and / or human-computer interaction needs.

[0049] In the second scenario, the target control device includes a target display module. The first control mode represents a mode where the target display module of the target control device displays images and / or allows interaction with the drone operator. The device used by the drone operator is a target control device with a target display module. Referring to Figure 3, in the first example of the second scenario, image data collected by the drone 200 can be transmitted from the first control device 201 to the target control device 203 with the target display module. Referring to Figure 4, in the second example of the second scenario, image data collected by the drone 200 can be transmitted to both the first control device 201 and the target control device 203 with the target display module. In the second scenario, the drone operator can view the image displayed on the target display module and interact with the target control device 203. In this embodiment, the interaction between the drone operator and the target control device can include operations on the target control device and triggering operations on its control components.

[0050] It can be seen that when the drone's control mode is the first control mode, the target display module of the target control device can meet the drone operator's viewing needs and / or human-computer interaction needs.

[0051] The second control mode refers to a mode in which the drone operator displays images and / or interacts with the drone via the first control device. When the drone 200 is in the second control mode, the second control device 202 is used by users other than the drone operator. The devices used by the drone operator include the first control device 201 and the target control device 203. Referring to Figure 2, when the drone 200 is in the second control mode, the image data collected by the drone 200 can be transmitted to the second control device 202 via the first control device 201. In this case, since the drone operator can view the image through the first control device, even if the target control device includes a target display module, the target control device does not need to receive the image data collected by the drone, thus reducing the power consumption of the target control device.

[0052] When the drone's control mode is the second control mode, the drone operator can view the screen displayed on the first control device and interact with it. In this embodiment, the interaction between the drone operator and the first control device can be interactive operations such as adjusting the attitude of the head-mounted display device, or triggering operations on the control components of the head-mounted display device. These control components can include, for example, a touchscreen, buttons, or a touchpad. It can be seen that when the drone's control mode is the second control mode, the first control device can satisfy the drone operator's needs for viewing the screen and / or human-computer interaction.

[0053] In this embodiment, when the UAV's control mode is either the first control mode or the second control mode, both the first control device and the second control device can receive image data collected by the UAV. When the target control device includes a target display module, the target control device can also receive image data collected by the UAV. Thus, the first control device can share the images collected by the UAV with the second control device in real time, or the first control device can share the images collected by the UAV with the target control device in real time. This mode of sharing images collected by the UAV can be called the escort mode. The following examples illustrate how to enter the escort mode through several application scenarios.

[0054] In the first application scenario, the second control device is first connected to the first control device via a wired connection such as Universal Serial Bus (USB) or a wireless connection such as WiFi. Then, the user (drone operator or audience) can perform interactive operations on the first control device or the target control device, thereby changing the right to use the first control device from the drone operator to the audience. The first control device enters the escort mode, so that the audience can use the first control device to watch the relevant footage.

[0055] After the right to use the first control device is transferred from the drone operator to the audience, the drone operator can perform interactive operations on the second control device to put the second control device into the escort mode. At this time, the control mode of the drone is the first control mode, which means the mode of displaying the screen and / or interacting with the drone operator through the second control device.

[0056] In the second application scenario, the target control device includes a target display module. Users can perform interactive operations on either the first control device or the target control device, thereby changing the user's control of the first control device from the drone operator to the viewer. The first control device then enters a flight companion mode, allowing the viewer to watch relevant footage using the first control device.

[0057] After the right to use the first control device is transferred from the drone operator to the audience, the drone operator can perform interactive operations on the target display module of the target control device to put the target control device into the escort mode. At this time, the control mode of the drone is the first control mode, which means the mode of displaying the screen and / or interacting with the drone operator through the target display module of the target control device.

[0058] In the third application scenario, the second control device is first connected to the first control device via a wired connection such as USB or a wireless connection such as WiFi. The user can perform interactive operations on the first control device or the target control device, thereby changing the right to use the first control device from the audience to the drone operator. The first control device enters the escort mode, so that the drone operator can use the first control device to view the relevant images.

[0059] After the right to use the first control device is transferred from the audience to the drone operator, the audience can perform interactive operations on the second control device to put the second control device into the escort mode. At this time, the control mode of the drone is the second control mode, which means the mode of displaying the screen and / or interacting with the drone operator through the first control device.

[0060] In this embodiment, when transmitting image data acquired by the drone to the first control device, the first control device can determine a first target viewpoint from the image data in response to a viewing angle adjustment operation. The viewing angle adjustment operation can be a preset human-computer interaction operation; for example, when the first control device is a head-mounted display device, the viewing angle adjustment operation of the first control device can be a posture adjustment operation of the head-mounted display device. The viewing angle adjustment operation can also be other types of human-computer interaction operations, and this embodiment does not limit the scope of the operation.

[0061] In this embodiment of the application, when the control mode of the drone is the first control mode, the first control device has the authority to shoot the image from the first target perspective; when the control mode of the drone is the second control mode, the first control device has the authority to manipulate the drone.

[0062] For example, the shooting control permissions for the first target viewpoint include one or more of the following: viewing angle adjustment permission, shooting specification selection permission, image shooting permission, video shooting permission, and video recording permission; when the first control device is a head-mounted display device, the viewing angle adjustment permission includes the permission to adjust the viewing angle using head tracking functionality. The operation control permissions for the drone include shooting control permissions and control permissions related to the drone's flight process. Control permissions related to the drone's flight process include at least one of the following: basic flight operation permissions and flight safety control permissions. Basic flight permissions include control permissions related to takeoff and landing, and flight safety control permissions include: permissions related to controlling the drone's emergency stop, permissions related to controlling the drone's return to home, permissions to set no-fly zones for the drone, and permissions to set obstacle avoidance functions for the drone, etc.

[0063] It can be seen that when the drone is in different control modes, the first control device has different permissions. The first control device can display the corresponding first target view based on the viewing angle adjustment operation. Since the viewing angle adjustment operation is usually generated based on the user's viewing needs, the screen displayed by the first control device can meet the user's personalized viewing needs for the images collected by the drone to a certain extent.

[0064] In some embodiments of this application, when the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

[0065] Here, when the drone's control mode is the first control mode, the first control device is used by users other than the drone operator. When the first control device's permissions do not include the control permissions for the drone, other users cannot operate the drone through the first control device.

[0066] It can be seen that when the drone's control mode is the first control mode, the first control device has the authority to shoot and control the image from the first target's perspective, but does not have the authority to operate and control the drone. Therefore, while satisfying the user's need to shoot and control the image from the first target's perspective, it is possible to prohibit the operation of the drone through the first control device, which can improve the safety of drone flight to a certain extent.

[0067] In some embodiments of this application, the method further includes: displaying a flight heading image of the UAV while displaying the first target view, wherein the flight heading image is determined from image data collected by the UAV based on the UAV's flight heading. Thus, by displaying the flight heading image in the first control device, the user's viewing needs for the flight heading image can be met.

[0068] In some embodiments, the drone can determine its flight path from image data collected by the drone based on its flight path, and the drone can send this flight path to a first control device. In other embodiments, the drone can send the image data it collects to the first control device, and the first control device can determine the flight path from the image data based on the drone's flight path. Exemplarily, the flight path can be presented through a small window on a display interface, and this small window can be overlaid on the first target viewpoint.

[0069] In some other embodiments, when the UAV is in either the first or second control mode, only the UAV's flight path or a view showing the UAV's following target may be displayed. The UAV's following target is a target pre-set in the UAV's first or second control device, and the view showing the UAV's following target can be determined from the image data acquired by the UAV.

[0070] In some embodiments of this application, when the control mode of the UAV is a first control mode, the display mode of the first control device includes a first display mode and a second display mode; the process of displaying the corresponding first target view screen in response to the viewing angle adjustment operation of the first control device includes: when the display mode of the first control device is the first display mode, displaying the corresponding first target view screen in response to the viewing angle adjustment operation of the first control device; when the display mode of the first control device is the second display mode, displaying target indication information and the corresponding first target view screen in response to the viewing angle adjustment operation of the first control device, wherein the target indication information is determined based on the control of the UAV by the UAV operator.

[0071] Here, the target indication information can be the on-screen display (OSD) information of the drone, such as altitude, speed, heading, etc. When the drone's control mode is the first control mode, the first control device can obtain the target indication information by interacting with the target control device or the second control device.

[0072] The first display mode, also known as the visitor mode, is when the first control device's display mode is set to the first display mode, during which the first control device does not display target indication information. The second display mode, also known as the teaching mode, is when the first control device's display mode is set to the second display mode, during which the first control device can simultaneously display the first target view and target indication information. This facilitates flight instruction for the audience through the target indication information.

[0073] As can be seen, the embodiments of this application can flexibly determine whether to display target indication information related to the control process of the UAV by selecting different display modes of the first control device.

[0074] In some embodiments of this application, before displaying the corresponding first target view screen in response to a viewing angle adjustment operation on the first control device, the first control device may further display a first selection control. The first selection control is used to select the display mode of the first control device from a first display mode and a second display mode. In response to a trigger operation on the first selection control, the selected display mode of the first control device is determined. Here, the trigger operation on the first selection control may be a human-computer interaction operation such as voice control.

[0075] In some embodiments of this application, when the drone's control mode is the second control mode, in response to the viewing angle adjustment operation of the first control device, a corresponding first target view screen is displayed, including: displaying target indication information and the corresponding first target view screen, wherein the target indication information is determined based on the drone operator's control of the drone. It can be seen that when the drone's control mode is the second control mode, the first control device has operational control authority over the drone. At this time, displaying target indication information related to the drone's control process helps users to understand information related to the drone's flight process in a timely manner, thereby improving the safety of drone flight.

[0076] In some embodiments of this application, when the control mode of the UAV is a first control mode or a second control mode, the first control device may also display a first control, which is used to prompt the user to stop sharing the images collected by the UAV to different control devices; in response to the trigger operation of the first control, the user stops sharing the images collected by the UAV to other control devices, where the other control devices are the target control device or the second control device.

[0077] Here, the first control can be a virtual button displayed on the touchscreen. The function of the first control is to exit the accompaniment mode. The triggering operation for the first control can be a click, double-click, drag, or other operations. For example, the first control can be a virtual button for "exiting accompaniment mode".

[0078] As can be seen, after the first control device displays the first control, the sharing of images collected by the drone to other control devices is stopped by executing the trigger operation related to the first control. That is, the sharing of images collected by the drone can be stopped relatively easily through simple interactive operations on the first control.

[0079] In some embodiments of this application, when the control mode of the UAV is the first control mode or the second control mode, the first control device also stops sharing the images collected by the UAV to other control devices in response to the disconnection of the connection between the first control device and the second control device.

[0080] It can be seen that when the connection between the first control device and the second control device is disconnected, it can be considered that the wireless communication quality of the first control device does not meet the requirements for image sharing. At this time, there is no need to share the images collected by the drone to other control devices. That is, the embodiments of this application can flexibly determine whether to share the images collected by the drone to other control devices according to the connection status between the first control device and the second control device.

[0081] In some embodiments, the method further includes: in response to a trigger operation on the first control or when the connection between the first control and the second control is disconnected, the first control device displays an alarm message when it is determined that the drone has not entered a safety protection state.

[0082] In response to a trigger operation on the first control or when the connection between the first control and the second control is disconnected, the first control device stops sharing images collected by the drone with other control devices when it determines that the drone has entered a safe protection state.

[0083] Here, the safety protection state can be hovering, returning to the preset return point, or landing at the current location. The alarm message can be a message indicating that the drone has not entered the safety protection state, or a message prompting the user to control the drone to enter the safety protection state.

[0084] As can be seen, if the drone does not enter the safety protection state, displaying alarm information allows the user to be aware of the drone's status in a timely manner, thereby controlling the drone to enter the safety protection state and thus improving the safety of the drone's flight.

[0085] This application also proposes a control method for a drone applied to a second control device, wherein the drone and the second control device form a communication connection.

[0086] Figure 5 is a flowchart of a control method for a drone applied to a second control device according to an embodiment of this application. As shown in Figure 5, the process includes:

[0087] Step 501: When the control mode of the UAV is the first control mode or the second control mode, display the flight heading screen, the second target view screen, or the current display screen of the first control device of the UAV. The flight heading screen is determined from the image data collected by the UAV based on the flight heading of the UAV, and the second target view screen is determined from the image data collected by the UAV based on the viewing angle adjustment operation of the second control device.

[0088] In this embodiment, when the UAV's control mode is either the first control mode or the second control mode, the UAV operator uses a target control device to control the UAV's flight. This target control device is different from the first control device. Thus, regardless of whether the UAV's control mode is the first or the second control mode, the UAV can be conveniently controlled for flight using the target control device.

[0089] Here, the first control mode refers to the mode in which the drone operator is displayed a video feed and / or interacts with the drone via the second control device. The second control mode refers to the mode in which the drone operator is displayed a video feed and / or interacts with the drone via the first control device.

[0090] In some embodiments, the drone can determine its flight path from image data collected by the drone based on its flight path, and the drone can transmit this flight path to a second control device via a first control device. In other embodiments, the drone can transmit image data collected by the drone to a second control device via a first control device, and the second control device can determine its flight path from the image data collected by the drone based on its flight path.

[0091] In this embodiment, when transmitting images captured by the drone to the second control device, the second control device can determine the second target viewpoint from the image data based on its viewing angle adjustment operation, and can also obtain the currently displayed screen sent by the first control device. For example, when the second control device is a mobile terminal, the viewing angle adjustment operation can be a swipe, click, double-click, or an interactive operation implemented through a gyroscope. The viewing angle adjustment operation can also be other types of human-computer interaction operations, which are not limited in this embodiment.

[0092] In this embodiment of the application, when the control mode of the drone is the first control mode, the second control device has the authority to operate and control the drone; when the control mode of the drone is the second control mode, the second control device has the authority to capture images from the second target perspective.

[0093] For example, the shooting control permissions for the second target viewpoint include one or more of the following: viewing angle adjustment permission, shooting specification selection permission, image shooting permission, video shooting permission, and video recording permission. When the drone's control mode is the first control mode, the second control device has the following operational control permissions for the drone: shooting control permissions for the second target viewpoint, and control permissions related to the drone's flight process. Control permissions related to the drone's flight process include at least one of the following: basic flight operation permissions and flight safety control permissions. Basic flight permissions include control permissions related to takeoff and landing, and flight safety control permissions include permissions related to controlling the drone's emergency stop, permissions related to controlling the drone's return to home, permissions to set no-fly zones for the drone, and permissions to set obstacle avoidance functions for the drone. In one application scenario, when the second control device is a mobile terminal, the relevant screen can be displayed through the mobile terminal's application software (APP). Accordingly, the permissions of the second control device are the permissions of the mobile terminal's APP.

[0094] It can be seen that when the drone is in different control modes, the second control device has different permissions. The second control device can display the flight heading image, or display the current display image of the first control device, or adjust the operation based on the viewing angle to display the corresponding second target view image. Therefore, the image displayed by the second control device can meet the user's various viewing needs for images collected by the drone to a certain extent.

[0095] In some embodiments of this application, when the control mode of the drone is the second control mode, the permissions of the second control device do not include the operation and control permissions for the drone.

[0096] Here, when the drone's control mode is the second control mode, the second control device is used by users other than the drone operator. When the permissions of the second control device do not include the operation and control permissions for the drone, other users cannot operate the drone through the second control device.

[0097] It can be seen that when the drone is in the second control mode, the second control device has the authority to shoot and control the image from the second target's perspective, but does not have the authority to operate and control the drone. Therefore, while satisfying the user's need to shoot and control the image from the second target's perspective, it is prohibited to operate the drone through the second control device, which can improve the safety of drone flight to a certain extent.

[0098] In some embodiments of this application, when the control mode of the UAV is a first control mode or a second control mode, the process of displaying a flight heading view, a second target view view, or the current display view of the UAV's first control device includes: when the control mode of the UAV is a first control mode or a second control mode, in response to a screen switching operation for the second control device, displaying the corresponding screen, wherein the screen switching operation for the second control device is used to switch the display of the screen between the flight heading view, the second target view view, and the current display view of the UAV's first control device.

[0099] For example, when the UAV's control mode is either the first control mode or the second control mode, a switching display control can be displayed on the display interface of the second control device. This switching display control in the second control device is a control that switches between the flight heading view, the second target view, and the current display screen of the UAV's first control device. Upon receiving a confirmation trigger operation for the switching display control, it is determined that a screen switching operation for the second control device has been received. For example, the switching prompt control in the second control device can be presented on the aforementioned display interface in the form of a virtual button, etc. The virtual button can be a screen switching switch, and the confirmation trigger operation can be a human-computer interaction operation such as clicking, double-clicking, dragging, or voice control of the switching prompt control. Optionally, in other embodiments, the switching prompt control can also be presented in other forms such as physical buttons.

[0100] As can be seen, by performing screen switching operations on the second control device, the display screen of the second control device can be flexibly selected, which is beneficial to meeting the user's personalized viewing needs for multiple screens.

[0101] In some embodiments of this application, the process of the second control device displaying a flight heading image, a second target view image, or the current display image of the first control device of the UAV includes: displaying a flight heading image, a second target view image, or the current display image of the first control device of the UAV, and displaying target indication information, wherein the target indication information is determined based on the control of the UAV by the UAV operator.

[0102] It can be seen that when the drone's control mode is the first control mode, the second control device has the authority to operate and control the drone. At this time, by displaying target indication information related to the drone's control process, it is beneficial for users to understand information related to the drone's flight process in a timely manner, thereby improving the safety of drone flight.

[0103] In some embodiments of this application, when the control mode of the UAV is the second control mode, the display mode of the second control device includes a third display mode and a fourth display mode; the process of displaying the flight heading image, the second target view image, or the current display image of the first control device of the UAV includes: when the display mode of the second control device is the third display mode, displaying the flight heading image, the second target view image, or the current display image of the first control device of the UAV; when the display mode of the second control device is the fourth display mode, displaying the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and displaying target indication information, the target indication information being determined based on the control of the UAV by the UAV operator.

[0104] When the drone's control mode is the second control mode, the second control device can obtain target indication information by interacting with the target control device or the first control device.

[0105] The third display mode, also known as the visitor mode, does not display target indication information when the second control device is in the third display mode. The fourth display mode, also known as the teaching mode, allows the second control device to display target indication information while simultaneously displaying the flight heading view, the second target view, or the current display of the UAV's first control device. This facilitates flight instruction for the audience through target indication information.

[0106] As can be seen, the embodiments of this application can flexibly determine whether to display target indication information related to the control process of the UAV by selecting different display modes of the second control device.

[0107] In some embodiments of this application, before displaying the flight heading view, the second target view view, or the current display screen of the first control device of the UAV, and before displaying the target indication information, the second control device may also display a second selection control. The second selection control is used to select the display mode of the second control device from a third display mode and a fourth display mode. In response to a trigger operation on the second selection control, the selected display mode of the second control device is determined. Here, the trigger operation on the second selection control can be a human-computer interaction operation such as clicking, double-clicking, dragging, or voice control.

[0108] In some embodiments of this application, when the control mode of the drone is the first control mode, the second control device may also display a first control, which is used to prompt the user to stop sharing the images collected by the drone to different control devices; in response to the trigger operation of the first control, the user stops receiving the images collected by the drone.

[0109] Here, the first control can be a virtual button displayed on the touchscreen. The function of the first control is to exit the accompaniment mode. The triggering operation for the first control can be a click, double-click, drag, or other operations. For example, the first control can be a virtual button for "exiting accompaniment mode".

[0110] As can be seen, after the second control device displays the first control, by executing the trigger operation related to the first control, the second control device can stop receiving images collected by the drone. That is, by performing a simple interactive operation on the first control, it is relatively easy to stop sharing images collected by the drone.

[0111] In some embodiments of this application, when the control mode of the UAV is the first control mode or the second control mode, the second control device also stops receiving images collected by the UAV in response to the disconnection of the connection between the first control device and the second control device.

[0112] It can be seen that when the connection between the first control device and the second control device is disconnected, it can be considered that the wireless communication quality of the first control device does not meet the requirements for image sharing. At this time, the second control device does not need to receive the images collected by the drone through the first control device. That is, the embodiments of this application can flexibly determine whether to share the images collected by the drone to the second control device according to the connection status between the first control device and the second control device.

[0113] In some embodiments of this application, the method further includes: in response to a trigger operation on the first control or when the connection between the first control and the second control is disconnected, the second control device displays an alarm message when it is determined that the drone has not entered a safety protection state.

[0114] In response to a trigger operation on the first control or when the connection between the first and second control devices is disconnected, the second control device stops receiving images collected by the drone when it is determined that the drone has entered a safety protection state.

[0115] As can be seen, if the drone does not enter the safety protection state, displaying alarm information allows the user to be aware of the drone's status in a timely manner, thereby controlling the drone to enter the safety protection state and thus improving the safety of the drone's flight.

[0116] This application also proposes a first control method for a drone applied to a target control device, the target control device including a target display module, and the drone forming a communication connection with the target control device.

[0117] Figure 6 is a flowchart of a first type of control method for a drone applied to a target control device according to an embodiment of this application. As shown in Figure 6, the process includes:

[0118] Step 601: When the UAV's control mode is the first control mode, the flight heading image, the third target view image, or the current display image of the UAV's first control device is displayed through the target display module. The flight heading image is determined from the image data collected by the UAV based on the UAV's flight heading, and the third target view image is determined from the image data collected by the UAV based on the viewing angle adjustment operation of the target control device.

[0119] In this embodiment of the application, the UAV can send image data to the target control device. The image data sent by the UAV to the target control device can be complete panoramic image data or partial panoramic image data. The partial panoramic image data can meet the target control device's requirements for using panoramic image data.

[0120] In some embodiments, the UAV can determine its flight path from image data collected by the UAV based on its flight path, and the UAV can send this flight path image to a target control device. In other embodiments, the UAV can send the image data collected by the UAV to a target control device, and the target control device can determine its flight path from the image data collected by the UAV based on its flight path.

[0121] Based on the link shown in Figure 3 or Figure 4, after transmitting the image data collected by the UAV to the target control device, the target control device can determine the third target viewpoint from the image data based on the target control device's viewing angle adjustment operation, and can also obtain the currently displayed screen sent by the first control device. For example, the viewing angle adjustment operation of the target control device can be a trigger operation on the control components of the target control device. The viewing angle adjustment operation can also be other types of human-computer interaction operations, which are not limited in this embodiment.

[0122] In this embodiment of the application, when the control mode of the UAV is the first control mode, the target control device has the authority to operate and control the UAV.

[0123] For example, the target control device has operational control permissions for the drone that include at least one of the following: shooting control permissions for a third target's perspective view, and control permissions related to the drone's flight process. Shooting control permissions for a third target's perspective view include one or more of the following: viewing angle adjustment permissions, shooting specification selection permissions, image shooting permissions, video shooting permissions, and video recording permissions. Control permissions related to the drone's flight process include at least one of the following: basic flight operation permissions and flight safety control permissions. Basic flight permissions include control permissions related to takeoff and landing, and flight safety control permissions include: permissions related to controlling the drone's emergency stop, permissions related to controlling the drone's return to home, permissions to set no-fly zones for the drone, and permissions to set obstacle avoidance functions for the drone, etc.

[0124] It can be seen that when the drone's control mode is in the first control mode, the target control device can display the flight heading image, or display the current display image of the first control device, or adjust the operation based on the viewing angle to display the corresponding third target view image. Therefore, the image displayed by the target control device can, to a certain extent, meet the user's various viewing needs for images captured by the drone.

[0125] In some embodiments of this application, the process of displaying a flight heading view, a third target view view, or the current display view of the first control device of the UAV through the target display module includes: in response to a screen switching operation for the target control device, controlling the target display module to display the corresponding screen, wherein the screen switching operation for the target control device is used to switch the display of the screen between the flight heading view, the third target view view, and the current display view of the first control device of the UAV.

[0126] For example, the screen switching operation for the target control device may include at least one of the following: a trigger operation for a control component configured on the target control device, or a trigger operation for a visual interface displayed by the target display module.

[0127] For example, when the control mode of the UAV is the first control mode, a switching display control can be displayed on the visual interface of the target control device. The switching display control in the target control device is a control that switches between the flight heading view, the third target view view, and the current display view of the UAV's first control device. When a confirmation trigger operation is received for the switching display control, it is determined that a screen switching operation for the target control device has been received.

[0128] As can be seen, by performing screen switching operations on the target control device, the display screen of the target control device can be flexibly selected, which is conducive to meeting the user's personalized viewing needs for multiple screens.

[0129] In some embodiments of this application, the process of the target control device displaying a flight heading image, a third target view image, or the current display image of the first control device of the UAV includes: controlling the target display module to display the flight heading image, the third target view image, or the current display image of the first control device of the UAV, and displaying target indication information, the target indication information being determined based on the control of the UAV by the UAV operator.

[0130] It can be seen that when the drone's control mode is the first control mode, the target control device has the authority to operate and control the drone. At this time, by displaying target indication information related to the drone's control process, it is beneficial for users to understand the information related to the drone's flight process in a timely manner, thereby improving the safety of drone flight.

[0131] In some embodiments of this application, when the control mode of the UAV is the first control mode, the target control device can also display a first control through the target display module. The first control is used to prompt the user to stop sharing the images collected by the UAV to different control devices; in response to the trigger operation of the first control, the user stops receiving the images collected by the UAV.

[0132] As can be seen, after the target control device displays the first control, by executing the trigger operation related to the first control, the target control device can stop receiving images collected by the drone. That is, by performing a simple interactive operation on the first control, it is relatively easy to stop sharing images collected by the drone.

[0133] In some embodiments of this application, when the control mode of the UAV is the first control mode, the target control device also stops receiving images collected by the UAV in response to the disconnection of the connection between the target control device and the first control device.

[0134] It can be seen that when the connection between the target control device and the first control device is disconnected, it can be considered that the wireless communication quality of the first control device does not meet the requirements for image sharing. At this time, the target control device does not need to receive the images collected by the drone through the first control device. That is, the embodiments of this application can flexibly determine whether to share the images collected by the drone to the target control device according to the connection status between the target control device and the first control device.

[0135] In some embodiments of this application, the target control device can also control the drone to enter a safety protection state before ceasing to receive images acquired by the drone. This allows the target control device to improve the drone's safety by controlling it into a safety protection state.

[0136] In some embodiments of this application, the method further includes: when the target control device is in response to a trigger operation on the first control or when the connection between the target control device and the first control device is disconnected, and it is determined that the drone has not entered the safety protection state, it displays an alarm message.

[0137] In response to a trigger operation on the first control or when the connection between the target control device and the first control device is disconnected, the target control device stops receiving images collected by the drone when it determines that the drone has entered a safety protection state.

[0138] As can be seen, if the drone is not in a safe protection state, displaying alarm information allows the user to be aware of the drone's status in a timely manner, thereby controlling the drone to enter a safe protection state and thus improving the drone's safety.

[0139] This application also proposes a second control method for a drone applied to a target control device. Figure 7 is a flowchart of the second control method for a drone applied to a target control device according to an embodiment of this application. As shown in Figure 7, the process includes:

[0140] Step 701: When the control mode of the drone is the first control mode or the second control mode, operate the drone to fly.

[0141] When the drone's control mode is the first control mode, the drone's first control device has the authority to control the shooting of the currently displayed screen, and the drone's second control device has the authority to control the operation of the drone. The permissions of the first and second control devices when the drone's control mode is the first control mode have already been explained in the foregoing description and will not be repeated here.

[0142] When the drone's control mode is the second control mode, the first control device has the authority to operate and control the drone, and the second control device has the authority to control the shooting of the currently displayed screen. The permissions of the first and second control devices when the drone's control mode is the second control mode have already been explained in the foregoing description and will not be repeated here.

[0143] It can be seen that regardless of whether the drone is in the first or second control mode, it can be easily controlled to fly through the target control device.

[0144] This application proposes a control method for an unmanned aerial vehicle (UAV), the UAV including an image acquisition module. Figure 8 is a flowchart of the control method for the UAV according to an embodiment of this application. As shown in Figure 8, the process includes:

[0145] Step 801: Acquire image data through the image acquisition module.

[0146] Step 802: Send image data to the control device of the UAV, the control device including the first control device of the UAV and / or the target control device of the UAV, the target control device having the control authority over the operation of the UAV.

[0147] For example, the image data sent by the drone to the control device can be complete panoramic image data or partial panoramic image data. The partial panoramic image data can meet the control device's requirements for using panoramic image data.

[0148] When the drone's control mode is the first control mode, the drone's first control device has the authority to capture images from the first target's perspective, which is determined from the image data based on the viewing angle adjustment operation of the first control device. When the drone's control mode is the second control mode, the drone's first control device has the authority to manipulate the drone.

[0149] Here, the first control mode refers to a mode in which the drone operator displays and / or interacts with the screen via the target display module of the target control device; or, alternatively, it refers to a mode in which the drone operator displays and / or interacts with the screen via a second control device. The second control mode refers to a mode in which the drone operator displays and / or interacts with the screen via the first control device.

[0150] When the drone's control mode is either the first control mode or the second control mode, the permissions of the first control device have already been explained in the aforementioned content and will not be repeated here.

[0151] It can be seen that regardless of whether the drone is in the first or second control mode, it can be easily operated to fly through the target control device. Furthermore, the drone can share the collected image data to the control device, thereby meeting the viewing needs of the user of the control device.

[0152] In some embodiments of this application, the aforementioned image data includes a flight heading view of the UAV, which is determined from the image data based on the UAV's flight heading. Thus, by displaying the flight heading view on the control device, the user's viewing needs for the flight heading view can be met.

[0153] In some embodiments of this application, when the drone's control mode is the first control mode, the first control device's permissions do not include operational control permissions for the drone. It can be seen that, since the first control device has shooting control permissions for the first target viewpoint image but not operational control permissions for the drone when the drone's control mode is the first control mode, it can satisfy the user's need for shooting control of the first target viewpoint image while prohibiting the drone from being operated through the first control device, thus improving the safety of drone flight to a certain extent.

[0154] In some embodiments of this application, after receiving a safety protection command for the drone, the drone controls itself to enter a safety protection state.

[0155] For example, controlling itself to enter a safe protection state includes: controlling itself to hover at its current position; or controlling itself to return to its home point according to a preset return point; or controlling itself to land at the current position. The preset return point can be a safe landing location set before the drone's flight.

[0156] Here, safety protection commands are usually generated by the drone's control equipment when an abnormal situation is detected. After receiving the safety protection command, the drone can control itself to enter a safety protection state, which can effectively reduce the impact of abnormal situations on the drone's flight safety.

[0157] In some embodiments of this application, when the drone determines that its communication connection with the target control device has been lost, it controls itself to enter a safety protection state. It is understood that when the communication connection between the drone and the target control device is lost, it indicates that the drone is not in a safe and controllable state. At this time, by controlling itself to enter a safety protection state, the safety of the drone's flight can be improved.

[0158] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0159] Based on the control method for a drone applied to a first control device proposed in the foregoing embodiments, this application also proposes a first control device.

[0160] Figure 9 is a schematic diagram of the structure of the first control device according to an embodiment of this application. As shown in Figure 9, the first control device 201 includes:

[0161] The first communication module 901 is used to acquire image data collected by the UAV;

[0162] The first display module 902 is used to display the image.

[0163] The first memory 903 is used to store instructions;

[0164] The first processor 904 calls the instructions stored in the first memory to perform the following operations:

[0165] When the control mode of the UAV is the first control mode or the second control mode, in response to the viewing angle adjustment operation of the first control device, the first display module 902 is controlled to display the corresponding first target view screen, wherein the first target view screen is determined from the image data based on the viewing angle adjustment operation;

[0166] When the control mode of the drone is the first control mode, the first control device has the authority to shoot the image from the first target perspective; when the control mode of the drone is the second control mode, the first control device has the authority to operate the drone.

[0167] The first display module 902 mentioned above can be a touch screen or other display screen, and the first memory 903 can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. The first processor 904 may be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor.

[0168] In some embodiments, the first processor 904 further invokes instructions stored in the first memory 903 to perform the following operations:

[0169] While controlling the first display module 902 to display the first target view, the system also controls the first display module to display the flight heading of the UAV, wherein the flight heading is determined from the image data collected by the UAV based on the flight heading of the UAV.

[0170] In some embodiments, when the control mode of the UAV is the first control mode or the second control mode, the UAV operator uses the target control device of the UAV to control the UAV to fly, and the target control device is a different device from the first control device.

[0171] In some embodiments, the target control device includes the motion control device of the drone.

[0172] In some embodiments, the first control device includes a head-mounted display device.

[0173] In some embodiments, the target control device includes a target display module, and the first control mode represents a mode in which the target control device displays images and / or interacts with the UAV operator through the target display module.

[0174] In some embodiments, the first control mode represents a mode in which the drone operator displays and / or interacts with the screen via a second control device, wherein the target control device and the second control device are different devices.

[0175] In some embodiments, the second control mode represents a mode in which the first control device displays and / or interacts with the drone operator.

[0176] In some embodiments, when the control mode of the drone is the first control mode, the display mode of the first control device includes a first display mode and a second display mode; the first processor 904 calls the instructions stored in the first memory 903 to perform the following operations:

[0177] When the display mode of the first control device is the first display mode, in response to the viewing angle adjustment operation of the first control device, the first display module 902 is controlled to display the corresponding first target view screen;

[0178] When the display mode of the first control device is the second display mode, in response to the viewing angle adjustment operation of the first control device, the first display module 902 is controlled to display target indication information and the corresponding first target view screen. The target indication information is determined based on the control of the UAV by the UAV operator.

[0179] In some embodiments, the first processor 904 further invokes instructions stored in the first memory 903 to perform the following operations:

[0180] Before controlling the first display module 902 to display the corresponding first target view screen, the first display module 902 is controlled to display a first selection control, wherein the first selection control is used to select the display mode of the first control device from the first display mode and the second display mode;

[0181] In response to a trigger operation on the first selection control, the display mode of the selected first control device is determined.

[0182] In some embodiments, the first processor 904 invokes instructions stored in the first memory 903 to perform the following operations:

[0183] When the control mode of the UAV is the second control mode, the first display module 902 is controlled to display target indication information and the corresponding first target view screen, wherein the target indication information is determined based on the control of the UAV by the UAV operator.

[0184] In some embodiments, when the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

[0185] In some embodiments, the first processor 904 further invokes instructions stored in the first memory 903 to perform the following operations:

[0186] When the control mode of the drone is the first control mode or the second control mode, the first display module 902 is controlled to display a first control. The first control is used to prompt to stop sharing the images captured by the drone to different control devices. In response to the trigger operation of the first control, the sharing of the images captured by the drone to other control devices is stopped. The other control devices are the target control device or the second control device. The target control device and the second control device are different devices.

[0187] Alternatively, when the control mode of the drone is the first control mode or the second control mode, in response to the disconnection of the connection between the first control device and the second control device, the sharing of images acquired by the drone to the other control devices is stopped.

[0188] In some embodiments, the first processor 904 further invokes instructions stored in the first memory 903 to perform the following operations:

[0189] In response to a trigger operation on the first control or when the connection between the first control device and the second control device is disconnected, when it is determined that the drone has not entered a safety protection state, the first display module 902 is controlled to display an alarm message.

[0190] Based on the control method for a drone applied to a second control device proposed in the foregoing embodiments, this application also proposes a second control device.

[0191] Figure 10 is a schematic diagram of the structure of the second control device according to an embodiment of this application. As shown in Figure 10, the second control device 202 includes:

[0192] The second communication module 1001 is used to acquire image data collected by the UAV and to communicate with the first control device of the UAV, wherein the first control device and the second control device are different devices.

[0193] The second display module 1002 is used to display the image.

[0194] The second memory 1003 is used to store instructions;

[0195] The second processor 1004 calls the instructions stored in the second memory to perform the following operations:

[0196] When the control mode of the UAV is the first control mode or the second control mode, the second display module 1002 is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV. The flight heading image is determined from the image data based on the flight heading of the UAV, and the second target view image is determined from the image data based on the viewing angle adjustment operation of the second control device.

[0197] When the control mode of the drone is the first control mode, the second control device has the authority to operate and control the drone; when the control mode of the drone is the second control mode, the second control device has the authority to capture images from the second target's perspective.

[0198] The second display module 1002 can be a touch screen or other display screen. The second memory 1003 can be a ROM, PROM, EPROM, EEPROM, FRAM, flash memory, magnetic surface memory, optical disc, or CD-ROM, etc.; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. The second processor 1004 can be at least one of ASIC, DSP, DSPD, PLD, FPGA, CPU, controller, microcontroller, and microprocessor.

[0199] In some embodiments, when the control mode of the UAV is the first control mode or the second control mode, the UAV operator uses the target control device of the UAV to control the UAV to fly. The target control device, the first control device and the second control device are different devices.

[0200] In some embodiments, the target control device includes the motion control device of the drone.

[0201] In some embodiments, the first control mode represents a mode in which the drone operator is shown a screen and / or interacts with the second control device.

[0202] In some embodiments, the second control mode represents a mode in which the first control device displays and / or interacts with the drone operator.

[0203] In some embodiments, the second processor 1004 invokes instructions stored in the second memory 1003 to perform the following operations:

[0204] When the control mode of the UAV is the first control mode or the second control mode, in response to the screen switching operation for the second control device, the second display module 1002 is controlled to display the corresponding screen, wherein the screen switching operation is used to switch the screen display between the flight heading screen, the second target view screen and the current display screen of the first control device of the UAV.

[0205] In some embodiments, the second processor 1004 invokes instructions stored in the second memory 1003 to perform the following operations:

[0206] When the control mode of the UAV is the first control mode, the second display module 1002 is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and to display target indication information, which is determined based on the control of the UAV by the UAV operator.

[0207] In some embodiments, when the control mode of the drone is the second control mode, the display mode of the second control device includes a third display mode and a fourth display mode; the second processor 1004 calls the instructions stored in the second memory 1003 to perform the following operations:

[0208] When the display mode of the second control device is the third display mode, the second display module 1002 is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV.

[0209] When the display mode of the second control device is the fourth display mode, the second display module 1002 is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and to display target indication information, which is determined based on the control of the UAV by the UAV operator.

[0210] In some embodiments, the second processor 1004 further invokes instructions stored in the second memory 1003 to perform the following operations:

[0211] Before displaying the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and before displaying the target indication information, the second display module 1002 is controlled to display a second selection control, wherein the second selection control is used to select the display mode of the second control device from the third display mode and the fourth display mode;

[0212] In response to a trigger operation on the second selection control, the display mode of the selected second control device is determined.

[0213] In some embodiments, when the control mode of the drone is the second control mode, the permissions of the second control device do not include the operation and control permissions for the drone.

[0214] In some embodiments, the second processor 1004 further invokes instructions stored in the second memory 1003 to perform the following operations:

[0215] When the control mode of the drone is the first control mode, the second display module 1002 is controlled to display a first control, which is used to prompt the user to stop sharing the images captured by the drone to different control devices; in response to the trigger operation of the first control, the user stops receiving the images captured by the drone.

[0216] Alternatively, when the control mode of the drone is the first control mode or the second control mode, in response to the disconnection of the connection between the first control device and the second control device, the reception of images acquired by the drone is stopped.

[0217] In some embodiments, the second processor 1004 further invokes instructions stored in the second memory 1003 to perform the following operations:

[0218] In response to a trigger operation on the first control or when the connection between the first control device and the second control device is disconnected, when it is determined that the drone has not entered the safety protection state, the second display module 1002 is controlled to display an alarm message.

[0219] Based on the first UAV control method applied to a target control device proposed in the foregoing embodiments, this application also proposes a target control device.

[0220] Figure 11 is a schematic diagram of the structure of a target control device according to an embodiment of this application. As shown in Figure 11, the target control device 203 includes:

[0221] The third communication module 1101 is used to acquire image data collected by the UAV and to communicate with the first control device of the UAV, wherein the target control device and the first control device are different devices;

[0222] Target display module 1102 is used to display the image;

[0223] The third memory 1103 is used to store instructions;

[0224] The third processor 1104 invokes the instructions stored in the third memory to perform the following operations:

[0225] When the control mode of the UAV is the first control mode, the target display module 1102 displays the flight heading image, the third target view image, or the current display image of the first control device of the UAV. The flight heading image is determined from the image data based on the flight heading of the UAV, and the third target view image is determined from the image data based on the viewing angle adjustment operation of the target control device. The target control device and the first control device are different devices.

[0226] When the control mode of the UAV is the first control mode, the target control device has the authority to operate and control the UAV.

[0227] The aforementioned target display module 1102 can be a touch screen or other display screen. The third memory 1103 can be a memory such as ROM, PROM, EPROM, EEPROM, FRAM, flash memory, magnetic surface memory, optical disc, or CD-ROM; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. The third processor 1104 can be at least one of ASIC, DSP, DSPD, PLD, FPGA, CPU, controller, microcontroller, and microprocessor.

[0228] In some embodiments, the third processor 1104 invokes instructions stored in the third memory 1103 to perform the following operations:

[0229] In response to a screen switching operation for the target control device, the target display module 1102 is controlled to display a corresponding screen. The screen switching operation is used to switch the display of the screen between the flight heading screen, the third target view screen, and the current display screen of the first control device of the UAV.

[0230] In some embodiments, the screen switching operation includes at least one of the following: a trigger operation for a control component configured on the target control device, and a trigger operation for a visual interface displayed by the target display module 1102; wherein the control component includes at least one of the following: a joystick, a scroll wheel, and a preset button.

[0231] In some embodiments, the third processor 1104 invokes instructions stored in the third memory 1103 to perform the following operations:

[0232] The target display module 1102 is controlled to display the flight heading image, the third target view image, or the current display image of the first control device of the UAV, and to display target indication information, which is determined based on the control of the UAV by the UAV operator.

[0233] In some embodiments, the third processor 1104 also invokes instructions stored in the third memory 1103 to perform the following operations:

[0234] When the control mode of the drone is the first control mode, a first control is displayed through the target display module 1102. The first control is used to prompt the user to stop sharing the images collected by the drone to different control devices; in response to the trigger operation of the first control, the user stops receiving the images collected by the drone.

[0235] Alternatively, when the control mode of the UAV is the first control mode, in response to the image transmission connection between the target control device and the first control device being disconnected, the reception of images acquired by the UAV is stopped.

[0236] In some embodiments, the third processor 1104 also invokes instructions stored in the third memory 1103 to perform the following operations: in response to a trigger operation on the first control or the image transmission connection between the target control device and the first control device being disconnected, when it is determined that the drone has not entered a safety protection state, an alarm message is displayed.

[0237] In some embodiments, the third processor 1104 also invokes instructions stored in the third memory 1103 to perform the following operations: before stopping receiving images acquired by the drone, control the drone to enter a safety protection state.

[0238] Based on the second UAV control method for target control devices proposed in the foregoing embodiments, this application also proposes another target control device.

[0239] Figure 12 is a schematic diagram of another target control device according to an embodiment of this application. As shown in Figure 12, the target control device 203 includes:

[0240] The fourth communication module 1201 is used to communicate with the UAV;

[0241] The fourth memory, 1202, is used to store instructions;

[0242] The fourth processor 1203 calls the instructions stored in the fourth memory 1202 to perform the following operations:

[0243] When the control mode of the drone is the first control mode or the second control mode, the drone is operated to fly;

[0244] When the control mode of the drone is the first control mode, the first control device of the drone has the shooting control authority for the current display screen of the first control device, and the second control device of the drone has the operation control authority for the drone.

[0245] When the control mode of the drone is the second control mode, the first control device has the authority to operate and control the drone, and the second control device has the authority to take pictures of the current display screen of the second control device. The target control device, the first control device and the second control device are different devices.

[0246] The aforementioned fourth memory 1202 can be a memory such as ROM, PROM, EPROM, EEPROM, FRAM, flash memory, magnetic surface memory, optical disc, or CD-ROM; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. The fourth processor 1203 can be at least one of ASIC, DSP, DSPD, PLD, FPGA, CPU, controller, microcontroller, and microprocessor.

[0247] Based on the control method for unmanned aerial vehicles (UAVs) proposed in the foregoing embodiments, this application also proposes an UAV.

[0248] Figure 13 is a schematic diagram of the circuit structure of a drone according to an embodiment of this application. As shown in Figure 13, the drone 200 includes:

[0249] Image acquisition module 1301 is used to acquire image data;

[0250] The fifth communication module 1302 is used to communicate with the target control device of the UAV;

[0251] The fifth memory, 1303, is used to store instructions;

[0252] The fifth processor 1304 calls the instructions stored in the fifth memory 1303 to perform the following operations:

[0253] Image data is acquired through the image acquisition module 1301; the image data is sent to the control device of the UAV; the control device includes a first control device of the UAV and / or a target control device of the UAV, the target control device has the operation and control authority for the UAV, and the target control device is a different device from the first control device;

[0254] When the control mode of the drone is the first control mode, the first control device of the drone has the authority to shoot a picture of a first target viewpoint, which is determined from the image data based on the viewing angle adjustment operation of the first control device; when the control mode of the drone is the second control mode, the first control device of the drone has the authority to operate the drone.

[0255] The aforementioned fifth memory 1303 can be a memory such as ROM, PROM, EPROM, EEPROM, FRAM, flash memory, magnetic surface memory, optical disc, or CD-ROM; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. The fifth processor 1304 can be at least one of ASIC, DSP, DSPD, PLD, FPGA, CPU, controller, microcontroller, and microprocessor.

[0256] In some embodiments, the image data includes a flight heading view of the UAV, which is determined from the image data based on the flight heading of the UAV.

[0257] In some embodiments, the target control device includes the motion control device of the drone.

[0258] In some embodiments, the first control device includes a head-mounted display device.

[0259] In some embodiments, the target control device includes a target display module, and the first control mode represents a mode in which the target control device displays images and / or interacts with the UAV operator through the target display module.

[0260] In some embodiments, the first control mode represents a mode in which the drone operator displays and / or interacts with the screen via a second control device, wherein the target control device and the second control device are different devices.

[0261] In some embodiments, the second control mode represents a mode in which the first control device displays and / or interacts with the drone operator.

[0262] In some embodiments, when the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

[0263] In some embodiments, the fifth processor 1304 also invokes instructions stored in the fifth memory 1303 to perform the following operations: upon receiving a safety protection instruction from the UAV, it controls itself to enter a safety protection state.

[0264] In some embodiments, the fifth processor 1304 also invokes instructions stored in the fifth memory 1303 to perform the following operations: when it is determined that the communication connection between the UAV and the target control device is disconnected, it controls itself to enter a safety protection state.

[0265] In some embodiments, the fifth processor 1304 calls instructions stored in the fifth memory 1303 to perform the following operations: control itself to hover at the current position; or control itself to return to the home point according to a preset home point; or control itself to land at the current position.

[0266] This application embodiment also provides an unmanned aerial vehicle (UAV) control system. Referring to FIG14, the UAV control system 20 includes the UAV 200 described above, at least one first control device 201 described above, and at least one target control device 203 described above. The UAV 200 forms a communication connection with the first control device 201, and the target control device 203 forms a communication connection with the first control device 201 or with the UAV 200.

[0267] For example, the above-described unmanned aerial vehicle control system 20 further includes at least one second control device 202 as described above, which is communicatively connected to the first control device 201. The second control device 202 is an optional device.

[0268] It should be noted that the description of the above device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0269] It should be noted that, in the embodiments of this application, if the above methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a terminal, server, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0270] Correspondingly, this application embodiment further provides a computer program product, which includes computer-executable instructions for implementing any of the UAV control methods provided in this application embodiment.

[0271] Accordingly, this application embodiment further provides a computer storage medium storing computer-executable instructions, which are used to implement any of the UAV control methods provided in the above embodiments.

[0272] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0273] The descriptions of the various embodiments above tend to emphasize the differences between them. Similarities or commonalities can be referred to interchangeably, and for the sake of brevity, they will not be repeated here. The methods disclosed in the various method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict. The features disclosed in the various product embodiments provided in this application can be arbitrarily combined to obtain new product embodiments without conflict. The features disclosed in the various method or device embodiments provided in this application can be arbitrarily combined to obtain new method or device embodiments without conflict.

Claims

1. A control method for an unmanned aerial vehicle (UAV), applied to a first control device of the UAV, wherein the UAV is communicatively connected to the first control device, the method comprising: When the control mode of the UAV is the first control mode or the second control mode, in response to the viewing angle adjustment operation of the first control device, the corresponding first target view screen is displayed, wherein the first target view screen is determined from the image data collected by the UAV based on the viewing angle adjustment operation; When the control mode of the drone is the first control mode, the first control device has the authority to shoot the image from the first target perspective; when the control mode of the drone is the second control mode, the first control device has the authority to operate the drone.

2. The method of claim 1, wherein, The method further includes: While displaying the first target view, the flight heading of the UAV is also displayed, wherein the flight heading is determined from the image data collected by the UAV based on the UAV's flight heading.

3. The method of claim 1, wherein, When the control mode of the UAV is the first control mode or the second control mode, the UAV operator uses the target control device of the UAV to control the UAV to fly. The target control device is a different device from the first control device.

4. The method of claim 3, wherein, The target control device includes the motion control device of the UAV.

5. The method of claim 3, wherein, The first control device includes a head-mounted display device.

6. The method of claim 3, wherein, The target control device includes a target display module, and the first control mode represents a mode in which the target display module of the target control device displays images and / or interacts with the UAV operator.

7. The method of claim 3, wherein, The first control mode refers to a mode in which the drone operator displays and / or interacts with the screen through the second control device, and the target control device and the second control device are different devices.

8. The method of claim 3, wherein, The second control mode refers to a mode in which the drone operator displays images and / or interacts with the drone via the first control device.

9. The method according to any one of claims 1 to 8, wherein, When the control mode of the UAV is the first control mode, the display mode of the first control device includes the first display mode and the second display mode; The step of displaying the corresponding first target view image in response to the viewing angle adjustment operation of the first control device includes: When the display mode of the first control device is the first display mode, in response to the viewing angle adjustment operation of the first control device, the corresponding first target view screen is displayed; When the display mode of the first control device is the second display mode, in response to the viewing angle adjustment operation of the first control device, target indication information and the corresponding first target view screen are displayed. The target indication information is determined based on the control of the UAV by the UAV operator.

10. The method of claim 9, wherein, Before displaying the corresponding first target viewpoint image in response to the viewing angle adjustment operation of the first control device, the method further includes: Display a first selection control, wherein the first selection control is used to select the display mode of the first control device from the first display mode and the second display mode; In response to a trigger operation on the first selection control, the display mode of the selected first control device is determined.

11. The method according to any one of claims 1 to 8, wherein, When the control mode of the drone is the second control mode, the step of displaying the corresponding first target view screen in response to the viewing angle adjustment operation of the first control device includes: The system displays target indication information and the corresponding first target view, wherein the target indication information is determined based on the control of the UAV by the UAV operator.

12. The method according to any one of claims 1 to 8, wherein, When the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

13. The method according to any one of claims 1 to 8, wherein, The method further includes: When the control mode of the drone is the first control mode or the second control mode, a first control is displayed. The first control is used to prompt the user to stop sharing the images captured by the drone to different control devices. In response to the trigger operation of the first control, the sharing of the images captured by the drone to other control devices is stopped. The other control devices are the target control device or the second control device. The target control device and the second control device are different devices. Alternatively, when the control mode of the drone is the first control mode or the second control mode, in response to the disconnection of the connection between the first control device and the second control device, the sharing of images acquired by the drone to the other control devices is stopped.

14. The method of claim 13, wherein, The method further includes: in response to a trigger operation on the first control or when the connection between the first control device and the second control device is disconnected, displaying an alarm message when it is determined that the drone has not entered a safety protection state.

15. A method for controlling a drone, applied to a second control device of the drone, wherein the drone is communicatively connected to the second control device, the method comprising: When the control mode of the UAV is the first control mode or the second control mode, the flight heading screen, the second target view screen, or the current display screen of the first control device of the UAV is displayed. The flight heading screen is determined from the image data collected by the UAV based on the flight heading of the UAV, and the second target view screen is determined from the image data collected by the UAV based on the viewing angle adjustment operation of the second control device. The first control device and the second control device are different devices. When the control mode of the drone is the first control mode, the second control device has the authority to operate and control the drone; when the control mode of the drone is the second control mode, the second control device has the authority to capture images from the second target's perspective.

16. The method of claim 15, wherein, When the control mode of the UAV is the first control mode or the second control mode, the UAV operator uses the target control device of the UAV to control the UAV to fly. The target control device, the first control device and the second control device are different devices.

17. The method of claim 16, wherein, The target control device includes the motion control device of the UAV.

18. The method of claim 16, wherein, The first control mode refers to a mode in which the drone operator is shown a screen and / or interacts with the screen via the second control device.

19. The method of claim 16, wherein, The second control mode refers to the mode in which the first control device displays and / or interacts with the drone operator.

20. The method of claim 15, wherein, When the control mode of the UAV is the first control mode or the second control mode, displaying the flight heading view, the second target view, or the current display screen of the UAV's first control device includes: When the control mode of the UAV is the first control mode or the second control mode, in response to the screen switching operation of the second control device, the corresponding screen is displayed, wherein the screen switching operation is used to switch the screen display between the flight heading screen, the second target view screen and the current display screen of the first control device of the UAV.

21. The method according to any one of claims 15 to 20, wherein, When the control mode of the UAV is the first control mode, the display of the flight heading image, the second target view image, or the current display image of the UAV's first control device includes: The system displays the flight heading, the second target view, or the current display of the first control device of the UAV, and displays target indication information, which is determined based on the control of the UAV by the UAV operator.

22. The method according to any one of claims 15 to 20, wherein, When the control mode of the UAV is the second control mode, the display mode of the second control device includes the third display mode and the fourth display mode; The display of the flight heading image, the second target view image, or the current display image of the first control device of the UAV includes: When the display mode of the second control device is the third display mode, the flight heading screen, the second target view screen, or the current display screen of the first control device of the UAV are displayed. When the display mode of the second control device is the fourth display mode, it displays the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and displays target indication information, which is determined based on the control of the UAV by the UAV operator.

23. The method according to claim 22, wherein, Before displaying the flight heading view, the second target view view, or the current display screen of the first control device of the UAV, and before displaying the target indication information, the method further includes: A second selection control is displayed, wherein the second selection control is used to select the display mode of the second control device from the third display mode and the fourth display mode; In response to a trigger operation on the second selection control, the display mode of the selected second control device is determined.

24. The method according to any one of claims 15 to 20, wherein, When the control mode of the drone is the second control mode, the permissions of the second control device do not include the operation and control permissions for the drone.

25. The method according to any one of claims 15 to 20, wherein, The method further includes: When the control mode of the drone is the first control mode, a first control is displayed. The first control is used to prompt the user to stop sharing the images captured by the drone to different control devices. In response to the trigger operation of the first control, the user stops receiving the images captured by the drone. Alternatively, when the control mode of the drone is the first control mode or the second control mode, in response to the disconnection of the connection between the first control device and the second control device, the reception of images acquired by the drone is stopped.

26. The method according to claim 25, wherein, The method further includes: in response to a trigger operation on the first control or when the connection between the first control device and the second control device is disconnected, displaying an alarm message when it is determined that the drone has not entered a safety protection state.

27. A control method for a drone, applied to a target control device of the drone, wherein the drone is communicatively connected to the target control device, the target control device including a target display module, the method comprising: When the control mode of the UAV is the first control mode, the target display module displays the flight heading image, the third target view image, or the current display image of the first control device of the UAV. The flight heading image is determined from the image data collected by the UAV based on the flight heading of the UAV, and the third target view image is determined from the image data collected by the UAV based on the viewing angle adjustment operation of the target control device. The target control device and the first control device are different devices. When the control mode of the UAV is the first control mode, the target control device has the authority to operate and control the UAV.

28. The method according to claim 27, wherein, The display of the flight heading image, the third target view image, or the current display image of the first control device of the UAV includes: In response to a screen switching operation for the target control device, the target display module is controlled to display the corresponding screen, wherein the screen switching operation is used to switch the display of the screen between the flight heading screen, the third target view screen, and the current display screen of the first control device of the UAV.

29. The method according to claim 28, wherein, The screen switching operation includes at least one of the following: Triggering operation for the control components configured on the target control device; Triggering operations for the visualization interface displayed by the target display module; The control components include at least one of the following: a joystick, a scroll wheel, and a preset button.

30. The method according to claim 27, wherein, The display of the flight heading image, the third target view image, or the current display image of the first control device of the UAV includes: The target display module is controlled to display the flight heading image, the third target view image, or the current display image of the first control device of the UAV, and to display target indication information, which is determined based on the control of the UAV by the UAV operator.

31. The method according to any one of claims 27 to 30, wherein, The method further includes: When the control mode of the drone is the first control mode, a first control is displayed through the target display module. The first control is used to prompt the user to stop sharing the images captured by the drone to different control devices. In response to the trigger operation of the first control, the user stops receiving the images captured by the drone. Alternatively, when the control mode of the UAV is the first control mode, in response to the disconnection of the connection between the target control device and the first control device, the reception of images acquired by the UAV is stopped.

32. The method according to claim 31, wherein, The method further includes: in response to a trigger operation on the first control or the connection between the target control device and the first control device being disconnected, displaying an alarm message when it is determined that the drone has not entered a safety protection state.

33. The method according to claim 31, wherein, Before ceasing to receive images acquired by the drone, the method further includes controlling the drone to enter a safety protection state.

34. A control method for an unmanned aerial vehicle (UAV), applied to a target control device of the UAV, the method comprising: When the control mode of the drone is the first control mode or the second control mode, the drone is operated to fly; When the control mode of the drone is the first control mode, the first control device of the drone has the shooting control authority for the current display screen of the first control device, and the second control device of the drone has the operation control authority for the drone. When the control mode of the drone is the second control mode, the first control device has the authority to operate and control the drone, and the second control device has the authority to take pictures of the current display screen of the second control device. The target control device, the first control device and the second control device are different devices.

35. A control method for a drone, applied to the drone, the drone including an image acquisition module, the method comprising: Image data is acquired through the image acquisition module; The image data is sent to the control device of the UAV, the control device including a first control device of the UAV and / or a target control device of the UAV, the target control device having the control authority over the UAV, and the target control device being a different device from the first control device; When the control mode of the drone is the first control mode, the first control device of the drone has the authority to shoot a picture of a first target viewpoint, which is determined from the image data based on the viewing angle adjustment operation of the first control device; when the control mode of the drone is the second control mode, the first control device of the drone has the authority to operate the drone.

36. The method according to claim 35, wherein, The image data includes the flight heading of the UAV, which is determined from the image data based on the flight heading of the UAV.

37. The method of claim 35, wherein, The target control device includes the motion control device of the UAV.

38. The method according to claim 35, wherein, The first control device includes a head-mounted display device.

39. The method according to claim 35, wherein, The target control device includes a target display module, and the first control mode represents a mode in which the target display module of the target control device displays images and / or interacts with the UAV operator.

40. The method of claim 35, wherein, The first control mode refers to a mode in which the drone operator displays and / or interacts with the screen through the second control device, and the target control device and the second control device are different devices.

41. The method according to claim 35, wherein, The second control mode refers to the mode in which the first control device displays and / or interacts with the drone operator.

42. The method according to any one of claims 35 to 41, wherein, When the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

43. The method according to claim 35, wherein, The method further includes: Upon receiving the safety protection command from the drone, it controls itself to enter a safety protection state.

44. The method of claim 35, wherein, The method further includes: when it is determined that the communication connection between the UAV and the target control device is broken, controlling itself to enter a safety protection state.

45. The method according to claim 43 or 44, wherein, The control of itself to enter a safety protection state includes: Control itself to hover at the current position; or, control itself to return to the preset return point; or, control itself to land at the current position.

46. ​​A first control device, comprising: The first communication module is used to acquire image data collected by the drone; The first display module is used to display the image. The first memory is used to store instructions; The first processor invokes instructions stored in the first memory to perform the following operations: When the control mode of the UAV is the first control mode or the second control mode, in response to the viewing angle adjustment operation of the first control device, the first display module is controlled to display the corresponding first target view screen, wherein the first target view screen is determined from the image data based on the viewing angle adjustment operation; When the control mode of the drone is the first control mode, the first control device has the shooting control authority for the first target viewpoint image; When the control mode of the drone is the second control mode, the first control device has the authority to operate and control the drone.

47. The first control device according to claim 46, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: While controlling the first display module to display the first target view, the system also controls the first display module to display the flight heading of the UAV, wherein the flight heading is determined from the image data collected by the UAV based on the flight heading of the UAV.

48. The first control device according to claim 46, wherein, When the control mode of the UAV is the first control mode or the second control mode, the UAV operator uses the target control device of the UAV to control the UAV to fly. The target control device is a different device from the first control device.

49. The first control device according to claim 48, wherein, The target control device includes the motion control device of the UAV.

50. The first control device according to claim 48, wherein, The first control device includes a head-mounted display device.

51. The first control device according to claim 48, wherein, The target control device includes a target display module, and the first control mode represents a mode in which the target display module of the target control device displays images and / or interacts with the UAV operator.

52. The first control device according to claim 48, wherein, The first control mode refers to a mode in which the drone operator displays and / or interacts with the screen through the second control device, and the target control device and the second control device are different devices.

53. The first control device according to claim 48, wherein, The second control mode refers to the mode in which the first control device displays and / or interacts with the drone operator.

54. The first control device according to any one of claims 46 to 53, wherein, When the control mode of the drone is the first control mode, the display mode of the first control device includes a first display mode and a second display mode; the first processor calls the instructions stored in the first memory to perform the following operations: When the display mode of the first control device is the first display mode, in response to the viewing angle adjustment operation of the first control device, the first display module is controlled to display the corresponding first target view screen; When the display mode of the first control device is the second display mode, in response to the viewing angle adjustment operation of the first control device, the first display module is controlled to display target indication information and the corresponding first target view screen. The target indication information is determined based on the control of the UAV by the UAV operator.

55. The first control device according to claim 54, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: Before controlling the first display module to display the corresponding first target view screen, the first display module is controlled to display a first selection control, wherein the first selection control is used to select the display mode of the first control device from the first display mode and the second display mode; In response to a trigger operation on the first selection control, the display mode of the selected first control device is determined.

56. The first control device according to any one of claims 46 to 53, wherein, The first processor invokes the instructions stored in the first memory to perform the following operations: When the control mode of the UAV is the second control mode, the first display module is controlled to display target indication information and the corresponding first target view screen, wherein the target indication information is determined based on the control of the UAV by the UAV operator.

57. The first control device according to any one of claims 46 to 53, wherein, When the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

58. The first control device according to any one of claims 46 to 53, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: When the control mode of the drone is the first control mode or the second control mode, the first display module is controlled to display a first control. The first control is used to prompt the user to stop sharing the images captured by the drone to different control devices. In response to the trigger operation of the first control, the sharing of the images captured by the drone to other control devices is stopped. The other control devices are the target control device or the second control device, and the target control device and the second control device are different devices. Alternatively, when the control mode of the drone is the first control mode or the second control mode, in response to the disconnection of the connection between the first control device and the second control device, the sharing of images acquired by the drone to the other control devices is stopped.

59. The first control device according to claim 58, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: In response to a trigger operation on the first control or when the connection between the first control device and the second control device is disconnected, the first display module is controlled to display an alarm message when it is determined that the drone has not entered a safety protection state.

60. A second control device, comprising: The second communication module is used to acquire image data collected by the UAV and to communicate with the first control device of the UAV. The first control device and the second control device are different devices. The second display module is used to display the image. The second memory is used to store instructions; The second processor invokes the instructions stored in the second memory to perform the following operations: When the control mode of the UAV is the first control mode or the second control mode, the second display module is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV. The flight heading image is determined from the image data based on the flight heading of the UAV, and the second target view image is determined from the image data based on the viewing angle adjustment operation of the second control device. When the control mode of the drone is the first control mode, the second control device has the authority to operate and control the drone; when the control mode of the drone is the second control mode, the second control device has the authority to capture images from the second target's perspective.

61. The second control device according to claim 60, wherein, When the control mode of the UAV is the first control mode or the second control mode, the UAV operator uses the target control device of the UAV to control the UAV to fly. The target control device, the first control device and the second control device are different devices.

62. The second control device according to claim 61, wherein, The target control device includes the motion control device of the UAV.

63. The second control device according to claim 61, wherein, The first control mode refers to a mode in which the drone operator is shown a screen and / or interacts with the screen via the second control device.

64. The second control device according to claim 61, wherein, The second control mode refers to the mode in which the first control device displays and / or interacts with the drone operator.

65. The second control device according to claim 60, wherein, The second processor invokes the instructions stored in the second memory to perform the following operations: When the control mode of the UAV is the first control mode or the second control mode, in response to the screen switching operation of the second control device, the second display module is controlled to display the corresponding screen, wherein the screen switching operation is used to switch the screen display between the flight heading screen, the second target view screen and the current display screen of the first control device of the UAV.

66. The second control device according to any one of claims 60 to 65, wherein, The second processor invokes the instructions stored in the second memory to perform the following operations: When the control mode of the UAV is the first control mode, the second display module is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and target indication information is displayed. The target indication information is determined based on the control of the UAV by the UAV operator.

67. The second control device according to any one of claims 60 to 65, wherein, When the control mode of the drone is the second control mode, the display modes of the second control device include a third display mode and a fourth display mode; the second processor calls the instructions stored in the second memory to perform the following operations: When the display mode of the second control device is the third display mode, the second display module is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV. When the display mode of the second control device is the fourth display mode, the second display module is controlled to display the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and to display target indication information, which is determined based on the control of the UAV by the UAV operator.

68. The second control device according to claim 67, wherein, The second processor also invokes instructions stored in the second memory to perform the following operations: Before displaying the flight heading image, the second target view image, or the current display image of the first control device of the UAV, and before displaying the target indication information, the second display module is controlled to display a second selection control, wherein the second selection control is used to select the display mode of the second control device from the third display mode and the fourth display mode; In response to a trigger operation on the second selection control, the display mode of the selected second control device is determined.

69. The second control device according to any one of claims 60 to 65, wherein, When the control mode of the drone is the second control mode, the permissions of the second control device do not include the operation and control permissions for the drone.

70. The second control device according to any one of claims 60 to 65, wherein, The second processor also invokes instructions stored in the second memory to perform the following operations: When the control mode of the drone is the first control mode, the second display module is controlled to display the first control, which is used to prompt the user to stop sharing the images captured by the drone to different control devices. In response to a trigger operation on the first control, the reception of images captured by the drone is stopped; Alternatively, when the control mode of the drone is the first control mode or the second control mode, in response to the disconnection of the connection between the first control device and the second control device, the reception of images acquired by the drone is stopped.

71. The second control device according to claim 70, wherein, The second processor also invokes instructions stored in the second memory to perform the following operations: In response to a trigger operation on the first control or when the connection between the first control device and the second control device is disconnected, the second display module is controlled to display an alarm message when it is determined that the drone has not entered a safety protection state.

72. A target control device, comprising: The third communication module is used to acquire image data collected by the UAV and to communicate with the first control device of the UAV, wherein the target control device and the first control device are different devices; The target display module is used to display the image. The third memory is used to store instructions; The third processor invokes the instructions stored in the third memory to perform the following operations: When the control mode of the UAV is the first control mode, the target display module displays the flight heading image, the third target view image, or the current display image of the first control device of the UAV. The flight heading image is determined from the image data based on the flight heading of the UAV, and the third target view image is determined from the image data based on the viewing angle adjustment operation of the target control device. The target control device and the first control device are different devices. When the control mode of the UAV is the first control mode, the target control device has the authority to operate and control the UAV.

73. The target control device according to claim 72, wherein, The third processor invokes the instructions stored in the third memory to perform the following operations: In response to a screen switching operation for the target control device, the target display module is controlled to display the corresponding screen, wherein the screen switching operation is used to switch the display of the screen between the flight heading screen, the third target view screen, and the current display screen of the first control device of the UAV.

74. The target control device according to claim 73, wherein, The screen switching operation includes at least one of the following: Triggering operation for the control components configured on the target control device; Triggering operations for the visualization interface displayed by the target display module; The control components include at least one of the following: a joystick, a scroll wheel, and a preset button.

75. The target control device according to claim 72, wherein, The third processor invokes the instructions stored in the third memory to perform the following operations: The target display module is controlled to display the flight heading image, the third target view image, or the current display image of the first control device of the UAV, and to display target indication information, which is determined based on the control of the UAV by the UAV operator.

76. The target control device according to any one of claims 72 to 75, wherein, The third processor also invokes instructions stored in the third memory to perform the following operations: When the control mode of the drone is the first control mode, the first control is displayed through the target display module. The first control is used to prompt the user to stop sharing the images collected by the drone to different control devices. In response to a trigger operation on the first control, the reception of images captured by the drone is stopped; Alternatively, when the control mode of the UAV is the first control mode, in response to the image transmission connection between the target control device and the first control device being disconnected, the reception of images acquired by the UAV is stopped.

77. The target control device according to claim 76, wherein, The third processor also invokes instructions stored in the third memory to perform the following operations: In response to a trigger operation on the first control or when the image transmission connection between the target control device and the first control device is disconnected, an alarm message is displayed when it is determined that the drone has not entered a safety protection state.

78. The target control device according to claim 76, wherein, The third processor also invokes instructions stored in the third memory to perform the following operations: Before ceasing to receive images acquired by the drone, control the drone to enter a safety protection state.

79. A target control device, comprising: The fourth communication module is used to communicate with the UAV; The fourth memory is used to store instructions; The fourth processor invokes the instructions stored in the fourth memory to perform the following operations: When the control mode of the drone is the first control mode or the second control mode, the drone is operated to fly; When the control mode of the drone is the first control mode, the first control device of the drone has the shooting control authority for the current display screen of the first control device, and the second control device of the drone has the operation control authority for the drone. When the control mode of the drone is the second control mode, the first control device has the authority to operate and control the drone, and the second control device has the authority to take pictures of the current display screen of the second control device. The target control device, the first control device and the second control device are different devices.

80. An unmanned aerial vehicle (UAV), comprising: The image acquisition module is used to acquire image data; The fifth communication module is used to communicate with the target control device of the UAV; The fifth memory is used to store instructions; The fifth processor invokes the instructions stored in the fifth memory to perform the following operations: Image data is acquired through the image acquisition module; the image data is sent to the control device of the UAV; the control device includes a first control device of the UAV and / or a target control device of the UAV, the target control device has the operation and control authority for the UAV, and the target control device is a different device from the first control device; When the control mode of the drone is the first control mode, the first control device of the drone has the authority to shoot a picture of a first target viewpoint, which is determined from the image data based on the viewing angle adjustment operation of the first control device; when the control mode of the drone is the second control mode, the first control device of the drone has the authority to operate the drone.

81. The method according to claim 80, wherein, The image data includes the flight heading of the UAV, which is determined from the image data based on the flight heading of the UAV.

82. The method according to claim 80, wherein, The target control device includes the motion control device of the UAV.

83. The method according to claim 80, wherein, The first control device includes a head-mounted display device.

84. The method according to claim 80, wherein, The target control device includes a target display module, and the first control mode represents a mode in which the target display module of the target control device displays images and / or interacts with the UAV operator.

85. The method according to claim 80, wherein, The first control mode refers to a mode in which the drone operator displays and / or interacts with the screen through the second control device, and the target control device and the second control device are different devices.

86. The method according to claim 80, wherein, The second control mode refers to the mode in which the first control device displays and / or interacts with the drone operator.

87. The method according to any one of claims 80 to 86, wherein, When the control mode of the drone is the first control mode, the permissions of the first control device do not include the operation and control permissions for the drone.

88. The method according to claim 80, wherein, The fifth processor also invokes instructions stored in the fifth memory to perform the following operations: Upon receiving the safety protection command from the drone, it controls itself to enter a safety protection state.

89. The method according to claim 80, wherein, The fifth processor also invokes instructions stored in the fifth memory to perform the following operations: When it is determined that the communication connection between the UAV and the target control device is lost, the control system enters a safety protection state.

90. The method according to claim 88 or 89, wherein, The fifth processor invokes the instructions stored in the fifth memory to perform the following operations: Control itself to hover at the current position; or, control itself to return to the preset return point; or, control itself to land at the current position.

91. A drone control system, comprising a drone as described in any one of claims 80 to 90, at least one first control device as described in any one of claims 46 to 59, and at least one target control device as described in any one of claims 72 to 79, wherein the drone is communicatively connected to the first control device, and the target control device is communicatively connected to the first control device or to the drone.

92. The system according to claim 91, wherein, The system further includes at least one second control device as described in any one of claims 60 to 71, the second control device being in communication connection with the first control device.

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