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WO2018098784A1 - 无人机的控制方法、装置、设备和无人机的控制系统 - Google Patents

无人机的控制方法、装置、设备和无人机的控制系统 Download PDF

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Publication number
WO2018098784A1
WO2018098784A1 PCT/CN2016/108260 CN2016108260W WO2018098784A1 WO 2018098784 A1 WO2018098784 A1 WO 2018098784A1 CN 2016108260 W CN2016108260 W CN 2016108260W WO 2018098784 A1 WO2018098784 A1 WO 2018098784A1
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WO
WIPO (PCT)
Prior art keywords
drone
target object
tracking
mode
flight mode
Prior art date
Application number
PCT/CN2016/108260
Other languages
English (en)
French (fr)
Inventor
郭灼
栗培梁
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/108260 priority Critical patent/WO2018098784A1/zh
Priority to CN201680003293.6A priority patent/CN107000839B/zh
Publication of WO2018098784A1 publication Critical patent/WO2018098784A1/zh
Priority to US16/428,247 priority patent/US20190317502A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the embodiment of the invention relates to the technical field of drones, and in particular to a control method, device, device and control system for a drone.
  • a drone carrying a payload eg, a camera
  • Tracking and flight navigation methods can be based on global positioning system data or camera vision.
  • the development of practical applications of tracking/navigation has been hampered by the lack of easy-to-use interactive control and guidance systems.
  • the operator needs to manually select the target object, and manually control the drone/camera to move to or follow the target object.
  • the control method is complicated, the operator is required to be high, and the easy-to-use interactive system is lacking. Machine control.
  • Embodiments of the present invention provide a control method, device, device, and control system for a drone, which are used to simplify the control mode of the UAV and improve the operational efficiency of the UAV flight.
  • an embodiment of the present invention provides a method for controlling a drone, including:
  • the first operation on the interactive interface is detected.
  • an embodiment of the present invention provides a control device for a drone, including:
  • the detecting module is configured to detect the first operation on the interactive interface.
  • a control module configured to determine, according to the first operation, a flight mode of the triggered drone, and control the drone to fly according to the flight mode.
  • an embodiment of the present invention provides a control device for a drone, including: an interaction interface and a processor.
  • the interaction interface is configured to detect a first operation.
  • the processor is configured to determine a flight mode of the triggered drone according to the first operation, and control the drone to fly according to the flight mode.
  • an embodiment of the present invention provides a control system for a drone, including: a drone and a control device of the drone provided by the third aspect of the present invention.
  • the control method, device, device and control system of the drone provided by the embodiment of the invention detect the first operation of the interaction interface, select the flight mode of the drone through the first operation, and control the drone Flight in flight mode triggered by the first operation.
  • the utility model overcomes the defect that the manual operation is required to control the drone to fly according to the selected flight mode, simplifies the operation process of selecting the flight mode of the drone, and improves the operation efficiency of controlling the drone.
  • FIG. 1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of controlling a drone to fly in a horizontal surround tracking mode according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a second operation according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of controlling a drone to fly in a vertical surround tracking mode according to an embodiment of the present invention
  • FIG. 6 is still another schematic diagram of a second operation according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of controlling a drone to fly in a remote or near tracking mode according to an embodiment of the present invention.
  • FIG. 8 is still another schematic diagram of a second operation according to an embodiment of the present invention.
  • FIG. 9 is still another schematic diagram of a second operation according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of controlling a drone to control flight in accordance with a composition adjustment tracking mode according to an embodiment of the present invention
  • FIG. 11 is a schematic structural diagram of a control device 300 for a drone according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a control device 400 for a drone according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a control system 600 for a drone according to an embodiment of the present invention.
  • Embodiments of the present invention provide a control method, apparatus, device, and control system for a drone of a drone.
  • the following description of the invention uses a drone as an example of a drone. It will be apparent to those skilled in the art that other types of drones can be used without limitation, and embodiments of the present invention can be applied to various types of drones.
  • the drone can be a small or large drone.
  • the drone may be a rotorcraft, for example, a multi-rotor drone powered by air by a plurality of pushing devices, embodiments of the invention are not limited thereto, drones It can also be other types of drones.
  • FIG. 1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention. This embodiment is described by taking a rotorless drone as an example.
  • the unmanned flight system 100 can include a drone 110, a pan/tilt head 120, a display device 130, and a steering device 140.
  • the drone 110 can include a power system 150, a flight control system 160, and a rack 170.
  • the drone 110 can be in wireless communication with the manipulation device 140 and the display device 130.
  • Rack 170 can include a fuselage and a stand (also known as a landing gear).
  • the fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame.
  • the tripod is coupled to the fuselage for supporting when the drone 110 is landing.
  • the powertrain 150 may include an electronic governor (referred to as ESC) 151, one or more propellers 153, and one or more motors 152 corresponding to one or more propellers 153, wherein the motor 152 is coupled to the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the corresponding arm; the electronic governor 151 is configured to receive the driving signal generated by the flight control system 160, and provide a driving current to the motor 152 according to the driving signal to control The rotational speed of the motor 152.
  • Motor 152 is used to drive the propeller to rotate to power the flight of drone 110, which enables drone 110 to achieve one or more degrees of freedom of motion.
  • the drone 110 can be rotated about one or more axes of rotation.
  • the above-described rotating shaft may include a roll axis, a pan axis, and a pitch axis.
  • the motor 152 can be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brush motor.
  • Flight control system 160 may include flight controller 161 and sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system can be a global positioning system (English: Global Positioning System, referred to as: GPS) or.
  • the flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 in accordance with pre-programmed program instructions, or may control the drone 110 in response to one or more control commands from the steering device 140.
  • the pan/tilt 120 can include an ESC 121 and a motor 122.
  • the pan/tilt is used to carry the photographing device 123.
  • the flight controller 161 can control the motion of the platform 120 through the ESC 121 and the motor 122.
  • the platform 120 may further include a controller for controlling the movement of the platform 120 by controlling the ESC 121 and the motor 122.
  • the platform 120 can be independent of the drone 110 or a portion of the drone 110.
  • the motor 122 can be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brush motor.
  • the gimbal can be located at the top of the drone or at the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller.
  • the display device 130 is located at the ground end of the unmanned flight system 100, can communicate with the drone 110 wirelessly, and can be used to display attitude information of the drone 110. In addition, an image taken by the photographing device can also be displayed on the display device 130. It should be understood that the display device 130 may be a stand-alone device or may be disposed in the manipulation device 140.
  • the handling device 140 is located at the ground end of the unmanned flight system 100 and can be wirelessly and without
  • the human machine 110 communicates for remote manipulation of the drone 110.
  • the control device may be, for example, a remote controller or a user terminal equipped with an application (English: Application, referred to as APP) for controlling the drone. Since it is a terminal device configured with a touch screen, the user can pass the touch screen to the terminal device to the unmanned person.
  • the machine outputs a flight control command or a camera command, such as one or more of a remote controller, a laptop, a smart phone, a tablet, a ground control station, a smart watch, a smart bracelet, and the like.
  • the user's input is received by the manipulation device, and the drone can be controlled by the input device of the pull wheel, the button, the button, the joystick, or the user interface (UI) on the user terminal. .
  • FIG. 2 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • the interactive interface is an important component of the control device and is an interface that interacts with the user.
  • the user can operate the interactive interface to control the drone, and the interactive interface can also display all parameters of the flight of the drone.
  • the user can display the screen taken by the drone; when the user wants to control the flight of the drone, the user operates the interaction interface of the control device, and the control device detects the operation of the user through the interaction interface.
  • the control device may be the operating device 140 of the foregoing part, and details are not described herein again.
  • S202 Determine, according to the first operation, a flight mode of the triggered drone, and control the drone to fly according to the flight mode.
  • the flight path of the drone, the control mode of the drone, and the functions realized by the drone can be different.
  • the user may perform a first operation on the interactive interface to select different flight modes, wherein the first operation may include multiple forms of operations, different operation modes may correspond to different flight modes, and the interaction interface detects the first operation.
  • the control device determines the flight mode of the corresponding drone according to the detected first operation, and controls the drone according to the flight mode of the drone corresponding to the first operation.
  • the control method of the drone detects the first operation on the interactive interface, The drone is controlled to fly directly according to the flight mode of the drone determined according to the first operation. It avoids the user's first operation, recalls and displays all the flight modes of the drone, and then performs an operation to select the flight mode of the drone, and finally clicks OK to control the drone according to the corresponding flight mode.
  • the flight situation overcomes the need to perform multiple manual operations to control the drone's flight in the selected flight mode, simplifies the operation process of selecting the flight mode of the drone, and improves the efficiency of controlling the flight of the drone.
  • the flight mode triggered by the first operation is a contact operation
  • the flight mode triggered by the first operation is a pointing flight mode
  • the pointing flight mode is used to indicate that the drone operates toward the contact Flying in a direction indicated in the photographing screen
  • controlling the drone to fly in accordance with the flight mode comprises: controlling the drone to fly in accordance with the pointing flight mode.
  • the interactive interface can detect the pressing or contacting of the finger by the user.
  • the operation is a contact operation, that is, when the user presses or touches the interactive interface of the display shooting screen with one finger, the interactive interface This contact will be detected.
  • the first operation will trigger the pointing flight mode in the flight mode.
  • the direction of flight can be determined in the shooting picture, and the drone can fly in the direction determined by the contact.
  • the directional flight of the drone This method of operation of the drone is simple and simple, and it is achieved in which direction the user points in the shooting picture, and in which direction the drone will fly.
  • the flight mode triggered by the first operation is a tracking flight mode; and the frame operation is used to select an object selected in the shooting picture as a target object of the tracking.
  • the tracking flight mode instructs the drone to track flight of the target object; the controlling the drone to fly according to the flight mode comprises: controlling the drone to follow a flight mode of tracking The target object is tracked and flighted.
  • the interaction interface can detect the contact of the user's finger, and when the operation is a frame operation, the user presses or touches the interaction interface of the display image with one finger, and while keeping pressing or contacting Drag the finger, and a rectangular frame will be formed on the interactive interface.
  • the drone When the rectangular frame is selected to the subject, or the rectangular frame formed by the drag covers part or the whole of the subject, the drone will It is determined as the target object of the tracking, and the drone will track the target object at the same time, and at the same time, it can be photographed by the camera carried by the drone.
  • the controlling the UAV to track the target object according to the tracking flight mode comprises: controlling the drone according to the tracking flight mode The sub-mode tracks the flight to the target object.
  • the drone will track the target, and the drone changes its position as the target moves to achieve tracking of the target object.
  • the tracking flight mode includes multiple sub-modes, wherein each seed mode can implement different functions in the tracking flight mode, and the user can select a sub-mode for tracking the flight mode by performing a second operation on the interaction interface to ensure that no one is available. While tracking the target object, the machine can also implement specific functions of the sub-mode.
  • the control device controls the drone according to the tracking flight sub-mode triggered by the second operation.
  • the drone when the user interface detects the second operation, the drone will continue to fly in accordance with the sub-mode of the tracking flight triggered by the second operation until receiving a signal to stop the sub-mode; In the case that when the user interface detects the second operation, the unmanned person flies according to the sub-mode of the tracking flight triggered by the second operation, and the operation of the second operation changes the position of the drone in the air until the second The operation stops or the second operation fails.
  • a feasible implementation manner of S202 is: controlling the drone to perform tracking flight on the target object according to the sub-mode of the tracking flight mode.
  • the sub-module of the tracking flight mode may be: monitoring (English: watch), following (English: track), surround (English: circle), horizontal surround tracking flight, vertical surround tracking flight, etc.; the embodiment is not limited thereto. It avoids the defect that the user needs to perform multiple manual operations to select the sub-mode of tracking flight mode, simplifies the operation process of selecting the sub-mode of the tracking flight mode of the drone, and improves the efficiency of controlling the flight of the drone.
  • the sub-mode of the tracking flight mode is a horizontal surround tracking flight mode
  • the horizontal surround tracking mode is used to indicate that the drone is centered on a target object, and the drone is maintained with the target object.
  • the basic distance is unchanged, and the flight is tracked around the target object on a horizontal plane;
  • the controlling the drone to track the target object according to the sub-mode of the tracking flight mode includes: generating according to the second operation The amount of the joystick is controlled to control the drone to track the target object in a horizontal surround tracking mode.
  • the sub-mode of the tracking flight mode is a horizontal surround tracking flight mode
  • the second operation triggers a horizontal surround tracking flight mode, as shown in FIG. 3, in a horizontal surround tracking flight mode.
  • the unmanned object keeps the distance from the target object substantially unchanged, and the drone performs the surround tracking flight on the target object at a certain level, that is, the drone is wound on the circular track as shown in FIG.
  • the target object flies; when the user performs the second operation on the interactive interface, and the sub-mode of the tracking flight mode triggered by the second operation is the horizontal surround tracking flight mode, the control device converts the second operation into a corresponding control lever amount.
  • the control device sends the amount of the control rod to the drone, and after receiving the amount of the control rod, the drone controls the drone according to the amount of the control rod, thereby changing the level of the drone.
  • the position around the target object when flying that is, changing the position of the drone on the circular trajectory.
  • the nose or the pan/tilt of the drone is also adjusted, so that the camera of the drone is aligned with the target object.
  • the second operation generates a lever amount for controlling one or more of a flight speed, a flight direction, a flight distance, and an acceleration of the drone.
  • the second operation is at least one contact operation and moves to the left based on the at least one contact; moving to the left indicates movement in a negative axis direction along a U-axis of the image coordinate system;
  • the amount of the control rod generated by the second operation controlling the drone to track the target object according to the horizontal surround tracking mode, comprising: controlling the drone according to the amount of the control rod generated by the second operation
  • the target object is centered to fly horizontally in a counterclockwise or clockwise direction.
  • the second operation is at least one contact operation and moves to the left based on the at least one contact, ie when the user presses or touches the interactive interface with at least one finger, and while keeping the pressing or touching, the finger is left Movement, wherein, as shown in FIG. 4, in the interactive interface of the control device, the direction is defined by the image coordinate system, and the movement to the left means that the finger moves along the negative axis direction of the U-axis of the image coordinate system, the user When the finger presses or touches the contact X formed by the user interface to move in the negative axis direction of the U-axis (such as the V 3 direction shown in FIG.
  • the control device generates a corresponding amount of the control lever, and the control device sends the control lever amount to UAV, UAV according to the amount of the control lever, the UAV control to the target object centered in the counterclockwise direction (FIG. 3 shown in FIG. 1 V) or clockwise direction (FIG. 3
  • the V 2 horizontally surrounds the flight, whether it is a clockwise rotation or a counterclockwise rotation.
  • the user can set it himself, which is not specifically limited here. At this time, according to the direction in which the finger moves, the direction of the drone's horizontal surrounding flight is controlled, and the position of the drone on the circular trajectory is changed.
  • the leftward movement here is not strictly limited to the direction parallel to the U axis, wherein the angle between the moving direction and the U axis is less than a certain angle threshold, and can be considered to be moving to the left, and no specificity is made here. Limited.
  • the second operation is at least one contact operation and moves to the right based on the at least one contact; moving to the right indicates moving in a positive coordinate direction along the U axis in the image coordinate system in the image coordinate system;
  • the drone is horizontally orbited in a clockwise or counterclockwise direction centering on the target object.
  • the second operation is at least one contact operation and moves to the right based on the at least one contact, ie when the user presses or touches the interactive interface with at least one finger, and while keeping pressing or touching, the finger is rightward Movement, wherein, as shown in FIG. 4, in the interactive interface of the control device, the direction of the direction is defined by the image coordinate system, and the movement to the right means that the finger moves along the positive axis direction of the U-axis of the image coordinate system.
  • the contact X formed by the user's finger pressing or touching the user interface moves toward the positive axis of the U-axis (as shown in the V 4 direction shown in FIG.
  • the drone can control the drone to rotate counterclockwise (V 1 as shown in FIG. 3) or clockwise according to the target amount, as shown in FIG. V 2 )
  • the direction is horizontally orbiting, and whether the clockwise rotation or the counterclockwise rotation can be set by the user, and is not specifically limited herein.
  • the direction of the drone's horizontal surrounding flight is controlled, and the position of the drone on the circular trajectory is changed.
  • the movement to the right here is not strictly limited to the direction parallel to the U axis, wherein the angle between the moving direction and the U axis is less than a certain angle threshold, and can be considered to be moving to the right, and no specificity is made here. Limited.
  • the embodiment further controls, according to the amount of the control rod generated by the second operation, that the drone is horizontally orbitally flying in a clockwise or counterclockwise direction centering on the target object until the at least one contact Stop moving.
  • the drone is controlled to stop flying horizontally in a clockwise or counterclockwise direction centering on the target object.
  • the shooting picture taken by the drone to track the target object in the horizontal surround tracking mode may be displayed to the user through the interactive interface.
  • the nose or the pan/tilt of the UAV is also adjusted in the embodiment, so that the unmanned person The camera of the machine is aimed at the target object. This allows the drone to keep track of the state of the target object.
  • the sub-mode of the tracking flight mode is a vertical surround tracking flight mode
  • the vertical surround tracking mode is used to indicate that the drone is centered on a target object, and the drone is maintained with the target object.
  • the basic distance is unchanged, and the flight is tracked around the target object on the vertical plane;
  • the controlling the drone to track the target object according to the sub-mode of the tracking flight mode includes: generating according to the second operation The amount of the joystick controls the drone to track the target object in a vertical surround tracking mode.
  • the unmanned opportunity remains The distance of the target object is basically unchanged.
  • the drone performs a surround tracking flight on the target object in a specific vertical plane.
  • the sub-mode of the tracking flight mode triggered by the second operation is When the vertical surround tracking flight mode is accompanied by the user performing the second operation on the interactive interface, the control device converts the second operation into a corresponding amount of the control lever, and the control device transmits the control lever amount to the drone, and no one After receiving the amount of the control rod, the machine controls the unmanned aerial vehicle according to the amount of the control rod, thereby changing the position of the drone on the vertical arc around the user's flight. As shown in FIG. 5, in this embodiment, the nose or the pan/tilt of the drone is also adjusted, so that the camera of the drone is aligned with the target object.
  • the second operation is at least one contact operation and moves upward based on the at least one contact; the upward movement indicates movement in a negative axis direction along a V axis of the image coordinate system; Controlling the amount of the generated lever, controlling the drone to track the target object according to the vertical surround tracking mode, comprising: controlling the drone according to the amount of the control rod generated by the second operation The target object is centered around the flight away from the ground.
  • the second operation is at least one contact operation and moves upward based on the at least one contact, ie when the user presses or touches the interactive interface with at least one finger, and while keeping the pressing or touching, the finger moves upwards
  • the direction is defined by the image coordinate system
  • the upward movement means that the finger moves along the negative direction of the V axis of the image coordinate system, and the user presses or touches the finger.
  • the contact X formed by the user interface moves toward the negative axis of the V axis (as shown in the V 7 direction shown in FIG.
  • the man-machine can control the drone to be centered on the target object along the circular arc-shaped track as shown in FIG. 5 in a direction away from the ground according to the amount of the control lever (V 5 as shown in FIG. 5 ).
  • the upward movement here is not strictly limited to the direction parallel to the V axis, wherein the angle between the moving direction and the V axis is less than a certain angle threshold, and can be considered as upward movement, and no specific limitation is made here. .
  • the second operation is at least one contact operation and moves downward based on the at least one contact; the downward movement represents moving in a positive coordinate direction along the V axis in the image coordinate system in the image coordinate system;
  • the drone is orbited in a direction close to the ground centering on the target object.
  • the second operation is at least one contact operation and moves downward based on the at least one contact, ie when the user presses or touches the interactive interface with at least one finger, and while keeping pressing or touching, the finger is down Moving, wherein, as shown in FIG. 6, in the interactive interface of the control device, the direction is defined by the image coordinate system, and the downward movement means that the finger moves along the positive axis direction of the V axis of the image coordinate system, the user The contact X formed by the finger pressing or touching the user interface moves toward the positive axis direction of the V axis.
  • the finger moves downward (in the V 8 direction as shown in FIG.
  • the control device generates a corresponding amount of the control lever, and the control device Sending the amount of the control rod to the drone, and the drone can control the drone to be centered on the target object along the circular arc track as shown in FIG. 5 according to the amount of the control rod
  • the direction (V 6 as shown in Figure 5) surrounds the flight.
  • the downward movement here is not strictly limited to the direction parallel to the V axis, wherein the angle between the moving direction and the V axis is less than a certain angle threshold, and can be considered as moving upward, and no specific is made here. limited.
  • controlling the drone to track the target object according to a vertical surround tracking mode comprises: controlling the drone to fly around in a direction away from the ground until the drone is located in the Directly above the target object; or, controlling the drone to fly around the ground until the head of the drone is limited; or controlling the drone to fly around in the direction of the ground until The distance between the drone and the obstacle on the ground or the ground is less than or equal to the first preset distance.
  • this embodiment also controls the drone to keep the target object flying directly above the target object, and does not continue to fly because the drone is using the camera mounted on the pan/tilt to target.
  • the object is tracking, when the drone flies directly above the target object, the pitch axis of the pan/tilt will reach the maximum rotation angle, when the drone flies past the target from front to back.
  • the drone cannot continue tracking the target object.
  • the embodiment controls the drone to keep track of the target object at the current position.
  • the shooting angle of the camera mounted on the pan/tilt is parallel to the horizontal plane
  • the cloud The pitch axis of the table will reach the maximum angle of the upward rotation.
  • the drone's camera cannot track and shoot the target.
  • the drone may have ground Or the danger of a ground obstacle colliding, at this time controlling the drone to stop flying in the direction of approaching the ground. Even if the user moves the contact down again, the embodiment controls the drone to keep track of the target object flying at the current position.
  • the sub-mode of the tracking flight mode is away from the tracking flight mode; the far-tracking flight mode is used to instruct the drone to fly in a direction away from the target object.
  • Controlling the drone to track the target object according to the sub-mode of the tracking flight mode including: controlling the drone according to the far-tracking flight mode according to the amount of the control rod generated by the second operation The target object performs tracking flight.
  • the drone when the sub-mode of the tracking flight mode is away from the tracking flight mode, that is, the second operation triggers away from the tracking flight mode, as shown in FIG. 7, in the far-tracking flight mode, the drone is maintaining the target object. Under the premise of tracking, it will fly away from the target object.
  • the control device converts the second operation into corresponding The amount of the control rod
  • the control device will send the amount of the control rod to the drone
  • the drone will control the drone according to the amount of the control rod, thereby increasing The distance between the large drone and the target object.
  • the embodiment further adjusts the nose or the pan/tilt of the drone so that the camera of the drone is aligned with the target object.
  • the second operation is two contact operations and at least one of the contacts moves toward each other.
  • the second operation is two contact operations and the relative movement is based on the at least one contact, that is, when the user presses or touches the interactive interface with at least one finger, a contact corresponding to the finger is formed on the interaction interface, while keeping the finger is pressed or a touch interface, between the fingers move toward, 8
  • two contacts X 1, X 2 the user presses a finger or a touch user interface formed relatively close ( Figure 8 V 11 and V 12 )
  • the control device generates a corresponding amount of the control rod, and the control device sends the control rod amount to the drone, and the drone can be based on the amount of the control rod.
  • UAV to control the direction away from the target object (as shown in FIG. 79 V) flight.
  • two contacts are schematically illustrated, and the effect can be achieved by moving two or more contacts in opposite directions, which is not specifically limited herein.
  • the remote tracking flight mode is specifically configured to instruct the UAV to fly in a direction away from the target object along a connection between the drone and the target object.
  • the drone determines the connection between the position of the target object and the current position of the drone, and the unmanned person follows the connection. Flying away from the target object, this can effectively ensure that the drone's tracking and shooting angle of the target object is unchanged, enabling near and far shooting.
  • controlling the drone to track the target object according to the remote tracking flight mode comprising: controlling the drone to fly a first distance away from the target object, the first A distance is N times the reduced distance between the two contacts, the N being a positive number.
  • the distance between the two contacts is reduced by D1
  • the distance of the drone away from the target object can be controlled according to the reduced distance D1 between the two contacts.
  • the reduced distance is mapped to the distance of the drone from the flight.
  • the distance that the UAV controls the UAV to fly away from the target object is N*D1.
  • the size of N can be set in advance or set by the user.
  • controlling the drone to track the target object according to the remote tracking flight mode comprising: controlling the drone to fly away from the target object until the drone is The distance between the target objects is greater than or equal to a second predetermined distance.
  • the embodiment controls the drone to fly away from the target object, when between the drone and the target object.
  • the embodiment controls the drone to stop flying in a direction away from the target object.
  • the second preset distance may be the maximum distance between the user and the drone, or may be set by the user, and the second preset distance may also be according to the target object. The size of the decision.
  • controlling the drone to track the target object according to the remote tracking flight mode comprises: controlling the drone to fly in a direction away from the target object until the target object
  • the proportion of the interactive interface or the photographing screen is a first preset ratio.
  • the drone is controlled to fly away from the target object, and the target object is in the interaction interface or the shooting screen.
  • the drone is controlled to be farther away when the ratio of the image of the target object captured by the camera of the drone to the interactive interface or the ratio of the captured image is the first preset ratio.
  • the direction of the target object is flying.
  • the first preset ratio can be set by a user.
  • the sub-mode of the tracking flight mode is a near-tracking flight mode; the near-tracking flight mode is used to instruct the drone to fly in a direction close to the target object.
  • the controlling the drone to track the target object according to the sub-mode of the tracking flight mode comprising: controlling the drone to follow the tracking flight according to the amount of the control rod generated by the second operation The mode tracks the flight of the target object.
  • the control device converts the second operation into a corresponding control lever amount, and the control device will control the lever
  • the quantity is sent to the drone, and after receiving the amount of the control rod, the drone will perform corresponding control on the drone according to the amount of the control rod, and reduce the drone while tracking the target object.
  • the embodiment further adjusts the nose or the pan/tilt of the drone so that the camera of the drone is aligned with the target object.
  • the second operation is two contact operations and at least one of the contacts is moved back.
  • the second operation is two contact operations and the back movement is based on the at least one contact
  • the control device will generate the corresponding amount of control rods, and the control device will send the control rod amount to the drone, and the drone can be based on the amount of the control rod. And controlling the drone to fly in a direction close to the target object (V 10 as shown in FIG. 7).
  • the approaching tracking flight mode is specifically configured to instruct the drone to fly in a direction of approaching the target object along a line between the drone and the target object.
  • the drone determines the connection between the position of the target object and the current position of the drone, and the unmanned opportunity follows the connection. Flying close to the target object, this can effectively ensure that the drone's tracking and shooting angle of the target object is unchanged, enabling shooting from far and near.
  • controlling the UAV to track the target object according to the near tracking flight mode comprises: controlling the UAV to fly a second distance in a direction close to the target object, where The two distances are M times the distance between the two contacts, and the M is a positive number.
  • the drone can be controlled to approach the target object according to the increased distance D2 between the two contacts.
  • the distance between the specific distance and the distance of the drone near the flight is formed. Specifically, when the increased distance is D2, the drone is controlled to fly toward the target object in this embodiment.
  • the distance is M*D2, where the size of N can be preset or set by the user.
  • controlling the drone to track the target object according to the near tracking flight mode comprises: controlling the drone to fly in a direction close to the target object until the drone is The distance between the target objects is less than or equal to a third preset distance.
  • the drone is controlled to fly toward the target object, when the drone and the target
  • the drone is controlled to stop flying in the direction of approaching the target object in this embodiment.
  • the third preset distance may be the closest distance between the user and the drone, or may be set by the user, and the third preset distance may also be determined according to the size of the target object in the shooting screen.
  • controlling the drone to track the target object according to the near tracking flight mode comprises: controlling the drone to fly in a direction close to the target object until the target object
  • the ratio of the interactive interface or the photographing screen is a second preset ratio.
  • the drone is controlled to fly toward the target object, and the target object is drawn.
  • the range or proportion of the surface becomes larger.
  • the control is not controlled in this embodiment.
  • the machine stops flying in the direction of approaching the target object.
  • the second preset ratio can be set by the user.
  • the second operation generates a lever amount for controlling one or more of a flight speed, a flight direction, a flight distance, and an acceleration of the drone.
  • the amount of the control lever generated by the second operation can control the drone, and can change the position of the drone in the air, and the second operation can control various motion parameters of the drone. Control the flight direction, flight speed, flight distance, and flight acceleration.
  • the amount of the lever may be acquired by one or more of a distance moved by the at least one contact, a direction of movement, a speed of movement, and an acceleration of movement.
  • the control device when the contact moves with the user's finger, the control device generates a corresponding amount of the control rod, wherein the amount of the control rod can be calculated according to the distance the contact moves, for example, in FIG. 4, when the finger moves, the The distance between the position of the finger after the movement and the original position of the finger is converted into the amount of the lever. In some embodiments, the speed of the finger movement can also be converted into the amount of the lever of the drone.
  • the movement of the contact is controlled by the moving direction of at least one contact, and the moving direction of the contact can also be converted into the amount of the control lever, and the horizontal surround tracking flight mode and vertical Surround tracking flight mode, when there are multiple contacts, the center point of multiple contacts can be used as an effective contact to calculate the amount of control rod.
  • controlling the UAV to track the target object according to the sub-mode of the tracking flight mode including: controlling the UAV to perform the target object according to the sub-mode of the tracking flight mode. Tracking flight is performed until the second operation stops operating or fails.
  • the control device calculates the amount of the control rod corresponding to the second operation, and when the second operation stops the operation, the control device no longer generates the amount of the lever, for example, in FIG. 4, if the user The finger stops moving on the interactive interface, and the second operation is stopped, and the control device no longer generates the corresponding amount of the lever; in addition, when the user's operation fails, the control device no longer generates the amount of the lever, for example, in FIG. 5, When the pan position of the loading camera is limited, even if the second operation continues, the operation is considered to be invalid, and at this time, the control device no longer generates the corresponding lever amount.
  • the vertical surround tracking flight mode, the remote tracking flight, the near tracking flight, and the horizontal surround tracking flight mode may be combined in pairs or multiple, that is, Using the second operation simultaneously achieves a plurality of vertical surround tracking flight modes, away from tracking flight, near tracking flight, and horizontal surround tracking flight modes, such as when the second operation is two contact operations, and the two contacts are facing away from each other And the two contacts move downwards, the movement achieved by the drone is that the drone is flying close to the ground while the drone is approaching the subject.
  • the corresponding respective second operations in the vertical surround tracking flight mode, the remote tracking flight, the near tracking flight, and the horizontal surround tracking flight mode may be combined with each other to achieve various tracking flight effects.
  • the sub mode of the tracking flight mode is a composition adjustment flight mode.
  • the controlling the UAV to track the target object according to the sub-mode of the tracking flight mode comprising: determining a specific range in the shooting image according to the second operation, and including a target image of the target object And controlling the drone to fly in a direction close to the target object until the target image reaches a preset range in the captured image.
  • a target image including a specific range of the target object is determined in the photographing screen, and then the drone is controlled to fly toward the target object, and accordingly, as the drone approaches the target object, the target The ratio of the image to the shooting screen or the interactive interface will become larger and larger.
  • the specific range reaches the preset range in the shooting screen, the drone is controlled to stop flying in the direction close to the target object, so that the user can select the target object by himself.
  • the image is in the middle size or proportion of the shooting picture, and the unmanned person automatically flies to the shooting position to form the composition desired by the user, avoiding the need for the user to manually operate the drone, adjusting the position of the drone to take the desired composition. , briefed the operation process.
  • the preset range is a range of the photographing screen.
  • the interactive interface displays a shooting screen.
  • the proportion of the target image of the specific range displayed on the interactive interface or the shooting screen is gradually increased, and when the specific range is all the shooting screen (For example, when the interactive interface displays a specific range in full screen), the drone is controlled to stop flying in the direction close to the target object, so that when the user selects the specific range, the drone can adjust the position in the air according to the specific range selected by the user.
  • the image in the range is occupied by the entire shooting screen, and no manual operation is required, and the user's operation level is low.
  • the specific range is a rectangular range proportional to a shooting screen or an interactive interface.
  • the user performs a second operation on the interactive interface, and the second operation can determine a rectangle proportional to the shooting screen or the interactive interface. After the rectangle is determined, the drone will track the flight close to the target object.
  • the second operation is two contact operations.
  • the second operation is two contact operations, that is, when the user touches or presses the interactive interface with two fingers, as shown in FIG. 10, two contacts (X 1 , X 2 ) are formed on the interaction interface, and the control is performed.
  • the device determines the particular range based on a finger touch or press, the particular range being a rectangle determined from the two contacts, which may be proportional to the shot screen or interactive interface.
  • the position of the two contacts is the position of the end of the rectangle.
  • the line connecting the two contacts is a diagonal of the rectangle.
  • the embodiment of the present invention can directly fly according to the flight mode determined by the first operation, and overcomes the defect that the manual operation is required to control the drone to fly according to the selected flight mode, and the flight mode of selecting the drone is simplified.
  • the operation process improves the efficiency of controlling the flight of the drone.
  • the position of the drone in the air can be changed according to the second operation, and various shooting effects can be realized by a simple operation.
  • the embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, and the program execution may include a part of the control method of the drone as shown in FIG. 2 and its corresponding embodiments. All steps.
  • FIG. 11 is a schematic structural diagram of a control device 300 for a drone according to an embodiment of the present invention.
  • the device in this embodiment may include: a detecting module 301 and a control module 302, where the detecting module 301 is configured to Detecting a first operation on the interaction interface; the control module 302 is configured to determine, according to the first operation, a flight mode of the triggered drone, and control the drone to fly according to the flight mode.
  • the flight mode triggered by the first operation is a contact operation
  • the flight mode triggered by the first operation is a pointing flight mode
  • the pointing flight mode is used to indicate that the drone operates toward the contact Fly in the direction indicated in the shooting screen.
  • the control module 302 is specifically configured to: control the drone to fly according to the pointing flight mode.
  • the flight mode triggered by the first operation is a tracking flight mode; and the frame operation is used to select an object selected in the shooting picture as a target object of the tracking.
  • the tracking flight mode instructs the drone to perform tracking flight on the target object.
  • the control module 302 is specifically configured to: control the drone to perform tracking flight on the target object according to a tracking flight mode.
  • the detecting module 301 is further configured to: after detecting the first operation on the interaction interface, A second operation of the interactive interface is detected; the second operation is for determining a sub-mode of the tracking flight mode of the drone.
  • the control module 302 is specifically configured to: control the drone to perform tracking flight on the target object according to the sub-mode of the tracking flight mode.
  • the sub-mode of the tracking flight mode is a horizontal surround tracking flight mode
  • the horizontal surround tracking mode is used to indicate that the drone is centered on a target object, and the drone is maintained with the target object.
  • the distance is essentially constant, and the flight is tracked around the target object on a horizontal plane.
  • the control module 302 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to the horizontal surround tracking mode.
  • the second operation is at least one contact operation and moves to the left based on the at least one contact; moving to the left indicates movement in a negative axis direction along the U axis of the image coordinate system.
  • the control module 302 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to fly horizontally in a counterclockwise or clockwise direction centering on the target object.
  • the second operation is at least one contact operation and moves to the right based on the at least one contact; moving to the right indicates movement in a positive coordinate direction along the U-axis in the image coordinate system in the image coordinate system.
  • the control module 302 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to fly horizontally in a clockwise or counterclockwise direction centering on the target object.
  • the sub-mode of the tracking flight mode is a vertical surround tracking flight mode; the vertical surround tracking mode is used to indicate that the drone is centered on the target object, and the distance between the drone and the target object is substantially unchanged. Track the flight around the target object on a vertical plane.
  • the control module 302 is configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to a vertical surround tracking mode.
  • the second operation is at least one contact operation and moves upward based on the at least one contact.
  • the upward movement means moving along the negative axis direction of the V axis in the image coordinate system;
  • the control module 302 is configured to: control the drone to the target object according to the amount of the control rod generated by the second operation Fly around the center in a direction away from the ground.
  • the second operation is at least one contact operation and moves downward based on the at least one contact.
  • the downward movement means moving along the positive axis direction of the V axis in the image coordinate system;
  • the control module 302 is specifically configured to: control the drone to the target according to the amount of the control rod generated by the second operation
  • the object is centered around the flight in the direction of the ground.
  • control module 302 is specifically configured to: control the drone along the ground The direction is flying around until the drone is directly above the target object. Alternatively, the drone is controlled to fly around in a direction close to the ground until a limit is reached for the head of the drone. Alternatively, the drone is controlled to fly around in a direction close to the ground until the distance between the drone and the obstacle on the ground or the ground is less than or equal to the first predetermined distance.
  • the sub-mode of the tracking flight mode is away from the tracking flight mode; the far-tracking flight mode is used to instruct the drone to fly in a direction away from the target object.
  • the control module 302 is configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to the remote tracking flight mode.
  • the second operation is two contact operations and at least one of the contacts moves toward each other.
  • the remote tracking flight mode is specifically configured to instruct the UAV to fly in a direction away from the target object along a connection between the drone and the target object.
  • control module 302 is configured to: control the UAV to fly away from the target object until a distance between the UAV and the target object is greater than or equal to a second pre- Set the distance.
  • control module 302 is configured to: control the drone to fly in a direction away from the target object until a ratio of a screen of the target object to the interaction interface or a photographing screen is a first pre-predetermined Set the ratio.
  • the sub-mode of the tracking flight mode is a near-tracking flight mode; the near-tracking flight mode is used to instruct the drone to fly in a direction close to the target object.
  • the control module 302 is configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to a near tracking flight mode.
  • the second operation is two contact operations and at least one of the contacts is moved back.
  • the approaching tracking flight mode is specifically configured to instruct the drone to fly in a direction of approaching the target object along a line between the drone and the target object.
  • control module 302 is configured to: control the UAV to fly in a direction close to the target object until a distance between the UAV and the target object is less than or equal to a third pre- Set the distance.
  • control module 302 is configured to: control the UAV to fly in a direction close to the target object until a ratio of a screen of the target object to the interaction interface or a photographing screen is a second pre-predetermined Set the ratio.
  • the second operation generates a lever amount for controlling one or more of a flight speed, a flight direction, a flight distance, and an acceleration of the drone.
  • the amount of the lever may be acquired by one or more of a distance moved by the at least one contact, a direction of movement, a speed of movement, and an acceleration of movement.
  • control module 302 is specifically configured to: control the drone to perform tracking flight on the target object according to the sub-mode of the tracking flight mode until the second operation stops operating.
  • the sub mode of the tracking flight mode is a composition adjustment flight mode.
  • the control module 302 is specifically configured to: determine, according to the second operation, a specific range in the shooting image and include a target image of the target object; and control the drone to fly in a direction close to the target object, Until the target image reaches a preset range in the shooting screen.
  • the preset range is a range of the photographing screen.
  • the specific range is a rectangular range that is proportional to the ratio of the photographing screen or the interactive interface.
  • the second operation is two contact operations.
  • the position of the two contacts is the position of the end of the rectangle.
  • the line connecting the two contacts is a diagonal of the rectangle.
  • the device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 12 is a schematic structural diagram of a control device 400 for a drone according to an embodiment of the present invention.
  • the device in this embodiment may include an interaction interface 401 and a processor 402.
  • the interactive interface 401 described above is coupled to the processor 402 via a bus.
  • the processor 402 can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSPs), and application-specific integrated circuits (English: Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the interaction interface 401 is configured to detect the first operation.
  • the processor 402 is configured to determine, according to the first operation, a flight mode of the triggered drone, and control the drone to fly according to the flight mode.
  • the flight mode triggered by the first operation is a contact operation
  • the flight mode triggered by the first operation is a pointing flight mode
  • the pointing flight mode is used to indicate that the drone operates toward the contact Fly in the direction indicated in the shooting screen.
  • the processor 402 is specifically configured to: control the drone to fly according to the pointing flight mode.
  • the flight mode triggered by the first operation is a tracking flight mode; and the frame operation is used to select an object selected in the shooting picture as a target object of the tracking.
  • the tracking flight mode instructs the drone to perform tracking flight on the target object.
  • the processor 402 is specifically configured to: control the drone to perform tracking flight on the target object according to a tracking flight mode.
  • the interaction interface 401 is further configured to detect a second operation after detecting the first operation; the second operation is used to determine a sub-mode of the tracking flight mode of the drone;
  • the processor 402 is specifically configured to control the sub-mode of the tracking flight mode determined by the UAV according to the second operation to perform tracking flight on the target object.
  • the sub-mode of the tracking flight mode is a horizontal surround tracking flight mode
  • the horizontal surround tracking mode is used to indicate that the drone is centered on a target object, and the drone is maintained with the target object.
  • the distance is essentially constant, and the flight is tracked around the target object on a horizontal plane.
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to the horizontal surround tracking mode.
  • the second operation is at least one contact operation and moves to the left based on the at least one contact; moving to the left indicates movement in a negative axis direction along the U axis of the image coordinate system.
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to fly horizontally in a counterclockwise or clockwise direction centering on the target object.
  • the second operation is at least one contact operation and moves to the right based on the at least one contact; moving to the right indicates movement in a positive coordinate direction along the U-axis in the image coordinate system in the image coordinate system.
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to fly horizontally in a clockwise or counterclockwise direction centering on the target object.
  • the sub-mode of the tracking flight mode is a vertical surround tracking flight mode
  • the direct surround tracking mode is used to indicate that the drone is centered on the target object, keeping the distance between the drone and the target object substantially unchanged, and tracking the flight around the target object on the vertical plane.
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to a vertical surround tracking mode.
  • the second operation is at least one contact operation and moves upward based on the at least one contact, and the upward movement indicates movement along a negative axis direction of the V axis in the image coordinate system;
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to fly around the target object in a direction away from the ground.
  • the second operation is at least one contact operation and moves downward based on the at least one contact, and the downward movement indicates movement along a positive axis direction of the V axis in the image coordinate system;
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to fly around the target object in a direction close to the ground.
  • the processor 402 is specifically configured to: control the drone to fly around in a direction away from the ground until the drone is directly above the target object.
  • the drone is controlled to fly around in a direction close to the ground until a limit is reached for the head of the drone.
  • the drone is controlled to fly around in a direction close to the ground until the distance between the drone and the obstacle on the ground or the ground is less than or equal to the first predetermined distance.
  • the sub-mode of the tracking flight mode is away from the tracking flight mode; the far-tracking flight mode is used to instruct the drone to fly in a direction away from the target object.
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to the remote tracking flight mode.
  • the second operation is two contact operations and at least one of the contacts moves toward each other.
  • the remote tracking flight mode is specifically configured to instruct the UAV to fly in a direction away from the target object along a connection between the drone and the target object.
  • the processor 402 is configured to: control the UAV to fly away from the target object until a distance between the UAV and the target object is greater than or equal to a second pre- Set the distance.
  • the processor 402 is configured to: control the UAV to fly away from the target object until a ratio of a picture of the target object to the interaction interface or a photographing screen is a first pre-predetermined Set the ratio.
  • the sub-mode of the tracking flight mode is a near-tracking flight mode; the near-tracking flight mode is used to instruct the drone to fly in a direction close to the target object.
  • the processor 402 is specifically configured to: according to the amount of the control rod generated by the second operation, control the drone to perform tracking flight on the target object according to a near tracking flight mode.
  • the second operation is two contact operations and at least one of the contacts is moved back.
  • the approaching tracking flight mode is specifically configured to instruct the drone to fly in a direction of approaching the target object along a line between the drone and the target object.
  • the processor 402 is configured to: control the UAV to fly in a direction close to the target object until a distance between the UAV and the target object is less than or equal to a third pre- Set the distance.
  • the processor 402 is configured to: control the UAV to fly in a direction close to the target object until a ratio of a screen of the target object to the interaction interface or a photographing screen is a second pre-predetermined Set the ratio.
  • the second operation generates a lever amount for controlling one or more of a flight speed, a flight direction, a flight distance, and an acceleration of the drone.
  • the amount of the lever may be acquired by one or more of a distance moved by the at least one contact, a direction of movement, a speed of movement, and an acceleration of movement.
  • the processor 402 is specifically configured to: control the drone to perform tracking flight on the target object according to the sub-mode of the tracking flight mode until the second operation stops operating.
  • the sub mode of the tracking flight mode is a composition adjustment flight mode.
  • the processor 402 is specifically configured to: determine, according to the second operation, a specific range in the shooting image and include a target image of the target object; and control the drone to fly in a direction close to the target object, Until the target image reaches a preset range in the shooting screen.
  • the preset range is a range of the photographing screen.
  • the specific range is a rectangular range that is proportional to the ratio of the photographing screen or the interactive interface.
  • the second operation is two contact operations.
  • the position of the two contacts is the position of the end of the rectangle.
  • the line connecting the two contacts is a diagonal of the rectangle.
  • the apparatus of this embodiment may further include a memory 403.
  • Interactive interface 401, processor 402 and memory 403 are connected by a bus.
  • Memory 403 can include read only memory and random access memory and provides instructions and data to processor 402.
  • a portion of the memory 403 may also include a non-volatile random access memory.
  • the memory 403 is used to store code for executing the control method of the drone, and the processor 402 is used to call the code stored in the memory 403 to execute the above scheme.
  • the device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 13 is a schematic structural diagram of a control system 600 for a drone according to an embodiment of the present invention.
  • the system of the present embodiment includes: a control device 400 of the drone and a drone 500.
  • the control device 400 of the UAV can adopt the structure of the device embodiment shown in FIG. 12, and correspondingly, the technical solution of the foregoing method embodiments of the present invention can be executed, and the implementation principle and the technical effect are similar. Narration.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage medium includes: read-only memory (English: Read-Only Memory, ROM for short), random access memory (English: Random Access Memory, RAM), disk or A variety of media such as optical discs that can store program code.

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Abstract

一种无人机的控制方法、装置、设备和无人机的控制系统，通过检测对交互界面的第一操作（S201）；根据第一操作确定触发的无人机的飞行模式，控制无人机按照飞行模式飞行（S202）。克服了进行需要多次手动操作才能控制无人机按照选择飞行模式飞行的缺陷，简化了选择无人机的飞行模式的操作过程，提高了无人机飞行的控制效率。

Description

无人机的控制方法、装置、设备和无人机的控制系统 技术领域
本发明实施例涉及无人机技术领域，尤其涉及一种无人机的控制方法、装置、设备和无人机的控制系统。
背景技术
在针对真实世界的应用的一些监视、搜索、拍摄任务中，可能需要检测和跟踪一个或多个物体。可以使用携带了有效载荷(例如，相机)的无人机来跟踪物体、或被控制来沿某个方向移动。跟踪和飞行导航方法可以是基于全球定位系统数据或相机视觉的。然而，跟踪/导航的实际应用的发展由于缺乏容易使用的交互控制与指导系统而已经受到阻碍。目前，需要操作员手动选择目标物体、并且手动控制无人机/相机移动到该目标物体或跟随该目标物体，控制方式复杂，对操作员要求较高，缺少容易使用的交互系统来对无人机进行控制。
发明内容
本发明实施例提供一种无人机的控制方法、装置、设备和无人机的控制系统，用于简化无人机的控制方式，提高无人机飞行的操作效率。
第一方面，本发明实施例提供一种无人机的控制方法，包括：
检测对交互界面的第一操作。
根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
第二方面，本发明实施例提供一种无人机的控制装置，包括：
检测模块，用于检测对交互界面的第一操作。
控制模块，用于根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
第三方面，本发明实施例提供一种无人机的控制设备，包括：交互界面和处理器。
所述交互界面，用于检测第一操作。
所述处理器，用于根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
第四方面，本发明实施例提供一种无人机的控制系统，包括：无人机和本发明第三方面提供的无人机的控制设备。
本发明实施例提供的无人机的控制方法、装置、设备和无人机的控制系统，检测对交互界面的第一操作，通过第一操作来选择无人机的飞行模式，控制无人机按照第一操作触发的飞行模式飞行。克服了进行需要多次手动操作才能控制无人机按照选择飞行模式飞行的缺陷，简化了选择无人机的飞行模式的操作过程，提高了控制无人机的操作效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对本发明实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的部分实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明的实施例的无人飞行系统100的示意性架构图；
图2为本发明实施例提供的无人机的控制方法的流程图；
图3为本发明实施例提供的控制无人机按照水平环绕跟踪模式飞行的一种示意图；
图4为本发明实施例提供的第二操作的一种示意图；
图5为本发明实施例提供的控制无人机按照垂直环绕跟踪模式飞行的一种示意图；
图6为本发明实施例提供的第二操作的又一种示意图；
图7为本发明实施例提供的控制无人机按照远离或靠近跟踪模式飞行的一种示意图；
图8为本发明实施例提供的第二操作的又一种示意图；
图9为本发明实施例提供的第二操作的又一种示意图；
图10为本发明实施例提供的控制无人机按照构图调整跟踪模式飞行的一种示意图；
图11为本发明实施例提供的无人机的控制装置300的结构示意图；
图12为本发明实施例提供的无人机的控制设备400的结构示意图；
图13为本发明实施例提供的一种无人机的控制系统600的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的实施例提供了无人机的控制方法、装置、设备和无人机的控制系统。以下对本发明的描述使用无人机作为无人机的示例。对于本领域技术人员将会显而易见的是，可以不受限制地使用其他类型的无人机，本发明的实施例可以应用于各种类型的无人机。例如，无人机可以是小型或大型的无人机。在某些实施例中，无人机可以是旋翼无人机(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼无人机，本发明的实施例并不限于此，无人机也可以是其它类型的无人机。
图1是根据本发明的实施例的无人飞行系统100的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行系统100可以包括无人机110、云台120、显示设备130和操纵设备140。其中，无人机110可以包括动力系统150、飞行控制系统160和机架170。无人机110可以与操纵设备140和显示设备130进行无线通信。
机架170可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。
动力系统150可以包括电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在对应的机臂上；电子调速器151用于接收飞行控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。 电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴、平移轴和俯仰轴。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以有刷电机。
飞行控制系统160可以包括飞行控制器161和传感系统162。传感系统162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、电子罗盘、惯性测量单元(英文：Inertial Measurement Unit，简称：IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(英文：Global Positioning System，简称：GPS)或者。飞行控制器161用于控制无人机110的飞行，例如，可以根据传感系统162测量的姿态信息控制无人机110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自操纵设备140的一个或多个控制指令对无人机110进行控制。
云台120可以包括电调121和电机122。云台用于携带拍摄装置123。飞行控制器161可以通过电调121和电机122控制云台120的运动。可选地，作为另一实施例，云台120还可以包括控制器，用于通过控制电调121和电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，电机122可以是直流电机，也可以交流电机。另外，电机122可以是无刷电机，也可以有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。
显示设备130位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示拍摄装置拍摄的图像。应理解，显示设备130可以是独立的设备，也可以设置在操纵设备140中。
操纵设备140位于无人飞行系统100的地面端，可以通过无线方式与无 人机110进行通信，用于对无人机110进行远程操纵。控制设备例如可以是遥控器或者安装有控制无人机的应用程序(英文：Application，简称：APP)的用户终端，由于是配置有触摸屏的终端设备，用户可以通过对终端设备的触摸屏对无人机输出飞行控制指令或者拍摄装置指令，例如遥控器、膝上型电脑、智能手机、平板电脑、地面控制站、智能手表、智能手环等中的一种或多种。本发明的实施例中，通过操纵设备接收用户的输入，可以指通过遥控器上的拔轮、按钮、按键、摇杆等输入装置或者用户终端上的用户界面(UI)对无人机进行操控。
应理解，上述对于无人飞行系统各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。
图2为本发明实施例提供的无人机的控制方法的流程图，如图2所示，本实施例的方法可以包括：
S201、检测对交互界面的第一操作。
其中，交互界面是控制设备的重要组成部分，是与用户进行交互的界面，用户可以对交互界面的操作，实现对无人机的控制，同时交互界面还可以显示无人机的飞行的所有参数，可以显示无人机拍摄的画面；当用户想要控制无人机的飞行时，用户对控制设备的交互界面进行操作，控制设备通过该交互界面检测到用户的操作，本实施例中，当用户想要对无人机的飞行模式进行选择时，用户便对交互界面进行第一操作，交互界面会对第一操作进行检测。其中控制设备可以为前述部分的操纵设备140，此处不再赘述。
S202、根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
其中，无人有多种飞行模式，例如指点飞行模式，跟踪飞行模式等，不同的模式中无人机飞行轨迹、无人机的控制方式、无人机实现的功能可以不一样。用户可以通过在交互界面进行第一操作，以选择不同的飞行模式，其中，第一操作可以包含多种形式的操作，不同的操作形式可以对应不同的飞行模式，交互界面在检测到第一操作之后，控制设备会根据检测到的第一操作来确定对应的无人机的飞行模式，根据第一操作对应的无人机的飞行模式来控制无人机。
本实施例提供的无人机的控制方法，通过检测对交互界面的第一操作， 直接根据第一操作确定的无人机的飞行模式控制无人机飞行。避免了用户首先进行一次操作，将无人机的所有飞行模式都调取并显示出来，然后再进行一次操作选择无人机的飞行模式，最后点击确定，才能控制无人机按照相应的飞行模式进行飞行的情况，克服了需要进行多次手动操作才能控制无人机按照选择飞行模式飞行的缺陷，简化了选择无人机的飞行模式的操作过程，提高了控制无人机飞行的效率。
可选地，当所述第一操作为触点操作时，所述第一操作触发的飞行模式为指点飞行模式；所述指点飞行模式用于指示所述无人机朝着所述触点操作在拍摄画面中指示的方向飞行；所述控制所述无人机按照所述飞行模式飞行，包括：控制所述无人机按照所述指点飞行模式飞行。
其中，交互界面可以检测到用户的手指对其的按压或接触，当所述操作为一个触点操作时，即用户用一个手指对显示拍摄画面的交互界面进行按压或者触摸时，此时交互界面会检测到这个触点，第一操作就会触发飞行模式中的指点飞行模式，根据用户的触点可以在拍摄画面中确定飞行的方向，无人机沿着该触点确定的方向飞行，实现了无人机的定向飞行。这种对无人机的操作方法飞行简洁，实现了用户在拍摄画面中指向哪个方向，无人机就会朝哪个方向飞行。
可选地，当所述第一操作为画框操作时，所述第一操作触发的飞行模式为跟踪飞行模式；所述画框操作用于将拍摄画面中框选的对象作为跟踪的目标对象；所述跟踪飞行模式指示所述无人机对所述目标对象进行跟踪飞行；所述控制所述无人机按照所述飞行模式飞行，包括：控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行。
其中，交互界面可以检测到用户的手指对其的接触，当所述操作为画框操作时，即用户用一个手指对显示拍摄画面的交互界面进行按压或者触摸，并在保持按压或接触的同时拖动手指，此时在交互界面上便会形成一个矩形框，当所述矩形框框选到拍摄对象，或者由于拖动形成的矩形框覆盖了拍摄对象的部分或者整体时，无人机就会将其确定为跟踪的目标对象，此时无人机就会对目标对象进行跟踪飞行，同时可以利用无人机携带的拍摄装置对其进行拍摄。
可选地，在执行S201之后，还检测对所述交互界面的第二操作；所述第 二操作用于确定无人机的跟踪飞行模式的子模式；所述控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行包括：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象跟踪飞行。
其中，如果用户通过第一操作画框操作选定目标对象时，无人机便对目标进行跟踪飞行，此时无人机随着目标的移动而改变自身的位置，实现对目标对象的跟踪，进一步地，跟踪飞行模式中包括多种子模式，其中每一种子模式都可以在跟踪飞行模式下实现不同功能，用户可以通过对交互界面进行第二操作来选择跟踪飞行模式的子模式，保证无人机在对目标对象进行跟踪的同时，还可以实现子模式的特定功能。当交互界面检测到用户对其进行的第二操作时，控制装置就会按照第二操作触发的跟踪飞行子模式来对无人机进行控制。其中，在某些情况下，当用户界面检测到第二操作时，无人机就会按照第二操作触发的跟踪飞行的子模式一直飞行，直至接收到停止该子模式的信号；在某些情况下，当用户界面检测到第二操作时，无人机会按照第二操作触发的跟踪飞行的子模式来飞行，伴随着第二操作的操作过程改变无人机在空中的位置，直至第二操作停止操作或者第二操作失效。
相应地，S202的一种可行的实现方式为：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行。该跟踪飞行模式的子模块可以为：监视(英文：watch)、跟随(英文：track)、环绕(英文：circle)、水平环绕跟踪飞行、垂直环绕跟踪飞行等；本实施例并不限于此。避免了用户需要进行多次手动操作才能选择跟踪飞行模式的子模式的缺陷，简化了选择无人机的跟踪飞行模式的子模式的操作过程，提高了控制无人机飞行的效率。
可选地，所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，所述水平环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的基本距离不变，在水平面上围绕目标对象跟踪飞行；所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行包括：根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行。
其中，当所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，即第二操作触发的是水平环绕跟踪飞行模式，如图3所示，在水平环绕跟踪飞行模 式中，无人机会保持与目标对象的距离基本不变，无人机在某个特定的水平面上对目标对象进行环绕跟踪飞行，即无人机在如图3所示的圆形轨迹上绕着目标对象飞行；当用户在交互界面上进行第二操作，第二操作触发的跟踪飞行模式的子模式是水平环绕跟踪飞行模式时，控制装置会将第二操作转换成相应的控制杆量，控制设备会将控制杆量发送给无人机，无人机在收到所述控制杆量后，会根据所述控制杆量对无人机进行相应的控制，以此改变无人机在水平环绕目标对象飞行时的位置，即改变无人机在圆形轨迹上的位置。如图3所示，本实施例中还调整所述无人机的机头或者云台，使得所述无人机的摄像装置对准所述目标对象。
可选地，所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向左移动；向左移动表示沿着图像坐标系的U轴的负轴方向移动；所述根据所述第二操作产生的控制杆量，控制所述无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿逆时针或顺时针方向水平环绕飞行。
其中，当第二操作为至少一个触点操作且基于所述至少一个触点向左移动，即当用户至少用一个手指按压或者触摸交互界面时，并且在保持按压或者触摸的同时，手指向左移动，其中，如图4所示，在控制设备的交互界面中，以图像坐标系来进行方向的定义，向左移动即是代表手指沿着图像坐标系的U轴的负轴方向移动，用户手指按压或触摸用户界面形成的触点X向U轴的负轴方向移动时(如图4所示的V3方向)，控制设备会产生相应的控制杆量，控制设备将控制杆量发送给无人机，无人机可以根据该控制杆量，控制所述无人机以所述目标对象为中心沿逆时针(如图3所示的V1)或顺时针方向(如图3所示的V2)水平环绕飞行，其中是顺时针旋转还是逆时针旋转用户可以自己设置，在这里不做具体限定。此时，根据手指移动的方向控制无人机水平环绕飞行的方向，改变无人机在圆形轨迹上的位置。其中，此处的向左移动，并非严格的限定在与U轴平行的方向，其中移动的方向与U轴的夹角小于一定的角度阈值，都可以认为是向左移动，在这里不做具体的限定。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向右移动；向右移动表示在图像坐标系中沿着图像坐标系中U轴的正轴方向移动；所述根据所述第二操作产生的控制杆量，控制所述无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
其中，当第二操作为至少一个触点操作且基于所述至少一个触点向右移动，即当用户至少用一个手指按压或者触摸交互界面时，并且在保持按压或者触摸的同时，手指向右移动，其中，如图4所示，在控制设备的交互界面中，以图像坐标系来进行方向的定义方向，向右移动即是代表手指沿着图像坐标系的U轴的正轴方向移动，用户手指按压或触摸用户界面形成的触点X向U轴的正轴方向移动(如图4所示的V4方向)，控制设备会产生相应的控制杆量，控制设备将控制杆量发送给无人机，无人机可以根据该控制杆量，控制所述无人机以所述目标对象为中心沿逆时针(如图3所示的V1)或顺时针(如图3所示的V2)方向水平环绕飞行，其中是顺时针旋转还是逆时针旋转用户可以自己设置，在这里不做具体限定。此时，根据手指移动的方向控制无人机水平环绕飞行的方向，改变无人机在圆形轨迹上的位置。其中，此处的向右移动，并非严格的限定在与U轴平行的方向，其中移动的方向与U轴的夹角小于一定的角度阈值，都可以认为是向右移动，在这里不做具体的限定。
可选地，本实施例还根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行直至所述至少一个触点停止移动。当上述至少一个触点停止移动时，本实施例中控制无人机停止以目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
本实施例中还可以将无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行所拍摄的拍摄画面通过交互界面显示给用户。
可选地，本实施例在控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行时，本实施例中还调整所述无人机的机头或者云台，使得所述无人机的摄像装置对准所述目标对象。这样使得无人机一直保持跟踪拍摄目标对象的状态。
可选地，所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式，所述垂直环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的基本距离不变，在垂直面上围绕目标对象跟踪飞行；所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行包括：根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行。
其中，当所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式，即第二操作触发的是垂直环绕跟踪飞行模式，如图5所示，在垂直环绕跟踪飞行模式中，无人机会保持与目标对象的距离基本不变，无人机在某个特定的垂直面上对目标对象进行环绕跟踪飞行，当用户在交互界面上进行第二操作，第二操作触发的跟踪飞行模式的子模式是垂直环绕跟踪飞行模式时，伴随着用户对交互界面进行第二操作的过程，控制设备会将第二操作转换成相应的控制杆量，控制设备会将控制杆量发送给无人机，无人机在收到所述控制杆量后，会根据所述控制杆量对无人机进行相应的控制，以此改变无人机在垂直圆弧上环绕用户飞行时的位置。如图5所示，本实施例中还调整所述无人机的机头或者云台，使得所述无人机的摄像装置对准所述目标对象。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向上移动；向上移动表示沿着图像坐标系的V轴的负轴方向移动；所述根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿远离地面的方向环绕飞行。
其中，当第二操作为至少一个触点操作且基于所述至少一个触点向上移动，即当用户至少用一个手指按压或者触摸交互界面时，并且在保持按压或者触摸的同时，手指向上动，其中，如图6所示，在控制设备的交互界面中，以图像坐标系来进行方向的定义，向上移动即是代表手指沿着图像坐标系的V轴的负方向移动，用户手指按压或触摸用户界面形成的触点X向V轴的负轴方向移动(如图6所示的V7方向)，控制设备会产生相应的控制杆量，控制设备将控制杆量发送给无人机，无人机可以根据该控制杆量，控制所述无人机以所述目标对象为中心、沿着如图5所示的圆弧形轨道朝远离地面的方向(如图5所示的V5)环绕飞行。其中，此处的向上移动，并非严格的限定 在与V轴平行的方向，其中移动的方向与V轴的夹角小于一定的角度阈值，都可以认为是向上移动，在这里不做具体的限定。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向下移动；向下移动表示在图像坐标系中沿着图像坐标系中V轴的正轴方向移动；所述根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿靠近地面的方向环绕飞行。
其中，当第二操作为至少一个触点操作且基于所述至少一个触点向下移动，即当用户至少用一个手指按压或者触摸交互界面时，并且在保持按压或者触摸的同时，手指向下移动，其中，如图6所示，在控制设备的交互界面中，以图像坐标系来进行方向的定义，向下移动即是代表手指沿着图像坐标系的V轴的正轴方向移动，用户手指按压或触摸用户界面形成的触点X向V轴的正轴方向移动，当手指向下移动时(如图6所示的V8方向)，控制设备会产生相应的控制杆量，控制设备将控制杆量发送给无人机，无人机可以根据该控制杆量，控制所述无人机以所述目标对象为中心、沿着如图5所示的圆弧形轨道朝靠近地面的方向(如图5所示的V6)环绕飞行。其中，此处的向下移动，并非严格的限定在与V轴平行的方向，其中移动的方向与V轴的夹角小于一定的角度阈值，都可以认为是向上移动，在这里不做具体的限定。
可选地，所述控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行，包括：控制所述无人机沿远离地面的方向环绕飞行直至所述无人机位于所述目标对象的正上方；或者，控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机的云台发生限位；或者，控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机与地面或者地面的障碍物之间的距离小于或等于第一预设距离。
其中，在控制无人机沿远离地面的方向飞行的过程中，当无人机飞行至该目标对象的正上方时，控制无人机停止以目标对象为中心沿远离地面的方向飞行，即使用户再将触点向上移动，本实施例也是控制无人机保持在该目标对象的正上方跟踪该目标对象飞行，不再继续飞行，因为无人机在使用装载在云台上的拍摄装置对目标对象进行跟踪时，当无人机飞到目标对象的正上方时，云台的俯仰轴会达到最大的转动角度，当无人机从前向后飞过目标 对象的正上方时，无人机无法对目标对象继续跟踪。
在控制无人机沿靠近地面的方向飞行的过程中，当无人机的云台发生限位时，控制无人机停止以目标对象为中心沿靠近地面的方向飞行。即使用户再将触点向下移动，本实施例也是控制无人机保持在当前位置跟踪该目标对象飞行，一般情况下，当装载在云台上的拍摄装置的拍摄角度与水平面平行时，云台的俯仰轴会达到向上转动的最大角度发生限位，在对无人机进行特定设置后，当装载在云台上的拍摄装置向上转动，当拍摄角度与水平面达到30度时，云台的俯仰轴会发生限位，如果在俯仰轴发生限位时，无人机继续向靠近地面的方向运动，无人机的拍摄装置无法对目标对象进行跟踪和拍摄。在控制无人机向靠近地面的方向飞行的过程中，当检测到无人机与地面或地面的障碍物之间的距离小于或等于第一预设距离时，无人机可能会有与地面或者地面障碍物碰撞的危险，此时控制无人机停止沿靠近地面的方向飞行。即使用户再将触点向下移动，本实施例也是控制无人机保持在当前位置跟踪该目标对象飞行。
可选地，所述跟踪飞行模式的子模式为远离跟踪飞行模式；所述远离跟踪飞行模式用于指示所述无人机沿着远离目标对象的方向飞行。控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作产生的控制杆量，控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行。
其中，当所述跟踪飞行模式的子模式为远离跟踪飞行模式，即第二操作触发的是远离跟踪飞行模式，如图7所示，在远离跟踪飞行模式中，无人机在保持对目标对象跟踪的前提下，会远离目标对象飞行，当用户在交互界面上进行第二操作，第二操作触发的跟踪飞行模式的子模式是远离跟踪飞行模式时，控制装置会将第二操作转换成相应的控制杆量，控制设备会将控制杆量发送给无人机，无人机在收到所述控制杆量后，会根据所述控制杆量对无人机进行相应的控制，以此增大无人机在与目标对象之间的距离。如图7所示，本实施例还调整所述无人机的机头或者云台，使得所述无人机的摄像装置对准所述目标对象。
可选地，所述第二操作为两个触点操作且至少一个所述触点相向移动。
其中，当第二操作为两个触点操作且基于所述至少一个触点相向移动， 即当用户至少用一个手指按压或者触摸交互界面时，交互界面上会形成与手指相对应的触点，在保持手指按压或者触摸交互界面的同时，手指之间相向移动，如图8所示，用户手指按压或触摸用户界面形成的两个触点(X1、X2)相对靠近(如图8所示的V11和V12)，在两个触点相对靠近时，控制设备会产生相应的控制杆量，控制设备将控制杆量发送给无人机，无人机可以根据该控制杆量，控制所述无人机以远离所述目标对象的方向(如图7所示的V9)飞行。其中，图8中以两个触点来示意性说明，两个以上的触点相向移动也可以实现该效果，在这里不作具体的限定。
可选地，所述远离跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向远离所述目标对象的方向飞行。
其中，在用户在使用第二操作来控制无人机按照远离跟踪飞行模式飞行时，无人机确定目标对象的位置和无人机当前位置之间的连线，无人机会沿着该连线远离目标对象飞行，这样可以有效地保证无人机对目标对象的跟踪和拍摄角度不变，实现由近及远的拍摄。
可选地，所述控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行，包括：控制所述无人机向远离所述目标对象的方向飞行第一距离，所述第一距离为所述两个触点之间缩小的距离的N倍，所述N为正数。
其中，由于触点之间的相向移动，使得两个触点之间的距离缩小了D1，相应地，可以根据两个触点之间缩小的距离D1来控制无人机远离目标对象的距离，具体的将缩小的距离与无人机远离飞行的距离形成映射关系，具体的，当缩小的距离为D1时，本实施例控制无人机向远离目标对象的方向飞行的距离为N*D1，其中N的大小可以预先设置，也可以由用户自行设置。
可选地，所述控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行，包括：控制所述无人机向远离所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离大于或等于第二预设距离。
其中，由于触点之间的相向移动，使得两个触点之间的距离缩小，相应地，本实施例控制无人机向远离目标对象的方向飞行，当无人机与目标对象之间的距离大于或等于第二预设距离时，本实施例控制无人机停止向远离目标对象的方向飞行。其中，第二预设距离可以为用户与无人机之间的最大距离，也可以由用户自行设定，第二预设距离也可以根据目标对象在拍摄画面 中的大小决定。
可选地，所述控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行，包括：控制所述无人机向远离所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第一预设比例。
具体地，由于触点之间的相向移动，使得两个触点之间的距离缩小，相应地，本实施例中控制无人机向远离目标对象的方向飞行，目标对象在交互界面或拍摄画面中的比例会越来越小，当无人机的摄像装置拍摄到的目标对象的画面占交互界面或者拍摄画面的比例为第一预设比例时，本实施例中控制无人机停止向远离目标对象的方向飞行。其中，第一预设比例可以由用户设定。
可选地，所述跟踪飞行模式的子模式为靠近跟踪飞行模式；所述靠近跟踪飞行模式用于指示所述无人机向靠近所述目标对象的方向飞行。所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作产生的控制杆量，控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行。
其中，当所述跟踪飞行模式的子模式为靠近跟踪飞行模式，即第二操作触发的是靠近跟踪飞行模式，如图7所示，在靠近跟踪飞行模式中，对目标对象进行靠近跟踪飞行，当用户在交互界面上进行第二操作，第二操作触发的跟踪飞行模式的子模式是靠近跟踪飞行模式时，控制装置会将第二操作转换成相应的控制杆量，控制设备会将控制杆量发送给无人机，无人机在收到所述控制杆量后，会根据所述控制杆量对无人机进行相应的控制，在对目标对象进行跟踪的同时，减小无人机在与目标对象之间的距离。如图7所示，本实施例还调整所述无人机的机头或者云台，使得所述无人机的摄像装置对准所述目标对象。
可选地，所述第二操作为两个触点操作且至少一个所述触点背向移动。
其中，当第二操作为两个触点操作且基于所述至少一个触点背向移动，即当用户至少用一个手指按压或者触摸交互界面时，并且在保持按压或者触摸的同时，手指向背向移动，其中，如图9所示，在控制设备的交互界面中，用户手指按压或触摸用户界面形成的两个触点(X1、X2)，当手指向背向移动时，触点也会随之背向移动(如图9所示的V13和V14)，控制设备会产生相应 的控制杆量，控制设备将控制杆量发送给无人机，无人机可以根据该控制杆量，控制所述无人机以靠近所述目标对象的方向(如图7所示的V10)飞行。
可选地，所述靠近跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向靠近所述目标对象的方向飞行。
其中，在用户在使用第二操作来控制无人机按照靠近跟踪飞行模式飞行时，无人机确定目标对象的位置和无人机当前位置之间的连线，无人机会沿着该连线靠近目标对象飞行，这样可以有效地保证无人机对目标对象的跟踪和拍摄角度不变，实现由远及近的拍摄。
可选地，所述控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行，包括：控制所述无人机向靠近所述目标对象的方向飞行第二距离，所述第二距离为所述两个触点之间远离的距离的M倍，所述M为正数。
其中，由于触点之间的背向移动，使得两个触点之间的距离增大了D2，相应地，可以根据两个触点之间增大的距离D2来控制无人机靠近目标对象的距离，具体的将增大的距离与无人机靠近飞行的距离形成映射关系，具体的，当增大的距离为D2时，本实施例中控制无人机向靠近目标对象的方向飞行的距离为M*D2，其中N的大小可以预先设置，也可以由用户自行设置。
可选地，所述控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行，包括：控制所述无人机向靠近所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离小于或等于第三预设距离。
具体地，由于触点之间的背向移动，使得两个触点之间的距离增大，相应地，本实施例中控制无人机向靠近目标对象的方向飞行，当无人机与目标对象之间的距离小于或等于第三预设距离时，本实施例中控制无人机停止向靠近目标对象的方向飞行。其中，其中，第三预设距离可以为用户与无人机之间的最近距离，也可以由用户自行设定，第三预设距离也可以根据目标对象在拍摄画面中的大小决定。
可选地，所述控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行，包括：控制所述无人机向靠近所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第二预设比例。
其中，由于触点之间的背向移动，使得两个触点之间的距离增大，相应地，本实施例中控制无人机向靠近目标对象的方向飞行，目标对象在拍摄画 面的范围或比例会变大，当无人机的摄像装置拍摄到的目标对象的画面占交互界面(显示界面或者拍摄画面)的比例为第二预设比例时，本实施例中控制无人机停止向靠近目标对象的方向飞行。其中，第二预设比例可以由用户设定。
可选地，所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
其中，在跟踪飞行模式中，第二操作产生的控制杆量可以对无人机进行控制，可以改变无人机在空中的位置，第二操作可以对无人机的各种运动参数进行控制，实现对飞行方向、飞行速度、飞行距离、飞行加速度的控制。
可选地，所述控制杆量可以通过所述至少一个触点移动的距离、移动的方向、移动的速度、移动的加速度中的一个或多个来获取。
其中，当触点随着用户的手指移动时，控制设备会产生相应的控制杆量，其中控制杆量可以根据触点移动的距离来计算，例如在图4中，当手指移动后，可以将移动后手指的位置与手指原始位置之间的距离来换算成控制杆量，在某些实施例中也可以将手指移动的速度来换算成无人机的控制杆量。在水平环绕跟踪飞行模式、垂直环绕跟踪飞行模式中，通过至少一个触点的移动方向来控制无人机运动，则触点的移动方向也可以换算成控制杆量，水平环绕跟踪飞行模式、垂直环绕跟踪飞行模式，当有多个触点时，可以将多个触点的中心点作为有效触点来计算控制杆量。
可选地，控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行直至所述第二操作停止操作或者失效。
其中，在用户在进行第二操作时，控制设备计算与第二操作相对应的控制杆量，当第二操作停止操作时，控制设备不再产生杆量，比如，在图4中，如果用户的手指在交互界面上停止移动，则认为第二操作停止，控制设备不再产生相应的杆量；另外，当用户的操作失效时，控制设备也不再产生杆量，例如在图5中，当装载拍摄装置的云台发生限位时，即使第二操作继续，则依然认为该操作失效，此时，控制设备也不再产生相应的控制杆量。
在某些实施例中，垂直环绕跟踪飞行模式、远离跟踪飞行、靠近跟踪飞行和水平环绕跟踪飞行模式中可以两两组合或者多个之间进行组合，即可以 使用第二操作同时实现垂直环绕跟踪飞行模式、远离跟踪飞行、靠近跟踪飞行和水平环绕跟踪飞行模式中的多种，例如当第二操作为两个触点操作，且两个触点背向远离，而且两个触点向下移动，则无人机实现的运动是无人机在靠近拍摄对象的同时，无人机向靠近地面的方向飞行。垂直环绕跟踪飞行模式、远离跟踪飞行、靠近跟踪飞行和水平环绕跟踪飞行模式中对应的各自对应的第二操作可以相互组合，实现多种跟踪飞行效果。
可选地，所述跟踪飞行模式的子模式为构图调整飞行模式。所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：根据所述第二操作在拍摄画面中确定特定范围且包括所述目标对象的目标图像；以及控制所述无人机向靠近所述目标对象的方向飞行，直至所述目标图像在拍摄画面中达到预设范围。
其中，根据第二操作，在拍摄画面中确定一个包括该目标对象的特定范围的目标图像，然后控制无人机向靠近目标对象的方向飞行，相应地，随着无人机靠近目标对象，目标图像占拍摄画面或交互界面中比例会越来越大，当上述特定范围在拍摄画面中达到预设范围时，控制无人机停止向靠近目标对象的方向飞行，这样用户可以自己选择包括目标对象的图像在拍摄画面的中大小或比例，无人机会自动飞到拍摄位置，形成用户想要的构图，避免了用户需要进行手动操作无人机，调整无人机位置才能拍出想要的构图，简要了操作过程。
可选地，所述预设范围为所述拍摄画面的范围。
其中，交互界面上显示的是拍摄画面，随着无人机向靠近目标对象的方向飞行，上述特定范围的目标图像在交互界面或拍摄画面上显示的比例逐渐增加，当特定范围全为拍摄画面(例如交互界面全屏显示特定范围)时，控制无人机停止向靠近目标对象的方向飞行，这样当用户选择了该特定范围时，无人机可以调整在空中的位置，按照用户选择的特定范围，将该范围内的图像占满整个拍摄画面，无需手动操作，对用户的操作水平要求低。
可选地，所述特定范围为与拍摄画面或交互界面等比例的矩形范围。
其中，用户在交互界面上进行第二操作，第二操作可以确定与拍摄画面或交互界面等比例的矩形，在确定了该矩形以后，无人机便会靠近目标对象跟踪飞行。
可选地，所述第二操作为两个触点操作。
其中，第二操作为两个触点操作，即用户使用两个手指触摸或按压交互界面时，如图10所示，会在交互界面上形成两个触点(X1、X2)，控制设备会根据手指触摸或按压确定所述特定范围，所述特定范围是根据两个触点确定的矩形，所述矩形可以与拍摄画面或者交互界面等比例。
可选地，所述两个触点的位置为所述矩形的端点的位置。
可选地，所述两个触点的连线为所述矩形的对角线。
目前，本发明实施例中可以直接根据第一操作确定的飞行模式来飞行，克服了进行需要多次手动操作才能控制无人机按照选择飞行模式飞行的缺陷，简化了选择无人机的飞行模式的操作过程，提高了控制无人机飞行的效率，另外还可以根据第二操作来改变无人机在空中的位置，可以通过简单的操作便可以实现多种拍摄效果。
本发明实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如图2及其对应实施例中的无人机的控制方法的部分或全部步骤。
图11为本发明实施例提供的无人机的控制装置300的结构示意图，如图11所示，本实施例的装置可以包括：检测模块301和控制模块302，其中，检测模块301，用于检测对交互界面的第一操作；控制模块302，用于根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
可选地，当所述第一操作为触点操作时，所述第一操作触发的飞行模式为指点飞行模式；所述指点飞行模式用于指示所述无人机朝着所述触点操作在拍摄画面中指示的方向飞行。所述控制模块302，具体用于：控制所述无人机按照所述指点飞行模式飞行。
可选地，当所述第一操作为画框操作时，所述第一操作触发的飞行模式为跟踪飞行模式；所述画框操作用于将拍摄画面中框选的对象作为跟踪的目标对象；所述跟踪飞行模式指示所述无人机对所述目标对象进行跟踪飞行。所述控制模块302，具体用于：控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行。
可选地，所述检测模块301，还用于在检测对交互界面的第一操作之后， 检测对所述交互界面的第二操作；所述第二操作用于确定无人机的跟踪飞行模式的子模式。所述控制模块302，具体用于：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行。
可选地，所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，所述水平环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的距离基本不变，在水平面上围绕目标对象跟踪飞行。所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向左移动；向左移动表示沿着图像坐标系的U轴的负轴方向移动。所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿逆时针或顺时针方向水平环绕飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向右移动；向右移动表示在图像坐标系中沿着图像坐标系中U轴的正轴方向移动。所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
可选地，所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式；所述垂直环绕跟踪模式用于指示无人机以目标对象为中心，保持无人机与目标对象的距离基本不变，在垂直面上围绕目标对象跟踪飞行。所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向上移动。向上移动表示沿着图像坐标系中V轴的负轴方向移动；所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿远离地面的方向环绕飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向下移动。向下移动表示沿着图像坐标系中V轴的正轴方向移动；所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿靠近地面的方向环绕飞行。
可选地，所述控制模块302，具体用于：控制所述无人机沿远离地面的 方向环绕飞行直至所述无人机位于所述目标对象的正上方。或者，控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机的云台发生限位。或者，控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机与地面或者地面的障碍物之间的距离小于或等于第一预设距离。
可选地，所述跟踪飞行模式的子模式为远离跟踪飞行模式；所述远离跟踪飞行模式用于指示所述无人机沿着远离目标对象的方向飞行。所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为两个触点操作且至少一个所述触点相向移动。
可选地，所述远离跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向远离所述目标对象的方向飞行。
可选地，所述控制模块302，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离大于或等于第二预设距离。
可选地，所述控制模块302，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第一预设比例。
可选地，所述跟踪飞行模式的子模式为靠近跟踪飞行模式；所述靠近跟踪飞行模式用于指示所述无人机向靠近所述目标对象的方向飞行。所述控制模块302，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为两个触点操作且至少一个所述触点背向移动。
可选地，所述靠近跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向靠近所述目标对象的方向飞行。
可选地，所述控制模块302，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离小于或等于第三预设距离。
可选地，所述控制模块302，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第二预设比例。
可选地，所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
可选地，所述控制杆量可以通过所述至少一个触点移动的距离、移动的方向、移动的速度、移动的加速度中的一个或多个来获取。
可选地，所述控制模块302，具体用于：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行直至所述第二操作停止操作。
可选地，所述跟踪飞行模式的子模式为构图调整飞行模式。所述控制模块302，具体用于：根据所述第二操作在拍摄画面中确定特定范围且包括所述目标对象的目标图像；以及控制所述无人机向靠近所述目标对象的方向飞行，直至所述目标图像在拍摄画面中达到预设范围。
可选地，所述预设范围为所述拍摄画面的范围。
可选地，所述特定范围为与拍摄画面等比例或交互界面等比例的矩形范围。
可选地，所述第二操作为两个触点操作。
可选地，所述两个触点的位置为所述矩形的端点的位置。
可选地，所述两个触点的连线为所述矩形的对角线。
本实施例的装置，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图12为本发明实施例提供的无人机的控制设备400的结构示意图，如图12所示，本实施例的设备可以包括：交互界面401和处理器402。上述的交互界面401与处理器402通过总线连接。
上述处理器402可以是中央处理单元(英文：Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(英文：Digital Signal Processor，DSP)、专用集成电路(英文：Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(英文：Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
其中，交互界面401，用于检测第一操作。
所述处理器402，用于根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
可选地，当所述第一操作为触点操作时，所述第一操作触发的飞行模式为指点飞行模式；所述指点飞行模式用于指示所述无人机朝着所述触点操作在拍摄画面中指示的方向飞行。所述处理器402，具体用于：控制所述无人机按照所述指点飞行模式飞行。
可选地，当所述第一操作为画框操作时，所述第一操作触发的飞行模式为跟踪飞行模式；所述画框操作用于将拍摄画面中框选的对象作为跟踪的目标对象；所述跟踪飞行模式指示所述无人机对所述目标对象进行跟踪飞行。所述处理器402，具体用于：控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行。
可选地，所述交互界面401，还用于在检测第一操作之后检测第二操作；所述第二操作用于确定无人机的跟踪飞行模式的子模式；
相应地，所述处理器402，具体用于控制所述无人机按照第二操作确定的所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行。
可选地，所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，所述水平环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的距离基本不变，在水平面上围绕目标对象跟踪飞行。所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向左移动；向左移动表示沿着图像坐标系的U轴的负轴方向移动。所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿逆时针或顺时针方向水平环绕飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向右移动；向右移动表示在图像坐标系中沿着图像坐标系中U轴的正轴方向移动。所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
可选地，所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式；所述垂 直环绕跟踪模式用于指示无人机以目标对象为中心，保持无人机与目标对象的距离基本不变，在垂直面上围绕目标对象跟踪飞行。所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向上移动，向上移动表示沿着图像坐标系中V轴的负轴方向移动；
所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿远离地面的方向环绕飞行。
可选地，所述第二操作为至少一个触点操作且基于所述至少一个触点向下移动，向下移动表示沿着图像坐标系中V轴的正轴方向移动；
所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿靠近地面的方向环绕飞行。
可选地，所述处理器402，具体用于：控制所述无人机沿远离地面的方向环绕飞行直至所述无人机位于所述目标对象的正上方。或者，控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机的云台发生限位。或者，控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机与地面或者地面的障碍物之间的距离小于或等于第一预设距离。
可选地，所述跟踪飞行模式的子模式为远离跟踪飞行模式；所述远离跟踪飞行模式用于指示所述无人机沿着远离目标对象的方向飞行。所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为两个触点操作且至少一个所述触点相向移动。
可选地，所述远离跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向远离所述目标对象的方向飞行。
可选地，所述处理器402，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离大于或等于第二预设距离。
可选地，所述处理器402，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第一预设比例。
可选地，所述跟踪飞行模式的子模式为靠近跟踪飞行模式；所述靠近跟踪飞行模式用于指示所述无人机向靠近所述目标对象的方向飞行。所述处理器402，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行。
可选地，所述第二操作为两个触点操作且至少一个所述触点背向移动。
可选地，所述靠近跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向靠近所述目标对象的方向飞行。
可选地，所述处理器402，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离小于或等于第三预设距离。
可选地，所述处理器402，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第二预设比例。
可选地，所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
可选地，所述控制杆量可以通过所述至少一个触点移动的距离、移动的方向、移动的速度、移动的加速度中的一个或多个获取。
可选地，所述处理器402，具体用于：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行直至所述第二操作停止操作。
可选地，所述跟踪飞行模式的子模式为构图调整飞行模式。所述处理器402，具体用于：根据所述第二操作在拍摄画面中确定特定范围且包括所述目标对象的目标图像；以及控制所述无人机向靠近所述目标对象的方向飞行，直至所述目标图像在拍摄画面中达到预设范围。
可选地，所述预设范围为所述拍摄画面的范围。
可选地，所述特定范围为与拍摄画面等比例或交互界面等比例的矩形范围。
可选地，所述第二操作为两个触点操作。
可选地，所述两个触点的位置为所述矩形的端点的位置。
可选地，所述两个触点的连线为所述矩形的对角线。
可选地，本实施例的装置还可以包括存储器403。交互界面401、处理器 402和存储器403通过总线连接。存储器403可以包括只读存储器和随机存取存储器，并向处理器402提供指令和数据。存储器403的一部分还可以包括非易失性随机存取存储器。存储器403用于存储执行无人机的控制方法的代码，处理器402用于调用存储器403存储的代码执行上述方案。
本实施例的设备，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图13为本发明实施例提供的一种无人机的控制系统600的结构示意图，如图13所示，本实施例的系统包括：无人机的控制设备400和无人机500。其中，无人机的控制设备400可以采用图12所示设备实施例的结构，其对应地，可以执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(英文：Read-Only Memory，简称：ROM)、随机存取存储器(英文：Random Access Memory，简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (91)

  1. 一种无人机的控制方法，其特征在于，包括：
    检测对交互界面的第一操作；
    根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
  2. 根据权利要求1所述的方法，其特征在于，当所述第一操作为触点操作时，所述第一操作触发的飞行模式为指点飞行模式；
    所述指点飞行模式用于指示所述无人机朝着所述触点操作在拍摄画面中指示的方向飞行；
    所述控制所述无人机按照所述飞行模式飞行，包括：
    控制所述无人机按照所述指点飞行模式飞行。
  3. 根据权利要求1所述的方法，其特征在于，当所述第一操作为画框操作时，所述第一操作触发的飞行模式为跟踪飞行模式；
    所述画框操作用于将拍摄画面中框选的对象作为跟踪的目标对象；所述跟踪飞行模式指示所述无人机对所述目标对象进行跟踪飞行；
    所述控制所述无人机按照所述飞行模式飞行，包括：
    控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行。
  4. 根据权利要求3所述的方法，其特征在于，所述检测对交互界面的第一操作之后还包括：
    检测对所述交互界面的第二操作；所述第二操作用于确定无人机的跟踪飞行模式的子模式；
    所述控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行包括：
    控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行。
  5. 根据权利要求4所述的方法，其特征在于，所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，所述水平环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的距离基本不变，在水平面上围绕目标对象跟踪飞行；
    所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进 行跟踪飞行包括：
    根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行。
  6. 根据权利要求5所述的方法，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向左移动；向左移动表示沿着图像坐标系的U轴的负轴方向移动；
    所述根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿逆时针或顺时针方向水平环绕飞行。
  7. 根据权利要求5所述的方法，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向右移动；向右移动表示沿着图像坐标系中U轴的正轴方向移动；
    所述根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
  8. 根据权利要求4所述的方法，其特征在于，所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式；所述垂直环绕跟踪模式用于指示无人机以目标对象为中心，保持无人机与目标对象的距离基本不变，在垂直面上围绕目标对象跟踪飞行；
    所述控制所述无人机按照所述跟踪飞行子模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行。
  9. 根据权利要求8所述的方法，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向上移动；向上移动表示沿着图像坐标系中V轴的负轴方向移动；
    所述根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿远离地面的方向环绕飞行。
  10. 根据权利要求8所述的方法，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向下移动；向下移动表示沿着图像坐标系中V轴的正轴方向移动；
    所述根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿靠近地面的方向环绕飞行。
  11. 根据权利要求8-10任一项所述的方法，其特征在于，所述控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行，包括：
    控制所述无人机沿远离地面的方向环绕飞行直至所述无人机位于所述目标对象的正上方；或者，
    控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机的云台发生限位；或者，
    控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机与地面或者地面的障碍物之间的距离小于或等于第一预设距离。
  12. 根据权利要求4所述的方法，其特征在于，所述跟踪飞行模式的子模式为远离跟踪飞行模式；所述远离跟踪飞行模式用于指示所述无人机沿着远离目标对象的方向飞行；
    控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行。
  13. 根据权利要求12所述的方法，其特征在于，所述第二操作为两个触点操作且至少一个所述触点相向移动。
  14. 根据权利要求12或13所述的方法，其特征在于，
    所述远离跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向远离所述目标对象的方向飞行。
  15. 根据权利要求12-14任一项所述的方法，其特征在于，所述控制无 人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行，包括：
    控制所述无人机向远离所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离大于或等于第二预设距离。
  16. 根据权利要求12-14任一项所述的方法，其特征在于，所述控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行，包括：
    控制所述无人机向远离所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第一预设比例。
  17. 根据权利要求4所述的方法，其特征在于，所述跟踪飞行模式的子模式为靠近跟踪飞行模式；所述靠近跟踪飞行模式用于指示所述无人机向靠近所述目标对象的方向飞行；
    所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作产生的控制杆量，控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行。
  18. 根据权利要求17所述的方法，其特征在于，所述第二操作为两个触点操作且至少一个所述触点背向移动。
  19. 根据权利要求17或18所述的方法，其特征在于，所述靠近跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向靠近所述目标对象的方向飞行。
  20. 根据权利要求17-19任一项所述的方法，其特征在于，所述控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行，包括：
    控制所述无人机向靠近所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离小于或等于第三预设距离。
  21. 根据权利要求17-19任一项所述的方法，其特征在于，所述控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行，包括：
    控制所述无人机向靠近所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第二预设比例。
  22. 根据权利要求5-21任一项所述的方法，其特征在于，
    所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
  23. 根据权利要求5-22任一项所述的方法，其特征在于，
    所述控制杆量可以通过所述至少一个触点移动的距离、移动的方向、移动的速度、移动的加速度中的一个或多个获取。
  24. 根据权利要求4-23任一项所述的方法，其特征在于，控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：
    控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行直至所述第二操作停止操作。
  25. 根据权利要求4所述的方法，其特征在于，所述跟踪飞行模式的子模式为构图调整飞行模式，
    所述控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行，包括：
    根据所述第二操作在拍摄画面中确定特定范围且包括所述目标对象的目标图像；
    控制所述无人机向靠近所述目标对象的方向飞行，直至所述目标图像在拍摄画面中达到预设范围。
  26. 根据权利要求25所述的方法，其特征在于，所述预设范围为所述拍摄画面的范围。
  27. 根据权利要求25所述的方法，其特征在于，
    所述特定范围为与拍摄画面等比例或交互界面等比例的矩形范围。
  28. 根据权利要求25-27任一项所述的方法，其特征在于，所述第二操作为两个触点操作。
  29. 根据权利要求28所述的方法，其特征在于，所述两个触点的位置为所述矩形的端点的位置。
  30. 根据权利要求28所述的方法，其特征在于，所述两个触点的连线为所述矩形的对角线。
  31. 一种无人机的控制装置，其特征在于，包括：
    检测模块，用于检测对交互界面的第一操作；
    控制模块，用于根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
  32. 根据权利要求31所述的装置，其特征在于，当所述第一操作为触点 操作时，所述第一操作触发的飞行模式为指点飞行模式；所述指点飞行模式用于指示所述无人机朝着所述触点操作在拍摄画面中指示的方向飞行；
    所述控制模块，具体用于：控制所述无人机按照所述指点飞行模式飞行。
  33. 根据权利要求31所述的装置，其特征在于，当所述第一操作为画框操作时，所述第一操作触发的飞行模式为跟踪飞行模式；所述画框操作用于将拍摄画面中框选的对象作为跟踪的目标对象；所述跟踪飞行模式指示所述无人机对所述目标对象进行跟踪飞行；
    所述控制模块，具体用于：控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行。
  34. 根据权利要求33所述的装置，其特征在于，所述检测模块，还用于在检测对交互界面的第一操作之后，检测对所述交互界面的第二操作；所述第二操作用于确定无人机的跟踪飞行模式的子模式；
    所述控制模块，具体用于：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行。
  35. 根据权利要求34所述的装置，其特征在于，所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，所述水平环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的距离基本不变，在水平面上围绕目标对象跟踪飞行；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行。
  36. 根据权利要求35所述的装置，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向左移动；向左移动表示沿着图像坐标系的U轴的负轴方向移动；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿逆时针或顺时针方向水平环绕飞行。
  37. 根据权利要求35所述的装置，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向右移动；向右移动表示在图像坐标系中沿着图像坐标系中U轴的正轴方向移动；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
  38. 根据权利要求34所述的装置，其特征在于，所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式；所述垂直环绕跟踪模式用于指示无人机以目标对象为中心，保持无人机与目标对象的距离基本不变，在垂直面上围绕目标对象跟踪飞行；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行。
  39. 根据权利要求38所述的装置，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向上移动；向上移动表示沿着图像坐标系中V轴的负轴方向移动；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿远离地面的方向环绕飞行。
  40. 根据权利要求38所述的装置，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向下移动；向下移动表示沿着图像坐标系中V轴的正轴方向移动；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿靠近地面的方向环绕飞行。
  41. 根据权利要求38-40任一项所述的装置，其特征在于，所述控制模块，具体用于：
    控制所述无人机沿远离地面的方向环绕飞行直至所述无人机位于所述目标对象的正上方；或者，
    控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机的云台发生限位；或者，
    控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机与地面或者地面的障碍物之间的距离小于或等于第一预设距离。
  42. 根据权利要求34所述的装置，其特征在于，所述跟踪飞行模式的子模式为远离跟踪飞行模式；所述远离跟踪飞行模式用于指示所述无人机沿着远离目标对象的方向飞行；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行。
  43. 根据权利要求42所述的装置，其特征在于，所述第二操作为两个触 点操作且至少一个所述触点相向移动。
  44. 根据权利要求42或43所述的装置，其特征在于，
    所述远离跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向远离所述目标对象的方向飞行。
  45. 根据权利要求42-44任一项所述的装置，其特征在于，所述控制模块，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离大于或等于第二预设距离。
  46. 根据权利要求42-44任一项所述的装置，其特征在于，所述控制模块，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第一预设比例。
  47. 根据权利要求44所述的装置，其特征在于，所述跟踪飞行模式的子模式为靠近跟踪飞行模式；所述靠近跟踪飞行模式用于指示所述无人机向靠近所述目标对象的方向飞行；
    所述控制模块，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行。
  48. 根据权利要求47所述的装置，其特征在于，所述第二操作为两个触点操作且至少一个所述触点背向移动。
  49. 根据权利要求47或48所述的装置，其特征在于，所述靠近跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向靠近所述目标对象的方向飞行。
  50. 根据权利要求47-49任一项所述的装置，其特征在于，所述控制模块，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离小于或等于第三预设距离。
  51. 根据权利要求47-49任一项所述的装置，其特征在于，所述控制模块，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第二预设比例。
  52. 根据权利要求45-51任一项所述的装置，其特征在于，
    所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
  53. 根据权利要求35-52任一项所述的装置，其特征在于，
    所述控制杆量可以通过所述至少一个触点移动的距离、移动的方向、移动的速度、移动的加速度中的一个或多个来获取。
  54. 根据权利要求34-53任一项所述的装置，其特征在于，所述控制模块，具体用于：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行直至所述第二操作停止操作。
  55. 根据权利要求34所述的装置，其特征在于，所述跟踪飞行模式的子模式为构图调整飞行模式，
    所述控制模块，具体用于：根据所述第二操作在拍摄画面中确定特定范围且包括所述目标对象的目标图像；以及控制所述无人机向靠近所述目标对象的方向飞行，直至所述目标图像在拍摄画面中达到预设范围。
  56. 根据权利要求55所述的装置，其特征在于，所述预设范围为所述拍摄画面的范围。
  57. 根据权利要求55所述的装置，其特征在于，
    所述特定范围为与拍摄画面等比例或交互界面等比例的矩形范围。
  58. 根据权利要求55-57任一项所述的装置，其特征在于，所述第二操作为两个触点操作。
  59. 根据权利要求58所述的装置，其特征在于，所述两个触点的位置为所述矩形的端点的位置。
  60. 根据权利要求58所述的装置，其特征在于，所述两个触点的连线为所述矩形的对角线。
  61. 一种无人机的控制设备，其特征在于，包括：交互界面和处理器；
    交互界面，用于检测第一操作；
    所述处理器，用于根据所述第一操作确定触发的无人机的飞行模式，控制所述无人机按照所述飞行模式飞行。
  62. 根据权利要求61所述的设备，其特征在于，当所述第一操作为触点操作时，所述第一操作触发的飞行模式为指点飞行模式；所述指点飞行模式用于指示所述无人机朝着所述触点操作在拍摄画面中指示的方向飞行；
    所述处理器，具体用于：控制所述无人机按照所述指点飞行模式飞行。
  63. 根据权利要求61所述的设备，其特征在于，当所述第一操作为画框操作时，所述第一操作触发的飞行模式为跟踪飞行模式；所述画框操作用于 将拍摄画面中框选的对象作为跟踪的目标对象；所述跟踪飞行模式指示所述无人机对所述目标对象进行跟踪飞行；
    所述处理器，具体用于：控制所述无人机按照跟踪飞行模式对所述目标对象进行跟踪飞行。
  64. 根据权利要求63所述的设备，其特征在于，
    所述交互界面，还用于在检测第一操作之后检测第二操作；
    所述第二操作用于确定无人机的跟踪飞行模式的子模式；
    所述处理器，具体用于控制所述无人机按照第二操作确定的所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行。
  65. 根据权利要求64所述的设备，其特征在于，所述跟踪飞行模式的子模式为水平环绕跟踪飞行模式，所述水平环绕跟踪模式用于指示所述无人机以目标对象为中心，保持所述无人机与所述目标对象的距离基本不变，在水平面上围绕目标对象跟踪飞行；
    所述处理器，具体用于根据所述第二操作产生的控制杆量，控制无人机按照水平环绕跟踪模式对所述目标对象进行跟踪飞行。
  66. 根据权利要求65所述的设备，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向左移动；向左移动表示沿着图像坐标系的U轴的负轴方向移动；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿逆时针或顺时针方向水平环绕飞行。
  67. 根据权利要求65所述的设备，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向右移动；向右移动表示在图像坐标系中沿着图像坐标系中U轴的正轴方向移动；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿顺时针或逆时针方向水平环绕飞行。
  68. 根据权利要求64所述的设备，其特征在于，所述跟踪飞行模式的子模式为垂直环绕跟踪飞行模式；所述垂直环绕跟踪模式用于指示无人机以目标对象为中心，保持无人机与目标对象的距离基本不变，在垂直面上围绕目标对象跟踪飞行；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制所述 无人机按照垂直环绕跟踪模式对所述目标对象进行跟踪飞行。
  69. 根据权利要求68所述的设备，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向上移动；向上移动表示沿着图像坐标系中V轴的负轴方向移动；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿远离地面的方向环绕飞行。
  70. 根据权利要求68所述的设备，其特征在于，所述第二操作为至少一个触点操作且基于所述至少一个触点向下移动；向下移动表示沿着图像坐标系中V轴的正轴方向移动；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机以所述目标对象为中心沿靠近地面的方向环绕飞行。
  71. 根据权利要求68-70任一项所述的设备，其特征在于，所述处理器，具体用于：
    控制所述无人机沿远离地面的方向环绕飞行直至所述无人机位于所述目标对象的正上方；或者，
    控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机的云台发生限位；或者，
    控制所述无人机沿靠近地面的方向环绕飞行直至所述无人机与地面或者地面的障碍物之间的距离小于或等于第一预设距离。
  72. 根据权利要求64所述的设备，其特征在于，所述跟踪飞行模式的子模式为远离跟踪飞行模式；所述远离跟踪飞行模式用于指示所述无人机沿着远离目标对象的方向飞行；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制无人机按照所述远离跟踪飞行模式对所述目标对象进行跟踪飞行。
  73. 根据权利要求72所述的设备，其特征在于，所述第二操作为两个触点操作且至少一个所述触点相向移动。
  74. 根据权利要求72或73所述的设备，其特征在于，
    所述远离跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向远离所述目标对象的方向飞行。
  75. 根据权利要求72-74任一项所述的设备，其特征在于，所述处理器， 具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离大于或等于第二预设距离。
  76. 根据权利要求72-74任一项所述的设备，其特征在于，所述处理器，具体用于：控制所述无人机向远离所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第一预设比例。
  77. 根据权利要求74所述的设备，其特征在于，所述跟踪飞行模式的子模式为靠近跟踪飞行模式；所述靠近跟踪飞行模式用于指示所述无人机向靠近所述目标对象的方向飞行；
    所述处理器，具体用于：根据所述第二操作产生的控制杆量，控制所述无人机按照靠近跟踪飞行模式对所述目标对象进行跟踪飞行。
  78. 根据权利要求77所述的设备，其特征在于，所述第二操作为两个触点操作且至少一个所述触点背向移动。
  79. 根据权利要求77或78所述的设备，其特征在于，所述靠近跟踪飞行模式具体用于指示所述无人机沿所述无人机与所述目标对象之间的连线向靠近所述目标对象的方向飞行。
  80. 根据权利要求77-79任一项所述的设备，其特征在于，所述处理器，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述无人机与所述目标对象之间的距离小于或等于第三预设距离。
  81. 根据权利要求77-79任一项所述的设备，其特征在于，所述处理器，具体用于：控制所述无人机向靠近所述目标对象的方向飞行直至所述目标对象的画面占所述交互界面或拍摄画面的比例为第二预设比例。
  82. 根据权利要求75-81任一项所述的设备，其特征在于，
    所述第二操作产生的控制杆量用于对无人机的飞行速度、飞行方向、飞行距离、加速度中的一种或多种进行控制。
  83. 根据权利要求75-82任一项所述的设备，其特征在于，
    所述控制杆量可以通过所述至少一个触点移动的距离、移动的方向、移动的速度、移动的加速度中的一个或多个获取。
  84. 根据权利要求64-83任一项所述的设备，其特征在于，所述处理器，具体用于：控制所述无人机按照所述跟踪飞行模式的子模式对所述目标对象进行跟踪飞行直至所述第二操作停止操作。
  85. 根据权利要求64所述的设备，其特征在于，所述跟踪飞行模式的子模式为构图调整飞行模式，
    所述处理器，具体用于：根据所述第二操作在拍摄画面中确定特定范围且包括所述目标对象的目标图像；以及控制所述无人机向靠近所述目标对象的方向飞行，直至所述目标图像在拍摄画面中达到预设范围。
  86. 根据权利要求85所述的设备，其特征在于，所述预设范围为所述拍摄画面的范围。
  87. 根据权利要求85所述的设备，其特征在于，
    所述特定范围为与拍摄画面等比例或交互界面等比例的矩形范围。
  88. 根据权利要求85-87任一项所述的设备，其特征在于，所述第二操作为两个触点操作。
  89. 根据权利要求88所述的设备，其特征在于，所述两个触点的位置为所述矩形的端点的位置。
  90. 根据权利要求88所述的设备，其特征在于，所述两个触点的连线为所述矩形的对角线。
  91. 一种无人机的控制系统，其特征在于，包括：
    无人机；
    如权利要求61-90任一项所述的无人机的控制设备。
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