WO2018113078A1

WO2018113078A1 - Flight control method for unmanned aerial vehicle in headless mode, and unmanned aerial vehicle

Info

Publication number: WO2018113078A1
Application number: PCT/CN2017/073232
Authority: WO
Inventors: 刘均; 孙建勋; 张跃博
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-12-22
Filing date: 2017-02-10
Publication date: 2018-06-28
Also published as: CN106802664A; CN106802664B

Abstract

A flight control method for an unmanned aerial vehicle in a headless mode, and an unmanned aerial vehicle. The control method comprises: receiving a flight instruction sent by a remote control terminal (201); obtaining a rotation base point direction of an unmanned aerial vehicle (202); determining a rotation angle (β) and a first rotation direction according to the flight instruction and the rotation base point direction (203); rotating the unmanned aerial vehicle by taking the rotation base point direction as a starting point according to the first rotation direction and the rotation angle (β) to obtain a target flight direction (204); and executing flight in the target flight direction (205). The flight control method for an unmanned aerial vehicle in a headless mode reduces the operation difficulty of the remote control terminal, and improves user experience.

Description

Flight control method for unmanned headless mode of drone and drone

[0001] This application is filed on December 22, 2016 and submitted to the State Intellectual Property Office. The application number is 201611198344.3

The invention is entitled "A Flight Control Method for a UAV Headless Mode and a UAV" priority, the entire contents of which are incorporated herein by reference.

Technical Field

[0003] The present invention relates to the field of drone technology, and in particular to a flight control method for a headless mode of a drone and a drone.

BACKGROUND OF THE INVENTION

[0005] The common operation mode of the drone is the head mode. In the head mode, the drone itself is used as the reference system, the head direction is the front, the tail direction is the rear, and the left side of the fuselage is the left side. The right side of the body is on the right. When the direction of the user and the head are the same, the flight direction of the drone is the same as that of the rudder stick of the remote control device. When the direction of the user and the head are inconsistent, the user needs to follow the direction of the head to determine the remote control. The direction of operation of the device. Therefore, after operating the drone, it is prone to flight confusion and complicated operation.

SUMMARY OF THE INVENTION

[0007] Embodiments of the present invention provide a flight control method for a headless mode of a drone and a drone, which can reduce the operation difficulty of the user and improve the user experience.

[0008] A first aspect of an embodiment of the present invention provides a flight control method for a headless mode of a drone, comprising: [0009] receiving a flight instruction sent by a remote control terminal;

[0010] acquiring a rotation base point direction of the drone;

[0011] determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction;

[0012] rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction;

[0013] performing a flight to the target flight direction.

[0014] A second aspect of the embodiments of the present invention provides a drone, including:

[0015] a receiving unit, configured to receive a flight instruction sent by the remote control terminal; [0016] a first acquiring unit, configured to acquire a rotation base point direction of the drone;

[0017] a first determining unit, configured to determine a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction;

[0018] a second determining unit, configured to rotate the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction;

[0019] an execution unit, configured to perform flight to the target flight direction.

[0020] It can be seen that, by using the embodiment of the present invention, receiving a flight instruction sent by the remote control terminal; acquiring a rotation base point direction of the drone; determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction; Starting from the rotation base point direction, rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction; performing flight to the target flight direction. Thereby, the operation difficulty of the user is reduced, and the user experience is improved.

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are only some of the embodiments of the present invention, and other drawings may be obtained from those skilled in the art without departing from the drawings.

1 is a schematic diagram of a coordinate system of a UAV coordinate system and a remote control terminal according to an embodiment of the present invention;

2 is a schematic flow chart of a first embodiment of a flight control method for a headless mode of a drone according to an embodiment of the present invention;

3 is a schematic flow chart of a second embodiment of a flight control method for a headless mode of a drone according to an embodiment of the present invention;

4 is a schematic flow chart of a third embodiment of a flight control method for a headless mode of a drone according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a first embodiment of a drone according to an embodiment of the present invention; FIG.

FIG. 5b is a schematic structural diagram of a first acquiring unit of the UAV described in FIG. 5a according to an embodiment of the present invention;

5c is a schematic structural diagram of a first determining unit of the drone depicted in FIG. 5a according to an embodiment of the present invention; [0030] FIG. 5 is a schematic structural diagram of another embodiment of the drone depicted in FIG. 5a according to an embodiment of the present invention;

[0031] FIG. 5e is another schematic structural diagram of the drone described in FIG. 5a according to an embodiment of the present invention;

6 is a schematic structural diagram of a second embodiment of a drone according to an embodiment of the present invention.

DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. . All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive work are all within the scope of the present invention.

[0035] The terms "first", "second", "third" and "fourth" and the like in the description and claims of the present invention and the drawings are used to distinguish different objects instead of Describe a specific order. Furthermore, the terms "comprises" and "comprising" and "the" and "the" are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units not listed, or, optionally, Other steps or units inherent to these processes, methods, products or equipment.

[0036] References to "embodiments" herein mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the invention. The appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.

The remote control terminal described in the embodiments of the present invention may include a smart phone (such as an Android mobile phone, an iOS mobile phone, a Windows Phone mobile phone, etc.), a tablet computer, a palmtop computer, a notebook computer, a mobile internet device (MID, Mobile Internet Devices), or The wearable device or the like, the above remote control terminal is merely an example, and not exhaustive, including but not limited to the above-mentioned remote control terminal.

2 is a schematic flow chart of a first embodiment of a flight control method for a headless mode of a drone according to an embodiment of the present invention. The flight control method of the headless mode of the drone described in this embodiment includes the following steps:

[0039] 201. Receive a flight instruction sent by the remote control terminal.

[0040] wherein, the drone receives the flight instruction sent by the remote control terminal, and the flight instruction is used to command the drone to use Flight in the direction specified by the user. The flight instruction may include current geographic location information of the remote control terminal, orientation information of the remote control terminal, and operation direction information of the rudder rocker of the remote control terminal, and the operation direction of the rudder rocker is used to instruct the drone to fly in the direction.

[0041] 202. Obtain a rotation base direction of the drone.

[0042] wherein the rotation base point direction of the drone is used to rotate the drone with the direction as a base point. The drone can determine the direction of the rotation base point after receiving the flight command sent by the remote terminal.

[0043] Optionally, the obtaining the rotation base point direction of the drone may include the following steps:

[0044] 21) acquiring the geographic location of the remote control terminal;

[0045] 22) obtaining the geographic location of the drone;

[0046] 23), the geographic location of the remote control terminal is used as a starting point, and the indication direction of the geographic location of the unmanned aerial vehicle is the direction of the rotation base point.

[0047] wherein the geographic location of the remote control terminal may be included in the flight instruction of the remote control terminal, that is, when the remote control terminal sends a flight instruction to the drone, the flight instruction includes geographic location information of the remote control terminal. It can also be obtained by the drone from the remote control terminal. In the case where the geographical position of the remote control terminal is moving, the unmanned aircraft can acquire the geographical position of the remote control terminal and calibrate the geographical position of the remote control terminal. The drone acquires its own geographical position, and after the drone acquires its own geographical position, the remote terminal's location is taken as the starting point, and the direction in which the drone's geographic location is the end point is taken as the rotating base point direction. For example, as shown in Fig. 1, the direction of the end point of the drone is taken as the starting point of the remote control terminal, that is, the direction indicated by the Y 2 axis in Fig. 1, which is the direction of the rotation base point of the drone.

[0048] Optionally, the drone needs to obtain the geographical location of the remote control terminal, and can pass the global positioning system (Global

Positioning System, GPS) Locating the remote control terminal, or calibrating the geographical position of the remote control terminal through passive positioning of the radar, and obtaining the direction indicated by the geographic location of the remote control terminal and the geographic location of the drone.

[0049] Optionally, a laser ranging sensor may be built in the drone, and the relative position information of the remote terminal and the unmanned person may be acquired by measuring the physical distance between the remote control terminal and the drone.

[0050] 203. Determine a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction.

[0051] Optionally, the determining the rotation angle and the first rotation direction according to the flight instruction and the rotation base point direction may include the following steps: [0052] 31) acquiring, from the remote control terminal, a first coordinate system with the remote control terminal as an origin, wherein the first coordinate system includes a first X axis, and a first Y axis;

[0053] 32) establishing a second coordinate system with the unmanned machine as the origin, wherein the second coordinate system includes a second X axis and a second Y axis;

[0054] 33) determining a rotation angle according to the operation direction information of the remote control terminal carried by the flight instruction, where the rotation angle is an acute angle;

[0055] 34) determining a second rotation direction according to the rotation angle, wherein the first rotation direction is opposite to the direction of the second rotation direction.

[0056] Optionally, as shown in FIG. 1, FIG. 1 is a schematic diagram of a first coordinate system established with the remote control terminal as the origin and a second coordinate system established with the unmanned aircraft as the origin. In the first coordinate system, the first X-axis, i.e., the XI-axis, is in the left-right direction of the rudder stick of the remote control terminal, and the first Y-axis, that is, the Y1 axis, is forward and backward of the rudder rocker of the remote control terminal. In the second coordinate system, the second Y axis, that is, the Y2 axis, is in the direction of the rotation base of the drone, and the second X axis, that is, the X2 axis is perpendicular to the Y2 axis.

[0057] Optionally, a magnetic sensor may be configured at the remote control terminal, and the remote control terminal may utilize the magnetic sensor to calculate direction information of the remote control terminal. The magnetic sensor measures the magnetic field of the current remote terminal, and obtains the direction information of the remote terminal according to the magnetic field strength, and the magnetic sensor has the advantages of high sensitivity and low power consumption. After obtaining the direction information of the remote terminal, the first coordinate system with the remote terminal as the origin can be established, and then the drone acquires the information of the first coordinate system.

[0058] Optionally, the drone may determine the rotation angle of the drone in the first coordinate system with the remote terminal as the origin according to the operation direction information of the remote terminal carried by the flight instruction. For example, as shown in Fig. 1, the operation direction of the remote terminal is the Y1 direction, that is, in the actual operation of the remote terminal, the rudder stick is pushed forward in front of the remote terminal. The angle between the operation direction of the remote control terminal and the Y1 axis is β, and the angle β is an acute angle, which is marked in Figure 1.

[0059] Alternatively, after determining the rotation angle β, the second rotation direction may be determined according to the rotation angle β, and the second rotation direction is a direction in which the operation direction is rotated to the second axis, which may be a shunning direction or a reverse direction. The direction of the needle. For example, as shown in Fig. 1, in the operation direction, that is, the Y1 axis direction is rotated by the β angle, the Υ2-axis direction is obtained. The direction of the first rotation is opposite to the direction of the second direction of rotation, that is, the second direction of rotation is the direction of the reverse needle, and the direction of rotation of the first direction is the direction of the needle; the second direction of rotation is the direction of the needle, One direction of rotation is the direction of the reverse needle. In the first rotation direction in Fig. 1, the direction of the reverse rotation is obtained, and the first rotation direction is obtained as the direction of the needle.

[0060] Alternatively, the operation direction of the remote control terminal shown in FIG. 1 may be any one of forward, backward, leftward, and rightward. It should be noted that the four operation directions shown in FIG. 1 are only for convenience of description. In the actual application process, the operation direction may be any direction. For example, it may be left front, left rear, right front, right rear, and the like. The operation direction of the remote terminal and the target flight direction of the drone are in the same direction.

[0061] Optionally, in the present invention, the remote control terminal is mainly used for transmitting a flight instruction, or transmitting geographic location information of the remote control terminal, or transmitting the first coordinate system information. The drone is used to receive information, process the acquired information, and then perform the flight of the drone to the target.

[0062] Optionally, in the embodiment, the first coordinate system is established with the remote control terminal as the origin and the second coordinate system is established with the unmanned aircraft as the origin. The remote control terminal and the drone are both in the horizontal position. Next, a two-dimensional coordinate system established on the same horizontal plane. If it is applied in practice, when either of the two is not in the horizontal position, it is necessary to adjust the position of one of the parties not in the horizontal position, and adjust the remote terminal and the drone to the horizontal position to implement the embodiment of the present invention.

[0063] 204: Rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction.

[0064] wherein, the rotation base point direction is used as a base point, and the drone is rotated according to the first rotation relationship direction and the first rotation angle, for example, as shown in FIG. 1, the UAV portion on the Y2 axis is followed. By rotating the β angle in the direction of the needle, the target flight direction of the drone can be obtained, and the flight direction of the target is consistent with the operation direction of the remote terminal. Alternatively, it can be understood that the UAV portion in the direction of the second x-axis is regarded as the head of the drone, and the drone portion is rotated in a specified direction and a specified angle to obtain the drone. The direction of the target flight.

[0065] Optionally, after determining the direction of the rotation base point, the drone may select any point in the direction of the rotation base point, and rotate the point as the reference point by the specified angle in the specified direction. For example, a point can be taken on the UAV portion in the direction of the 轴2 axis, and the point is used as a reference point. After the drone is rotated according to the first rotation direction and the rotation angle, the reference point is checked. Is there a rotation as described to improve accuracy? [0066] 205. Perform flight to the target flight direction.

[0067] wherein, after determining the target flight direction of the drone, the drone can be executed to fly in the target flight direction. The drone keeps flying in the direction of the target before the drone acquires the next flight instruction.

[0068] It can be seen that, by using the embodiment of the present invention, receiving a flight instruction sent by the remote control terminal; acquiring a rotation base point direction of the drone; determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction; Starting from the rotation base point direction, rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction; performing flight to the target flight direction. Therefore, when the drone is instructed to fly in the specified direction, the operation difficulty of the user is reduced, and the user experience is improved.

[0069] In conjunction with the above, refer to FIG. 3, which is a schematic flowchart diagram of a second embodiment of a flight control method for a headless mode of a drone according to an embodiment of the present invention. The flight control method for the headless mode of the drone described in this embodiment includes the following steps:

[0070] 301. Determine whether the remote control terminal is in a horizontal position.

[0071] 302. If the remote control terminal is not in a horizontal position, acquire a pitch angle and a roll angle of the remote control terminal.

[0072] Wherein, when the remote control terminal is not in the horizontal position, it is necessary to acquire the pitch angle and the roll angle of the remote control terminal, thereby calculating the target flight direction more accurately. For example, the pitch angle and roll angle of the remote terminal can be measured by the gyro sensor and the acceleration sensor in the remote terminal. After the user pushes the rudder stick, the actual direction of operation and the direction indicated by the user will be different. For example, the user wants the unmanned aircraft to fly in front of the remote control terminal, that is, the user is flying in front, but in actual operation, the user pushes the rudder rocker 向 to the front of the user, and the operation direction is not directly in front of the horizontal plane.

[0073] Optionally, after acquiring the pitch angle and the roll angle of the remote control terminal, the actual operation direction of the remote control terminal may be decomposed to obtain a component on the horizontal plane, which may be understood as projecting the operation direction of the remote control terminal to the horizontal plane. Then, the operation direction information obtained after the projection is sent to the drone.

[0074] 303. Receive a flight instruction sent by the remote control terminal.

[0075] 304. Obtain a rotation base direction of the drone.

[0076] 305. Determine a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction.

[0077] 306. Rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction. [0078] 307. Perform flight to the target flight direction.

[0079] wherein, the foregoing step 303-step 307 can refer to step 201-step 205 of the flight control method of the headless mode of the drone described in FIG. 2.

[0080] It can be seen that, by using an embodiment of the present invention, determining whether the remote control terminal is in a horizontal position; if not in a horizontal position, acquiring a pitch angle and a roll angle of the remote control terminal; receiving a flight instruction sent by the remote control terminal Obtaining a rotation base point direction of the drone; determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction; starting from the rotation base point direction, according to the first rotation direction and the rotation Rotating the drone at an angle to obtain a target flight direction; performing flight to the target flight direction. Therefore, in the operation of the drone, the user's operation difficulty is reduced, the accuracy of the operation is improved, and the user experience is improved.

[0081] In accordance with the above, FIG. 4 is a schematic flowchart diagram of a third embodiment of a flight control method for a headless mode of a drone according to an embodiment of the present invention. The flight control method for the headless mode of the drone described in this embodiment includes the following steps:

[0082] 401. Receive a flight instruction sent by the remote control terminal.

[0083] 402. Acquire a rotation base direction of the drone.

[0084] 403. Determine a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction.

[0085] The above steps 401 to 403 may refer to step 201 to step 203 of the flight control method of the headless mode of the drone described in FIG.

[0086] 404. Determine a head direction of the drone.

[0087] 405. Determine whether the direction of the head of the drone is consistent with the direction of the rotation base point.

[0088] 406. If the head direction of the drone does not coincide with the direction of the rotation base point, rotate the nose of the drone to the direction of the rotation base point.

[0089] wherein, the drone can determine whether the direction of the nose is consistent with the direction of the rotation base point by determining the direction of the nose, and the head can be rotated to the rotation base point direction when the direction of the nose is inconsistent with the direction of the rotation base point. The drone head can be rotated by rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction 为 starting from the rotation base point direction. Since the nose of the drone is a certain point, the accuracy of rotating the drone can be improved by rotating the handpiece.

[0090] Optionally, although the drone head is involved in this embodiment, the drone in this embodiment still It is flying in the headless mode. After the user controls the remote control terminal, the implementation of the operation direction does not need to consider which direction the UAV head is in.

[0091] 407. Rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction.

[0092] 408. Perform flight to the target flight direction.

[0093] wherein the above steps 407-408 may refer to step 204 of step 205 of the flight control method of the headless mode of the drone described in FIG.

[0094] It can be seen that, by using the embodiment of the present invention, receiving a flight instruction sent by the remote control terminal; acquiring a rotation base point direction of the drone; determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction; Determining the direction of the head of the drone; determining whether the direction of the nose of the drone is consistent with the direction of the rotating base; if the direction of the head of the drone is inconsistent with the direction of the rotating base point, the unmanned Rotating the machine head to the direction of the rotation base point; starting the rotation base point direction, rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction; performing a flight direction to the target flight. Therefore, in the operation of the drone, the user's operation difficulty is reduced, the accuracy of the operation is improved, and the user experience is improved.

[0095] Consistent to the above, the following is an apparatus for implementing the flight control method of the headless mode of the unmanned aerial vehicle provided by the embodiment of the present invention, as follows:

[0096] Please refer to FIG. 5a, which is a schematic structural diagram of an embodiment of a drone according to an embodiment of the present invention. The drone described in this embodiment includes: a receiving unit 501, a first obtaining unit 502, a first determining unit 503, a second determining unit 504, and an executing unit 505, as follows:

[0097] The receiving unit 501 is configured to receive a flight instruction sent by the remote control terminal;

[0098] The first obtaining unit 502 is configured to acquire a rotation base point direction of the drone;

[0099] The first determining unit 503 is configured to determine a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction;

[0100] The second determining unit 504 is configured to rotate the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction;

[0101] The executing unit 505 is configured to perform flight to the target flight direction.

[0102] Optionally, the first obtaining unit 502 of the drone described in FIG. 5b and FIG. 5a may include: The module 5021, the second obtaining module 5022, and the first determining module 5023 are as follows:

[0103] The first obtaining module 5021 is configured to acquire a geographic location of the remote control terminal.

[0104] a second obtaining module 5022, configured to acquire a geographic location of the drone;

[0105] The first determining module 5023 is configured to use the geographic location of the remote control terminal as a starting point, and the pointing direction of the unmanned aerial vehicle as an ending point is used as the rotating base point direction.

[0106] Optionally, the first determining unit 503 of the drone described in FIG. 5c and FIG. 5a may include: a third obtaining module 5031, an establishing module 5032, a second determining module 5033, and a third determining module 5034, details as follows

[0107] The third obtaining module 5031 is configured to acquire, from the remote control terminal, a first coordinate system with the remote control terminal as an origin, wherein the first coordinate system includes a first X axis, and a first Y axis;

[0108] The establishing module 5032 is configured to establish a second coordinate system with the unmanned machine as the origin, wherein the second coordinate system includes a second X axis and a second Y axis;

[0109] The second determining module 5033 is configured to determine, according to the operation direction information of the remote control terminal carried by the flight instruction, a rotation angle, where the rotation angle is an acute angle;

[0110] The third determining module 5034 is configured to determine a second rotation direction according to the rotation angle, where the first rotation direction is opposite to the direction of the second rotation direction.

[0111] Optionally, as shown in FIG. 5d, FIG. 5d is a modified structure of FIG. 5a, further comprising: a first determining unit 506 and a second obtaining unit 507, as follows:

[0112] The first determining unit 506 is configured to determine, before the receiving unit receives the flight instruction sent by the remote control terminal, whether the remote control terminal is in a horizontal position;

[0113] The second obtaining unit 507 is configured to acquire a pitch angle and a roll angle of the remote control terminal if the remote control terminal is not in a horizontal position.

[0114] Optionally, as shown in FIG. 5e, FIG. 5e is a modified structure of FIG. 5a, further comprising: a third determining unit 508

The second determining unit 509 and the rotating unit 510 are as follows:

[0115] The third determining unit 508 is configured to: before the second determining unit rotates the drone according to the first rotation direction and the rotation angle, to obtain a target flight direction, starting from the rotation base point direction Determining the direction of the head of the drone;

[0116] The second determining unit 509 is configured to determine whether the direction of the head of the drone is one of the directions of the rotating base point [0117] The rotation unit 510 is configured to rotate the UAV head to the rotation base point direction if the UAV head direction does not coincide with the rotation base point direction, and execute by the second determining unit Starting from the rotation base point direction, the drone is rotated according to the first rotation direction and the rotation angle to obtain a target flight direction.

[0118] It can be seen that, by using the embodiment of the present invention, receiving a flight instruction sent by the remote control terminal; acquiring a rotation base point direction of the drone; determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction; Starting from the rotation base point direction, rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction; performing flight to the target flight direction. Thereby, the operation difficulty of the user is reduced, and the user experience is improved.

[0119] Please refer to FIG. 6, which is a schematic structural diagram of a second embodiment of a drone according to an embodiment of the present invention. The drone described in this embodiment includes: at least one input device 1000; at least one output device 2 000; at least one processor 3000, such as a CPU; and a memory 4000, the input device 1000, the output device 2000, and the processor 3000 and memory 4000 are connected by a bus 5000.

[0120] The input device 1000 may be a touch panel, a physical button, or a mouse.

[0121] The above output device 2000 may specifically be a display screen.

[0122] The above memory 4000 may be a high speed RAM memory or a non-volatile memory such as a disk memory. The memory 4000 is used to store a set of program codes. The input device 1000, the output device 2000, and the processor 3000 are used to call a program code stored in the memory 4000, and perform the following operations:

[0123] The processor 3000 is configured to:

[0124] receiving a flight instruction sent by the remote control terminal;

[0125] acquiring a rotation base point direction of the drone;

[0126] determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction;

[0127] rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction;

[0128] Performing a flight to the target flight direction.

[0129] Optionally, the processor 3000 is configured to acquire a rotation base point direction of the drone, and includes: [0130] acquiring a geographic location of the remote control terminal;

[0131] obtaining the geographic location of the drone;

[0132] The geographical position of the remote control terminal is used as a starting point, and the indication direction of the geographic location of the unmanned aerial vehicle is the direction of the rotation base point.

[0133] Optionally, the processor 3000 carries the operation direction information of the remote terminal in the flight instruction.

[0134] determining the rotation angle and the first rotation direction according to the flight instruction and the rotation base point direction, including:

[0135] acquiring, from the remote control terminal, a first coordinate system with the remote control terminal as an origin, wherein the first coordinate system includes a first X axis, and a first Y axis;

[0136] establishing a second coordinate system with the unmanned machine as the origin, wherein the second coordinate system includes a second X axis and a second Y axis;

[0137] determining a rotation angle according to the operation direction information of the remote control terminal carried by the flight instruction, where the rotation angle is an acute angle;

[0138] Depending on the rotation angle, a second rotation direction is determined, the first rotation direction being opposite to the direction of the second rotation direction.

[0139] Optionally, before the receiving, by the processor 3000, the flight instruction sent by the remote control terminal, the method further includes:

[0140] determining whether the remote control terminal is in a horizontal position;

[0141] if the remote control terminal is not in a horizontal position, acquiring a pitch angle and a roll angle of the remote control terminal

[0142] Optionally, the processor 3000 is configured to rotate the drone according to the first rotation direction and the rotation angle to obtain the target flight direction, where the direction of the rotation base point is used as a starting point. The methods include:

Determining a direction of the head of the drone;

[0144] determining whether the head direction of the drone is consistent with the direction of the rotation base point;

[0145] If the head direction of the drone does not coincide with the direction of the rotation base point, the head of the drone is rotated to the direction of the rotation base point. [0146] The embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and the program execution includes the flight control of the headless mode of any of the unmanned aerial vehicles described in the foregoing method embodiments. Part or all of the steps of the method.

[0147] Although the invention has been described herein in connection with the various embodiments of the present invention, those skilled in the <Desc/Clms Page number> Other variations of the disclosed embodiments can be understood and implemented. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill several of the functions recited in the claims. Certain measures are documented in mutually different subordinate claims, but this does not mean that these measures cannot be combined to produce good results.

[0148] Those skilled in the art will appreciate that embodiments of the invention may be provided as a method, apparatus (device), or computer program product. Thus, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, C D-ROM, optical storage, etc.) in which computer usable program code is embodied. The computer program is stored/distributed in a suitable medium, provided with other hardware or as part of the hardware, or in other distributed forms, such as over the Internet or other wired or wireless telecommunications systems.

The present invention is described with reference to flowchart illustrations and/or block diagrams of the method, apparatus, and computer program product of the embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

[0150] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that instructions stored in the computer readable memory produce an article of manufacture including the instruction device. The instruction device implements the functions specified in one or more flows of the flowchart or in a block or blocks of the flowchart. [0151] These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing, such that the computer or other programmable device The instructions executed above provide steps for implementing the functions specified in one or more blocks of the flowchart or in a block or blocks of the flowchart.

While the invention has been described in terms of the specific embodiments and the embodiments thereof, various modifications and combinations may be made without departing from the spirit and scope of the invention. Accordingly, the description and drawings are to be regarded as It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Claim 1] A flight control method for a headless mode of a drone, comprising:

Receiving a flight instruction sent by the remote terminal;

Obtaining the rotation base direction of the drone;

Determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction, starting from the rotation base point direction, rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction ;

Performing a flight in the direction of the target flight.

[Claim 2] The method according to claim 1, wherein the acquiring the rotation base direction of the drone includes:

Obtaining a geographic location of the remote control terminal;

Obtaining the geographic location of the drone;

The geographical position of the remote control terminal is taken as a starting point, and the indication direction of the geographic location of the unmanned aerial vehicle is the direction of the rotation base point.

[Claim 3] The method according to claim 1 or 2, wherein the flight instruction carries operation direction information of the remote control terminal;

Determining the rotation angle and the first rotation direction according to the flight instruction and the rotation base point direction, including:

Obtaining, by the remote control terminal, a first coordinate system with the remote control terminal as an origin, wherein the first coordinate system includes a first X axis, and a first Y axis;

Establishing a second coordinate system with the drone as the origin, wherein the second coordinate system includes a second X axis and a second Y axis;

Determining a rotation angle according to the operation direction information of the remote control terminal carried by the flight instruction, the rotation angle being an acute angle;

A second direction of rotation is determined based on the angle of rotation, the direction of the first direction of rotation being opposite to the direction of the second direction of rotation.

[Claim 4] The method according to claim 1, wherein: the receiving remote control terminal transmits Before the flight instruction, the method further includes:

Determining whether the remote control terminal is in a horizontal position;

If the remote control terminal is not in the horizontal position, the pitch angle and the roll angle of the remote control terminal are acquired.

[Claim 5] The method according to claim 1 or 2, wherein the drone is rotated in the first rotation direction and the rotation angle starting from the rotation base point direction Before obtaining the target flight direction, the method further includes: determining a head direction of the drone;

Determining whether the direction of the head of the drone is consistent with the direction of the rotating base point;

If the head direction of the drone does not coincide with the direction of the rotation base point, the head of the drone is rotated to the direction of the rotation base point.

[Claim 6] A drone, characterized in that it comprises:

a receiving unit, configured to receive a flight instruction sent by the remote control terminal; a first acquiring unit, configured to acquire a rotation base point direction of the drone; and a first determining unit, configured to determine a rotation angle according to the flight instruction and the rotation base point direction And a first direction of rotation;

a second determining unit, configured to rotate the drone according to the first rotation direction and the rotation angle to obtain a target flight direction, starting from the rotation base point direction;

An execution unit, configured to perform flight to the target flight direction.

The UAV according to claim 6, wherein the first acquiring unit comprises: a first acquiring module, configured to acquire a geographic location of the remote control terminal; and a second acquiring module, configured to acquire The first determining module is configured to use the geographic location of the remote control terminal as a starting point, and the pointing direction of the unmanned aerial vehicle as the ending point is the rotating base point direction.

[0012] The UAV according to claim 6 or 7, wherein the first determining unit includes a third acquiring module, configured to acquire, from the remote terminal, a first coordinate system with the remote terminal as an origin. Wherein the first coordinate system comprises a first X axis, a first Y axis; Establishing a module, configured to establish a second coordinate system with the unmanned machine as an origin, wherein the second coordinate system includes a second X axis and a second Y axis;

a second determining module, configured to determine a rotation angle according to the operation direction information of the remote control terminal carried by the flight instruction, where the rotation angle is an acute angle; and a third determining module, configured to determine a second according to the rotation angle a direction of rotation, the first direction of rotation being opposite to the direction of the second direction of rotation.

9. The drone according to claim 6, wherein the drone further comprises:

a first determining unit, configured to determine, before the receiving unit receives the flight instruction sent by the remote terminal, whether the remote terminal is in a horizontal position;

And a second acquiring unit, configured to acquire a pitch angle and a roll angle of the remote control terminal if the remote control terminal is not in a horizontal position.

The UAV according to claim 6 or 7, wherein the UAV further comprises: a third determining unit, configured to: in the direction of the rotation base point, the second determining unit is Determining a direction of the head of the drone before rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction;

a second determining unit, configured to determine whether the direction of the head of the drone is consistent with the direction of the rotating base point;

a rotation unit, configured to rotate the UAV head to the rotation base point direction if the UAV head direction does not coincide with the rotation base point direction, and perform the rotation by the second determining unit The base point direction is a starting point, and the drone is rotated according to the first rotation direction and the rotation angle to obtain a target flight direction.

[Attachment 11] A drone, comprising:

a memory storing executable program code;

a processor coupled to the memory;

The processor calls the executable program code stored in the memory, and performs the following steps:

Receiving a flight instruction sent by the remote terminal;

Obtaining the rotation base direction of the drone; Determining a rotation angle and a first rotation direction according to the flight instruction and the rotation base point direction, starting from the rotation base point direction, rotating the drone according to the first rotation direction and the rotation angle to obtain a target flight direction ;

Performing a flight in the direction of the target flight.

The UAV according to claim 11, wherein the processor is specifically configured to: acquire a geographic location of the remote control terminal;

Obtaining the geographic location of the drone;

[Attachment 13] The drone according to claim 11 or 12, wherein the processor is specifically used for:

The UAV according to claim 11, wherein the processor is specifically configured to: determine whether the remote control terminal is in a horizontal position;

[Claim 15] The UAV according to claim 11 or 12, wherein the processor is specifically configured to: Determining the direction of the head of the drone;