WO2018195883A1 - Method and device for controlling unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Abstract

A method and device for controlling an unmanned aerial vehicle, and an unmanned aerial vehicle. The method comprises: controlling an unmanned aerial vehicle so that same takes off from a palm of a user (S101); identifying a gesture of the user (S102); if the gesture of the user is recognized, controlling, according to the gesture, the unmanned aerial vehicle so that same executes an action corresponding to the gesture (S103); and controlling the unmanned aerial vehicle so that same lands on the palm of the user (S104). The method enables a user to control an unmanned aerial vehicle by means of a gesture, controls the unmanned aerial vehicle without manipulating a ground control device, such as a remote controller and a user terminal, and realizes a method which enables a common user to quickly get started and easily control the unmanned aerial vehicle.

Description

Unmanned aerial vehicle control method, equipment and unmanned aerial vehicle Technical field

Embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular, to a method, a device, and an unmanned aerial vehicle for controlling an unmanned aerial vehicle.

Background technique

In the prior art, the user uses the remote control rocker to control the unmanned aerial vehicle, but the user needs to have rich operation experience. Generally, the remote control has two poles and four channels, and the unmanned aerial vehicle is controlled to fly up and down, before and after flight. , left and right flight, turn left, turn right, when the user operates the remote control joystick, you need to control the amount of the bar, so that the remote control to control the speed, distance, posture, etc. of the UAV flight, it can be seen that the experience is not rich enough For users, controlling an unmanned aerial vehicle is a difficult task.

The prior art lacks a way to get the average user to get started quickly and to easily control the unmanned aerial vehicle.

Summary of the invention

Embodiments of the present invention provide a method, a device, and an unmanned aerial vehicle for controlling an unmanned aerial vehicle to provide a manner for an ordinary user to quickly get started and easily control the unmanned aerial vehicle.

An aspect of an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, including:

Controlling the UAV from taking off from the user's palm;

Identify the user's gestures;

If the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture;

The UAV is controlled to land on the palm of the user.

Another aspect of an embodiment of the present invention is to provide an unmanned aerial vehicle control apparatus including one or more processors operating separately or in cooperation, the processor being configured to:

Controlling the UAV from taking off from the user's palm;

Identify the user's gestures;

If the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture;

The UAV is controlled to land on the palm of the user.

Another aspect of an embodiment of the present invention provides an unmanned aerial vehicle comprising:

body;

a power system mounted to the fuselage for providing flight power;

And the UAV control device in the above aspect.

Another aspect of the embodiments of the present invention provides a method for controlling an unmanned aerial vehicle, including:

Identify the user's following gestures;

Controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture;

After the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user.

Another aspect of an embodiment of the present invention is to provide an unmanned aerial vehicle control apparatus including: one or more processors operating separately or in cooperation, the processor for:

Identify the user's following gestures;

Controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture;

After the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user.

Another aspect of an embodiment of the present invention provides an unmanned aerial vehicle comprising:

body;

a power system mounted to the fuselage for providing flight power;

And the UAV control device in the above aspect.

The control method, device and unmanned aerial vehicle of the unmanned aerial vehicle provided in the embodiment of the present invention take off from the palm of the user by controlling the unmanned aerial vehicle, and control the unmanned aerial vehicle to perform and the gesture according to the user gesture by recognizing the gesture of the user after taking off. Corresponding actions, as well as controlling the UAV to land on the user's palm, enable the user to control the UAV by gestures, without having to control the UAV by manipulating remote control, user terminals and other ground control devices. A way to let ordinary users get started quickly and easily control unmanned aerial vehicles, enriching the unmanned flight The control mode of the walker improves the convenience of the control of the UAV.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

4 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 7 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 11 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 12 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 13 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 14 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 15 is a schematic diagram of a user gesture control unmanned aerial vehicle according to an embodiment of the present invention; FIG.

16 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 17 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Reference mark:

20-palm 21-head 22-shooting equipment

23-TOF Camera 24-PTZ 25-Distance Sensor

26-Image Sensor 40-Surface 100-Unmanned Aerial Vehicle

1700-unmanned aerial vehicle 1707-motor 1706-propeller

1717-Electronic governor 1718-Unmanned aerial vehicle control equipment

1708-Sensing System 1710-Communication System 1702-Support Equipment

1704-Photographing Equipment 1712-Ground Station

1714-antenna 1716-electromagnetic wave

detailed description

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

Step S101: Controlling the UAV to take off from the palm of the user.

The control method of the unmanned aerial vehicle according to the embodiment of the present invention is suitable for controlling the unmanned aerial vehicle by a user gesture. After the initialization of the unmanned aerial vehicle is completed, as shown in FIG. 2, the user can level the unmanned aerial vehicle 100, Lightly gripping in the hand 20 and facing the nose 21 of the UAV 100 toward itself. Optionally, during the initialization of the self-test, the flight controller can control the status light of the UAV to flash. In order to prompt the user that the unmanned aerial vehicle is initializing a self-test, wherein the status light of the unmanned aerial vehicle may be a status indicator, for example Such as a Light Emitting Diode (LED), a fluorescent lamp, etc., the status light can be a forearm light of an unmanned aerial vehicle.

Optionally, before controlling the unmanned aerial vehicle to take off from the palm of the user, the method further includes: detecting user information; and after detecting the completion of the user information, starting the motor of the unmanned aerial vehicle.

The detecting the user information may be: detecting the user information after detecting the first operation of the user. The first operation includes at least one of clicking or double clicking on an operation of the battery switch, shaking the operation of the unmanned aerial vehicle, and swinging the operation of the unmanned aerial vehicle. When the user clicks or double-clicks the battery switch, the component or device having the data processing function in the unmanned aerial vehicle, such as the flight controller, can detect the operation of the user clicking or double clicking the battery switch. In this embodiment, the flight controller can It is a processor dedicated to controlling the flight of an unmanned aerial vehicle. It can also be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can call a program. In addition, an inertial measurement unit (IMU) of the UAV is used to detect the attitude information of the unmanned aerial vehicle, and the attitude information includes a pitch angle (English: pitch angle), a roll angle (English: roll angle), and a partial When the user shakes or swings the unmanned aerial vehicle, the attitude information of the unmanned aerial vehicle is constantly changing, and the flight controller can obtain the real-time attitude information of the unmanned aerial vehicle through the IMU, and according to the attitude information. The change detects the user's operation of shaking the UAV or swaying the UAV. In addition, in other embodiments, the first operation may also be an operation of pressing the body, for example, a pressure sensor is disposed on the body of the UAV, and when the user presses the body, the pressure sensor will be the user to the body. The pressure is converted into an electrical signal and transmitted to the flight controller, and the flight controller detects the user's operation of pressing the fuselage based on the electrical signal.

In the following, the user clicks or double-clicks the battery switch as an example to describe the process of detecting the user information after the flight controller detects the user clicking or double-clicking the battery switch: when the flight controller detects that the user clicks or double-clicks the battery switch Controlling the unmanned aerial vehicle to enter the detection state, starting to detect the user information, and when detecting the user information, controlling the status light of the unmanned aerial vehicle to flash according to the first flash mode, the first flash mode may specifically The yellow light flashes slowly. This is only a schematic description. It is not limited to a slow flash of yellow light. It can also be a flashing red light or a slow flashing green light. In addition, the first flash mode is only used to distinguish the flash mode from the subsequent second flash mode, the third flash mode, and the like, and is not limited to the lighting in each flash mode. Color, length of flash time, flashing frequency, etc.

The user information includes at least one of the following: face information, iris information, fingerprint information, voiceprint information. When detecting the user information, the flight controller may control the photographing device 22 carried by the UAV 100 to perform face recognition or iris recognition on the user, or the UAV may also be provided with a fingerprint sensor, and the user places the finger On the fingerprint sensor, the flight controller detects the fingerprint information of the user through the fingerprint sensor, or detects the voiceprint information of the user through the sound sensor of the unmanned aerial vehicle.

If the user information is successfully detected, the status light of the unmanned aerial vehicle is controlled to flash in the second flash mode; if the user information is detected to be failed, the status light of the unmanned aerial vehicle is controlled according to the third flash Mode flashing. Specifically, when the flight controller successfully detects one or more of user information, such as face information, iris information, fingerprint information, and voiceprint information, it indicates that the user identity is confirmed. At this time, the flight controller can control none. The status light of the human aircraft, for example, the forearm light is changed to the second flash mode, and the second flash mode may specifically be that the green light is always on. When the flight controller fails to detect the user information, the flight controller may control the status light of the unmanned aerial vehicle such as the forearm light to change to the third flash mode, and the third flash mode may specifically be a red light flash to prompt the user to cooperate again. The UAV performs user information detection.

In other embodiments, the flight controller may be triggered to detect user information by, for example, a user shaking the unmanned aerial vehicle or swinging the unmanned aerial vehicle, and details are not described herein again.

Through the above method, if the flight controller successfully detects the user information, the motor of the unmanned aerial vehicle is started, and the unmanned aerial vehicle is controlled to take off from the palm of the user. The specific methods include the following achievable methods:

The first achievable way is: after the flight controller successfully detects the user information, the ESC will send a buzzer warning, indicating that the motor is about to start to turn, prompting the user to be careful, then the motor starts to rotate, and the motor rotates to drive the propeller to rotate. After a period of time, for example, about 3 seconds, the user releases the hand of the unmanned aerial vehicle before the robot is released, and the propeller generates an upward pulling force when the propeller rotates. As the rotational speed of the motor increases, the rotational speed of the propeller increases, when the propeller generates When the pulling force is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle takes off.

The second achievable manner is: after the flight controller successfully detects the user information, the motor of the unmanned aerial vehicle is started, and the motor of the unmanned aerial vehicle is controlled to rotate at an idle speed; After the second operation of the household, the unmanned aerial vehicle is controlled to take off from the palm of the user. The second operation includes at least one of: an operation of pressing the fuselage, an operation of releasing the unmanned aerial vehicle, and an operation of lifting the unmanned aerial vehicle upward.

Specifically, after the flight controller successfully detects the user information, the ESC will send a buzzer warning, indicating that the motor is about to start to turn, prompting the user to be careful, then the motor starts to rotate and drives the propeller to rotate. After the motor starts to rotate, the motor can start first. The motor of the unmanned aerial vehicle is controlled to rotate at an idle speed, and the second operation of the user is detected. After detecting the second operation of the user, the unmanned aerial vehicle is controlled to take off from the palm of the user. In this embodiment, the second operation may be an operation of releasing the unmanned aerial vehicle and/or an operation of lifting the unmanned aerial vehicle upward, as shown in FIG. 3, the user gently releases the unmanned aerial vehicle before releasing the unmanned aerial vehicle. Hand and gently lift the unmanned aerial vehicle 100 to trigger the motor to accelerate the rotation until it takes off from the user's palm. Specifically, when the user gently lifts the unmanned aerial vehicle, the IMU can detect the unmanned aerial vehicle upward. Acceleration or speed, the flight controller controls the motor to accelerate the rotation according to the upward acceleration or speed of the unmanned aerial vehicle, and the motor drives the propeller to accelerate the rotation. When the pulling force generated by the propeller is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle takes off. In other embodiments, the second operation may also be an operation of pressing the body. For example, the body of the UAV is provided with a pressure sensor. When the user presses the body, the pressure sensor converts the pressure of the user to the body. The signal is transmitted to the flight controller, and the flight controller triggers the motor to accelerate the rotation according to the electrical signal until it takes off from the user's palm.

In addition, in other embodiments, before the unmanned aerial vehicle is controlled to take off from the user's palm, the user information may not be detected, that is, the flight controller does not detect the user information, and directly controls the unmanned aerial vehicle from the user according to the user's operation on the unmanned aerial vehicle. The palm of your hand takes off, and there are several possible ways to do it:

A feasible way is: the user holds the unmanned aerial vehicle to accelerate upward, and after the inertial measurement unit of the unmanned aerial vehicle detects the upward acceleration or speed, the acceleration or speed value can be sent to the flight controller, and the flight controller can According to the acceleration or speed value, the motor of the unmanned aerial vehicle is started. The rotation of the motor drives the propeller to rotate. When the propeller rotates, an upward pulling force is generated. When the user releases the unmanned aerial vehicle, the rotation speed of the propeller increases with the rotation speed of the motor. Increase, when the propeller produces a pulling force greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle takes off.

Another possible way is: the user clicks or double clicks on the battery at the end of the UAV. Off, the flight controller detects that the user clicks or double-clicks the battery switch to start the motor of the unmanned aerial vehicle. The motor rotates to drive the propeller to rotate. When the propeller rotates, an upward pulling force is generated, and the user releases the unmanned aerial vehicle. The speed of the propeller continues to increase, and the speed of the propeller increases accordingly. When the pulling force generated by the propeller is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle takes off.

Another feasible way is that the user grips the unmanned aerial vehicle such as its bracket with both hands, swings or swings back and forth, and the inertial measurement unit of the unmanned aerial vehicle detects the posture information of the unmanned aerial vehicle, and the posture information of the unmanned aerial vehicle is real-time. Sended to the flight controller, the attitude information includes a pitch angle (English: pitch angle), a roll angle (English: roll angle), a yaw angle (English: yaw angle), etc., because the user swings or swings the unmanned aerial vehicle, The attitude information of the unmanned aerial vehicle is constantly changing. The flight controller can start the motor of the unmanned aerial vehicle according to the change of the attitude information. The rotation of the motor drives the propeller to rotate, and the upward pulling force is generated when the propeller rotates, and the user releases the unmanned aerial vehicle. The rotation speed of the motor is continuously increased, and the rotation speed of the propeller is increased. When the pulling force generated by the propeller is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle takes off.

Another feasible way is: the user presses the top of the body, and the top of the body of the unmanned aerial vehicle is provided with a pressure sensor. When the user presses the top of the body, the pressure sensor converts the pressure of the user to the top of the body into an electrical signal, and transmits the electrical signal. To the flight controller, the flight controller activates the motor of the unmanned aerial vehicle according to the electric signal, and the rotation of the motor drives the propeller to rotate. When the propeller rotates, an upward pulling force is generated, and the user releases the unmanned aerial vehicle. As the rotational speed of the motor increases, the propeller The rotational speed is increased accordingly, and when the pulling force generated by the propeller is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle takes off.

This embodiment does not limit the manner in which the unmanned aerial vehicle can be taken off from the user's hand. In other embodiments, there may be other ways to control the unmanned aerial vehicle to take off from the user's hand.

For the flight controller, an achievable way to determine that the UAV is taking off from the user's palm is to determine the UAV from the user's palm by the distance change detected by the distance sensor below the UAV take off. Specifically, the user releases the hand of the unmanned aerial vehicle and gently lifts the unmanned aerial vehicle to trigger the motor to accelerate the rotation. As the motor accelerates and rotates, the unmanned aerial vehicle gradually leaves the user's palm and rises continuously. The user retracts the hand from the underside of the unmanned aerial vehicle, and at this time the distance sensor under the unmanned aerial vehicle detects The distance to the change changes. As shown in FIG. 4, when the user's hand is located under the unmanned aerial vehicle, the distance detected by the distance sensor is that the height of the UAV 100 from the palm 20 of the user is h2, and h3 is the distance of the user's palm 20 The height of the ground 40. As shown in FIG. 5, after the user retracts the hand from the underside of the unmanned aerial vehicle, the distance detected by the distance sensor is the height of the unmanned aerial vehicle 100 from the ground 40, that is, the user takes the hand from the unmanned aerial vehicle. At the moment of retraction below, the distance detected by the distance sensor changes, and the magnitude of the change is h3. When the magnitude of the change is greater than a preset threshold, the flight controller determines that the unmanned aerial vehicle takes off from the palm of the user. Optionally, the distance sensor comprises at least one of the following: a radar, an ultrasonic detecting device, a TOF ranging detecting device, a laser detecting device, and a visual detecting device.

According to the above method, after the unmanned aerial vehicle is taken off from the palm of the user, the unmanned aerial vehicle is controlled to hover. Optionally, after the UAV is hovered, the status light of the unmanned aerial vehicle is controlled to flash in a fourth flash mode, and the fourth flash mode may be red steady.

Step S102: Identify a gesture of the user.

After controlling the UAV to hover, the UAV is controlled to enter a gesture recognition mode.

As shown in FIG. 5, after the UAV 100 is hovered, it is assumed that the hovering is at a position h1 from the ground. At this time, the user can deploy the palm as shown in FIG. 6, and the palm of the unfolded palm is the image of the unmanned aerial vehicle. a sensor, the image sensor comprising at least one of the following: an RGB camera, a monocular camera, a binocular camera, a TOF camera. In this embodiment, the image sensor may be a camera device 22 carried by the UAV, the camera device 22 may be the main camera of the UAV 100, and the camera device 22 may specifically be an RGB camera. Alternatively, the image sensor may also be a TOF camera, 23 as shown in FIG. 6, which is placed at the nose position of the UAV. The flight controller may determine that there is an obstacle in front of the UAV according to the image information detected by the image sensor, for example, the TOF camera 23. In addition, the obstacle in front of the UAV may be determined by other means. At this time, the flight controller controls no The human aircraft enters the gesture recognition mode. Further, when the flight controller determines that the unmanned aerial vehicle is within the preset distance range from the obstacle, the flight controller controls the unmanned aerial vehicle to enter the gesture recognition mode, and the unmanned aerial vehicle enters the gesture recognition mode. Thereafter, the status light of the unmanned aerial vehicle is flashed according to the first flash mode, and the first flash mode is specifically a yellow light flashing. Specifically, the flight controller can pass none The monocular camera, the binocular camera, the TOF camera, etc. in front of the human aircraft head detect the distance between the UAV and the obstacle, and can also pass the RGB image taken by the main camera of the UAV or the front of the UAV. The depth image captured by the TOF camera detects the distance between the UAV and the obstacle, where when the user is in front of the UAV, the distance between the UAV and the obstacle is the UAV and The distance between the users. If the distance between the UAV and the user exceeds a preset distance range, the status light of the UAV is controlled to flash in a fifth flash mode, which may specifically be an image sensor. The detection range, for example, the image sensor is a TOF camera. If the distance between the UAV and the user exceeds the detection range of the TOF camera, the TOF camera cannot accurately recognize the user's gesture, and therefore, in order to improve the user The recognition accuracy of the gesture needs to determine whether the distance between the UAV and the user exceeds the detection range of the image sensor if the distance between the UAV and the user exceeds the detection range of the image sensor Then, by controlling the flash mode of the status light, such as a flashing yellow light, to remind the user to adjust the distance between it and the UAV.

Step S103: If the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture.

After the UAV enters the gesture recognition mode, the flight controller begins to recognize the gesture of the user through the image sensor, and specifically, acquires image information of the gesture of the user captured by the image sensor of the UAV; according to the gesture of the user Image information identifying the user's gesture. If the flight controller is able to recognize the gesture of the user, it indicates that the gesture of the user is a standard gesture, that is, the gesture is a gesture for controlling the unmanned aerial vehicle. If the flight controller does not recognize the user's gesture, it indicates that the user's gesture is a non-standard gesture, ie, the gesture is not a gesture for controlling the unmanned aerial vehicle.

In addition, if the gesture of the user is recognized, the status light of the UAV is controlled to flash in the second flash mode, for example, a single green light is flashed, and then the green light is always on; if the gesture of the user is recognized If it fails, the status light of the unmanned aerial vehicle is controlled to flash in a third flash mode, for example, a red light flashes.

In addition, in this embodiment, when the status light of the UAV flashes in the second flash mode, that is, the green light is always on, indicating that the UAV enters a controlled state, at this time, the flight controller will control according to the gesture. The UAV performs an action corresponding to the gesture.

In this embodiment, if the gesture of the user is recognized, the unmanned aerial vehicle is controlled to perform an action corresponding to the gesture according to the gesture, including at least one of the following:

The first type: if the user's drag gesture is recognized, the UAV is controlled to fly according to the moving direction of the drag gesture while keeping the distance between the UAV and the user unchanged.

The user can open the palm to the chest and palm to face the unmanned aerial vehicle. When the user drags the palm, the flight controller can recognize the user's drag gesture by image recognition, and control the unmanned aerial vehicle according to the Flying in the direction of movement of the drag gesture, for example, if the user drags the palm to the right side thereof, the flight controller controls the unmanned aerial vehicle to fly to the right side of the user, and further, the distance between the unmanned aerial vehicle and the user may be maintained. For example, when the user's palm is opened to the chest and the palm is facing the unmanned aerial vehicle, the unmanned aerial vehicle will be centered on the user and rotate in the direction consistent with the user's direction of rotation. When the image sensor is unable to capture the palm of the user in time, the flight controller can also prompt the user by controlling the flash mode of the status light of the unmanned aerial vehicle, for example, the red light is always on.

The second type: if the follow-up gesture of the user is recognized, the unmanned aerial vehicle is controlled to fly to the first location point according to the following gesture; after the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, The UAV is controlled to follow the user.

As shown in FIG. 7, the user swings the palm left and right, for example, swings the palm twice, and the flight controller detects that the open palm of the user swings left and right through the TOF camera 23, and recognizes that the gesture is a follow gesture, according to the following gesture. Controlling the UAV to fly to the first location point, optionally, controlling the status light of the UAV in accordance with the following gesture to control the UAV to fly to the first location point The six flash mode flashes, and the sixth flash mode can be a double flash green light. In this embodiment, the gesture of the user waving the palm left and right can be used as the following gesture of the user. The following is only a schematic description, and the following gesture of the user may also be other gestures.

After the following gesture is recognized according to the above method, the UAV is controlled to fly to the first location according to the following gesture, and specifically, the UAV is controlled to retreat away from the user according to the following gesture. To the first location point, for example, controlling the UAV to fly back to the first location point in an oblique direction away from the user according to the following gesture. The distance between the first location point and the user is a preset distance. As shown in Figure 8, fly When the row controller detects that the user's palm is waving left and right, the unmanned aerial vehicle is controlled to move backwards away from the user's oblique direction. During the flight, the distance sensor detects the distance between the unmanned aerial vehicle and the user in real time, when the unmanned aerial vehicle and the user When the distance between the two reaches the preset distance, the UAV hover again, and the position of hovering again is the first position point B. Wherein, the distance sensor may include an IMU, a visual odometer, and the like.

In addition, in controlling the flight of the unmanned aerial vehicle to the first position point, adjusting a posture of the pan/tilt carried by the unmanned aerial vehicle, so that the user is in a shooting picture of the shooting device of the unmanned aerial vehicle . As shown in Fig. 9, during the flight of the UAV from point A to point B, the flight controller continuously adjusts the attitude of the head 24 carried by the unmanned aerial vehicle, for example, the flight of the unmanned aerial vehicle from point A to point B. In the process of passing the point C point, the unmanned aerial vehicle flies from point A to point C, and from point C to point B, the flight controller continuously adjusts the attitude angle of the head 24 so that the unmanned aerial vehicle from point A During the flight to point B, the user is always in the shooting picture of the shooting device 22 of the unmanned aerial vehicle.

In addition, after the UAV flies to the first location point, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the seventh flash mode. The seventh flash mode is specifically yellow light. Specifically, the unmanned aerial vehicle flies from point A to point B, and at the same time controls the state light of the unmanned aerial vehicle to flash in a pattern of steady yellow light to prompt the user that the current unmanned aerial vehicle has entered the target detection state of intelligent follow-up. .

Further, after the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user. Specifically, after the unmanned aerial vehicle reaches the first location point, the location of the user is determined, and the user is determined to follow the target according to the location of the user. Wherein, determining a location of the user, and determining, according to the location of the user, the user is determined to follow the target: determining a location of the user in the shooting screen of the shooting device of the unmanned aerial vehicle, according to the location of the user The position in the shooting picture determines the user to follow the target.

As shown in FIG. 9, after the UAV flies from point A to point B, the flight controller determines the position of the user, which may specifically be the position of the user in the photographing screen of the photographing device 22, and according to the user in the photographing screen. The location determines the user as the following target, and after determining the user to follow the target, the status light of the unmanned aerial vehicle is controlled to flash in the second flash mode, that is, the green light is always on, indicating that the user unmanned aircraft has entered intelligent follow-up. Mode of control state. When the user walks around freely, the UAV will automatically follow.

Determining the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle includes: according to the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user, and the flying of the unmanned aerial vehicle to the first position point One or more of the trajectories determine the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle. As shown in FIG. 9, after the UAV flies from point A to point B, the flight controller according to the attitude of the pan/tilt head 24 on the current unmanned aerial vehicle, the distance between the first position point B and the user, the unmanned aerial vehicle One or more of the trajectories flying from point A to point B determine the position of the user in the photographing screen of the photographing device 22 of the unmanned aerial vehicle.

In addition, after the UAV enters the smart follow mode, the user's photographing gesture is recognized, and the photographing device on the unmanned aerial vehicle is controlled to photograph the user according to the photographing gesture. Specifically, after the unmanned aerial vehicle determines the user to follow the target, the user can also control the shooting device on the unmanned aerial vehicle to photograph the user through the photographing gesture, and the user performs a photographing gesture on the photographing device 22 of the unmanned aerial vehicle, and the photograph is taken. The gesture may be a gesture as shown in FIG. 10, which is merely illustrative here, and other gestures may also be used as a photographing gesture in other embodiments. The unmanned aerial vehicle recognizes a photographing gesture of the user; and controls the photographing device on the unmanned aerial vehicle to photograph the user according to the photographing gesture. Optionally, after the user's photographing gesture is recognized, the status light of the unmanned aerial vehicle is controlled to flash according to a third flash mode, and the third flash mode is specifically a red light flashing, and the shooting device is to the user. When the photographing is performed, the flight controller may also send the indication information to the user terminal carried by the user through the communication system of the unmanned aerial vehicle, and the indication information may specifically be a language prompt, such as “3, 2, 1, 咔嚓”, and the user is listening. When the language is prompted, the camera is ready to take a picture. After the shooting device finishes taking the picture, the flight controller controls the status light of the unmanned aerial vehicle to return to the green light.

Third: If the user's returning gesture is recognized, the UAV is controlled to return and hover.

When the user wants to take back the UAV, he can wave to the UAV, such as one-handed waving or two-handed waving. As shown in FIG. 11, the user waves one hand to the UAV, and the UAV detects the user's returning gesture. After entering the return flight mode, the flight controller controls the UAV to return and hover. In this embodiment, an achievable manner of controlling the UAV to return and hover is: according to the unmanned aerial vehicle from point A. The trajectory flying to point B controls the unmanned aerial vehicle to return from point B to point A. When the UAV returns to point A, flight control The controller controls the UAV's status light to return to the red light steady mode to prompt the user that the automatic flight mode has ended.

Step S104: Control the UAV to land on the palm of the user.

As shown in Figure 12, after the user recalls the UAV, the UAV hoveres at point A, at which point the user can extend his hand under the UAV, and the flight controller determines that the user's palm is in the unmanned After the lower portion of the aircraft, the UAV is controlled to land on the palm of the user. Wherein determining that the user's palm is below the UAV includes: determining, by the distance sensor detected by the distance sensor below the UAV, and/or an image acquired by the image sensor to determine that the user's palm is in the Below the UAV, the following are introduced separately:

First: determining the distance of the user's palm below the UAV by a change in distance detected by a distance sensor below the UAV.

As shown in FIG. 12, after the user recalls the unmanned aerial vehicle, the unmanned aerial vehicle hovers at point A. When the user does not reach out, the distance detected by the distance sensor 25 under the unmanned aerial vehicle is the height of the unmanned aerial vehicle from the ground. After the user extends the hand to the underside of the unmanned aerial vehicle, the distance detected by the distance sensor 25 is the distance L2 of the UAV from the palm of the user, and the distance sensor 25 detects when the user extends the hand to the underside of the unmanned aerial vehicle. When the distance changes by more than a preset value, for example, 0.5 meters, the flight controller may determine that the palm of the user is below the UAV based on the change value.

Second: determining, by the image acquired by the image sensor under the UAV, that the user's palm is below the UAV.

As shown in FIG. 12, the image sensor 26 under the UAV may be an RGB camera, a monocular camera, a binocular camera, a TOF camera, etc., and the TOF camera here is different from the aforementioned TOF camera 23 in that a TOF camera 23 is set at the head position of the UAV, where the TOF camera is placed under the UAV. For the UAV, the TOF camera and the TOF camera 23 disposed under the UAV can be simultaneously set. You can set only one of the two.

The image sensor 26 transmits the captured image information to a classifier, which can be used to identify the palm of the user. The classifier can be specifically trained by a machine learning method, such as extracting each sample data set containing the palm. RGB or per pixel of the image Gray value and Local Binary Pattern (LBP) value information are trained and classified using Support Vector Machine (SVM) to obtain the classifier. After the flight controller recognizes the palm of the user by the classifier, it is determined that the palm of the user is below the UAV.

Third: the distance detected by the distance sensor under the UAV and the image acquired by the image sensor determine that the palm of the user is below the UAV.

The flight controller transmits the distance change detected by the distance sensor 25 under the unmanned aerial vehicle, and the image information captured by the image sensor 26 is transmitted to the classifier, the classifier recognizes the palm of the user, and determines the palm of the user in the unmanned aerial vehicle. Below. The image sensor 26 may include an RGB camera, a monocular camera, a binocular camera, a TOF camera, and the like.

Since the TOF camera can simultaneously acquire grayscale images and depth data, the TOF camera can simultaneously be used to detect the palm of the user and the distance between the unmanned aerial vehicle and the palm of the user, thus, in some cases, the distance sensor 25 and the image Sensor 26, such as a TOF camera, can be the same sensor.

According to the above method, after determining that the user's palm is below the UAV, an achievable way of controlling the UAV to land on the user's palm is to determine that the user's palm is After the underside of the unmanned aerial vehicle, determining the position of the palm of the user relative to the unmanned aerial vehicle in a horizontal direction; controlling the absence of the position of the unmanned aerial vehicle in a horizontal direction according to the palm of the user A human aircraft landed on the palm of the user. As shown in FIG. 13, the position of the palm of the user in the horizontal direction relative to the unmanned aerial vehicle may specifically be a distance L3 in the horizontal direction between the center of the palm of the user and the center of the unmanned aerial vehicle, and the flight controller determines that the palm of the user is After the UAV is below, determine the distance L3 between the center of the user's palm and the center of the UAV in the horizontal direction, and adjust the position of the UAV relative to the user's palm according to the distance L3, so that the center of the palm and the center of the UAV The distance L3 in the horizontal direction gradually decreases. When the L3 is reduced to the preset range, the rotation speed of the motor is lowered, so that the UAV can be lowered in the middle of the user's palm. As shown in FIG. 14, the UAV is landed at The middle of the user's palm, so as to prevent falling on the side of the palm and slipping to the ground.

In this embodiment, the unmanned aerial vehicle is taken off from the palm of the user, and after the takeoff, the gesture of the user is recognized, the unmanned aerial vehicle is controlled according to the gesture of the user, and the action corresponding to the gesture is performed, and the unmanned aerial vehicle is controlled to land on the palm of the user. The user can control the unmanned aerial vehicle by gestures, and does not need to control the unmanned aerial vehicle by controlling the ground control device such as the remote controller and the user terminal, thereby realizing a way for the ordinary user to quickly get started and easily control the unmanned aerial vehicle.

Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. On the basis of the embodiment shown in FIG. 1 , after the flight controller recognizes the returning gesture of the user, the manner of controlling the unmanned aircraft to return to the air and hovering may also have another achievable manner, specifically: controlling the The UAV descends a preset height; controlling the UAV to fly in a direction approaching the user to hover the UAV in a horizontal direction from the user by a second predetermined distance.

As an alternative way of controlling the UAV to return and hover as shown in FIG. 11, as shown in FIG. 15, the user swings a single hand to the UAV, and after the UAV detects the user's returning gesture, the UAV enters In the return flight mode, at this time, the flight controller will control the unmanned aerial vehicle to descend to a certain height to reach the D point, and the D point may be a position where the user's chest is about 1.3 m from the ground; then, according to the position of the user, the unmanned aerial vehicle is controlled to approach. The direction of the user is flying, that is, flying from point D to the user. When the unmanned aerial vehicle is flying from the point D to the user, when the unmanned aerial vehicle is far away from the user, for example, the unmanned aerial vehicle is 5 meters away from the user in the horizontal direction. Outside the space, the distance between the UAV and the user can be roughly estimated by the UAV's shooting device 22. When the UAV is within 5 meters of the user in the horizontal direction, it can be accurately calculated by the UF's TOF camera. The distance between the UAV and the user is such that the UAV is stopped when it is horizontally separated from the user by a second predetermined distance, for example, about 2 m. As shown in FIG. 15, back to the hovering flight of UAV point is point E, point E and said point A can be described in the embodiment is the same as, or different. At this time, the status light, such as the forearm light, is restored to the red light steady mode to prompt the user that the automatic flight mode has ended.

Optionally, after the unmanned aerial vehicle descends by a preset height, the status light of the unmanned aerial vehicle is controlled to flash in a second flash mode; when the unmanned aerial vehicle is horizontally separated from the user by a second When the distance is preset, the status light of the unmanned aerial vehicle is controlled to flash in the fourth flash mode. As shown in Figure 15, when the UAV landed from point B to point D, the status lights controlling the unmanned aerial vehicle flashed in the green light mode, when the unmanned aircraft was horizontally separated from the user. When the second preset distance is, for example, 2 meters, the status light of the unmanned aerial vehicle is flashed in a red light steady mode to prompt the user that the automatic flight mode has ended.

In this embodiment, by controlling the flash mode of the status light of the unmanned aerial vehicle, the user can control the unmanned aerial vehicle by gestures when the user controls the unmanned aerial vehicle from the ground control device such as the remote controller or the user terminal, according to the flash mode of the status light of the unmanned aerial vehicle. The state of the UAV, the action performed, or the result of performing the action can be judged, and the reliability of the unmanned aerial vehicle controlled by the user is improved.

Embodiments of the present invention provide an unmanned aerial vehicle control device. The UAV control device may specifically be the flight controller described in the above embodiments, the UAV control device comprising one or more processors operating separately or in cooperation, the processor being configured to: control the UAV from The user's palm takes off; recognizes the user's gesture; if the user's gesture is recognized, the unmanned aerial vehicle is controlled to perform an action corresponding to the gesture according to the gesture; and the unmanned aerial vehicle is controlled to land on the user On the palm of your hand.

Optionally, before the processor controls the unmanned aerial vehicle to take off from the palm of the user, the processor is further configured to: detect user information; and after detecting the completion of the user information, start the motor of the unmanned aerial vehicle. When the processor detects the user information, the processor is specifically configured to: after detecting the first operation of the user, detecting the user information. The first operation includes at least one of clicking or double clicking on an operation of the battery switch, shaking the operation of the unmanned aerial vehicle, and swinging the operation of the unmanned aerial vehicle. The user information includes at least one of the following: face information, iris information, fingerprint information, voiceprint information.

In addition, the processor is further configured to: when detecting the user information, control a status light of the UAV to flash in a first flash mode. If the processor detects that the user information is successful, controlling the status light of the UAV to flash in a second flash mode; if the processor fails to detect the user information, controlling the UAV The status light flashes in the third flash mode.

Specifically, after the processor starts the motor of the UAV, the method further includes: controlling an idle rotation of the motor of the UAV; and after detecting the second operation of the user, controlling the UAV from the palm of the user take off. The second operation includes at least one of: an operation of pressing the fuselage, an operation of releasing the unmanned aerial vehicle, and an operation of lifting the unmanned aerial vehicle upward.

The processor determines that the UAV is used to control the UAV to hover after taking off from the user's palm. After the UAV is hovered, the processor is further configured to control the status light of the UAV to flash in a fourth flash mode. Specifically, when the processor determines that the UAV is taking off from the palm of the user, the processor is specifically configured to determine that the UAV takes off from the palm of the user by a distance change detected by a distance sensor below the UAV. The distance sensor includes at least one of the following: a radar, an ultrasonic detecting device, a TOF ranging detecting device, a laser detecting device, and a visual detecting device.

In addition, after the processor controls the UAV to hover, the processor is further configured to: control the UAV to enter a gesture recognition mode. After the UAV enters the gesture recognition mode, the processor is further configured to control the status light of the UAV to flash in the first flash mode. When the processor recognizes the gesture of the user, the method is specifically configured to: acquire image information of the gesture of the user captured by an image sensor of the UAV; and identify a gesture of the user according to image information of the gesture of the user . The image sensor includes at least one of the following: an RGB camera, a monocular camera, a binocular camera, and a TOF camera.

In addition, the processor is further configured to: detect, by a distance sensor, a distance between the UAV and the user; if a distance between the UAV and the user exceeds a preset distance range, control The status light of the UAV flashes in a fifth flash mode. Controlling, when the processor recognizes the gesture of the user, a status light of the UAV to flash in a second flash mode; if the processor identifies that the gesture of the user fails, controlling the The status light of the human aircraft flashes in the third flash mode. If the processor recognizes the drag gesture of the user, controlling the UAV to fly in accordance with the moving direction of the drag gesture while maintaining the distance between the UAV and the user unchanged. If the processor recognizes the following gesture of the user, controlling the unmanned aerial vehicle to fly to the first location point according to the following gesture; after the unmanned aerial vehicle reaches the first location point, the processor determines the user To follow the target, the UAV is controlled to follow the user. Specifically, the distance between the first location point and the user is a preset distance.

Optionally, the processor is further configured to: when the unmanned aerial vehicle is controlled to fly to the first location point according to the following gesture, control the status light of the unmanned aerial vehicle to flash according to the sixth flash mode light. When the processor controls the unmanned aerial vehicle to fly to the first location point according to the following gesture, the processor is specifically configured to: control the unmanned aerial vehicle to move away from the following according to the following gesture The direction of the user retreats to the first position. The processor is configured to control the unmanned aerial vehicle to fly back to the first position point in a direction away from the user according to the following gesture, and specifically, to: control the unmanned aerial vehicle to move away from the user according to the following gesture Fly back to the first position.

In addition, the processor is further configured to: adjust a posture of the pan/tilt carried by the UAV during the process of controlling the unmanned aerial vehicle to fly to the first location point, so that the user is in the unmanned The shooting device of the aircraft's shooting device is in the picture. After the UAV flies to the first location, the processor is further configured to control the status light of the UAV to flash in accordance with the seventh flash mode. After the UAV reaches the first location point, when the processor determines the user to follow the target, the processor is specifically configured to: determine a location of the user, and determine the user as a follow target according to the location of the user. Determining, by the processor, the location of the user, when determining the user as the following target according to the location of the user, specifically determining: determining a location of the user in the photographing screen of the photographing device of the unmanned aerial vehicle, according to the user The position in the shooting screen determines the user to follow the target.

Alternatively, when the processor determines the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle, the method is specifically configured to: according to the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user One or more of the trajectories of the unmanned aerial vehicle flying to the first position point determine the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle.

After the processor determines the user to follow the target, the processor further controls the status light of the UAV to flash in the second flash mode.

Optionally, after the processor controls the UAV to follow the user, the processor is further configured to: identify a photographing gesture of the user; and control the photographing device on the unmanned aerial vehicle to photograph the user according to the photographing gesture. After identifying the photo gesture of the user, the processor is further configured to control the status light of the UAV to flash in a third flash mode. If the processor recognizes the user's returning gesture, the unmanned aircraft is controlled to return to the air and hover.

When the processor controls the unmanned aerial vehicle to land on the palm of the user, specifically, after determining that the palm of the user is below the unmanned aerial vehicle, controlling the unmanned aerial vehicle to land in the On the palm of the user. Determining, by the processor, that the user's palm is below the unmanned aerial vehicle, the user is determined by the distance change detected by the distance sensor under the UAV and/or the image acquired by the image sensor. The palm of the hand is below the unmanned aerial vehicle.

After the processor determines that the palm of the user is under the unmanned aerial vehicle, when the unmanned aerial vehicle is controlled to land on the palm of the user, the processor is specifically configured to: determine that the palm of the user is in the After the lower side of the human aircraft, determining the position of the palm of the user relative to the unmanned aerial vehicle in a horizontal direction; controlling the unmanned aerial vehicle to land in a horizontal direction relative to the position of the unmanned aerial vehicle according to the palm of the user On the palm of the user.

The specific principles and implementation manners of the unmanned aerial vehicle control device provided by the embodiments of the present invention are similar to the embodiment shown in FIG. 1 and will not be further described herein.

In this embodiment, the unmanned aerial vehicle is taken off from the palm of the user, and after the takeoff, the gesture of the user is recognized, the unmanned aerial vehicle is controlled according to the gesture of the user, and the action corresponding to the gesture is performed, and the unmanned aerial vehicle is controlled to land on the palm of the user. The user can control the unmanned aerial vehicle by gestures, and does not need to control the unmanned aerial vehicle by controlling the ground control device such as the remote controller and the user terminal, thereby realizing a way for the ordinary user to quickly get started and easily control the unmanned aerial vehicle.

Embodiments of the present invention provide an unmanned aerial vehicle control device. Based on the technical solution provided by the foregoing embodiment, when the processor controls the UAV to return to the air and hover, the processor is specifically configured to: control the UAV to descend a preset height; and control the UAV to Flying in a direction close to the user such that the UAV is horizontally spaced from the user by a second predetermined distance. Optionally, after the UAV is lowered by a preset height, the processor is further configured to control the status light of the UAV to flash in a second flash mode; when the UAV is in a horizontal direction The processor is further configured to control the status light of the UAV to flash in accordance with the fourth flash mode when the second predetermined distance is away from the user.

The specific principles and implementation manners of the unmanned aerial vehicle control device provided by the embodiments of the present invention are similar to the embodiment shown in FIG. 15 and will not be further described herein.

In this embodiment, by controlling the flash mode of the status light of the unmanned aerial vehicle, the user can control the unmanned aerial vehicle by gestures when the user controls the unmanned aerial vehicle from the ground control device such as the remote controller or the user terminal, according to the flash mode of the status light of the unmanned aerial vehicle. The state of the UAV, the action performed, or the result of performing the action can be judged, and the reliability of the unmanned aerial vehicle controlled by the user is improved.

Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. Figure 16 is an implementation of the present invention A flow chart of a control method for an unmanned aerial vehicle provided by the example. As shown in FIG. 16, the method in this embodiment may include:

Step S1601, identifying a follow gesture of the user.

Step S1602, controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture.

Optionally, the distance between the first location point and the user is a preset distance.

One achievable manner of controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture is to control the unmanned aerial vehicle to fly back to the first position point in a direction away from the user according to the following gesture. Specifically, the UAV is controlled to fly back to the first position point in an oblique direction away from the user according to the following gesture.

In addition, in controlling the flight of the unmanned aerial vehicle to the first position point, the posture of the pan/tilt carried by the unmanned aerial vehicle is adjusted to make the user in the photographing screen of the photographing device of the unmanned aerial vehicle.

Step S1603: After the UAV arrives at the first location point, the user is determined to be a follow target, and the unmanned aerial vehicle is controlled to follow the user.

Specifically, after the unmanned aerial vehicle reaches the first location point, the location of the user is determined, and the user is determined to follow the target according to the location of the user. Determining the location of the user, and determining, according to the location of the user, an achievable manner of determining the user as a follow target is: determining a position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle, according to which the user is photographing The position in the picture determines the user to follow the target.

Wherein determining the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle comprises: according to the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user, and the unmanned aerial vehicle flying to the first One or more of the trajectories of the location points determine the location of the user in the photographic scene of the photographic device of the UAV.

After controlling the unmanned aerial vehicle to follow the user, the user may also recognize the photographing gesture of the user; according to the photographing gesture, the photographing device on the unmanned aerial vehicle is controlled to photograph the user. After the user's photographing gesture is recognized, the status light on the unmanned aerial vehicle is controlled to flash in the first flash mode. After the user is determined to follow the target, the status light on the UAV can also be controlled to flash in the second flash mode.

The specific principles and implementation manners of the control method of the unmanned aerial vehicle provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 1 and will not be further described herein.

In this embodiment, by recognizing the following gesture of the user, the UAV can be controlled to fly to the first location point, and the user is determined to follow the target at the first location, and the UAV is controlled to follow the user, so that the user does not need to The visualized remote control selects the target that the UAV follows, and controls the unmanned aerial vehicle to automatically follow through the gesture, which simplifies the method of controlling the UAV to enter the following mode, so that the user can leave the ground control such as the remote controller and the user terminal. The device quickly and easily controls the automatic follow-up or aerial photography of the UAV.

Embodiments of the present invention provide an unmanned aerial vehicle control device. The UAV control device may specifically be the flight controller described in the above embodiment, the UAV control device includes one or more processors, which work separately or in cooperation, and the processor is configured to: identify a follow gesture of the user And controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture; after the unmanned aerial vehicle reaches the first position point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user. The distance between the first location point and the user is a preset distance.

When the processor controls the unmanned aerial vehicle to fly to the first position point according to the following gesture, the processor is specifically configured to: according to the following gesture, control the unmanned aerial vehicle to fly backward to the first position point away from the user.

The processor is configured to control the unmanned aerial vehicle to fly back to the first position point in a direction away from the user according to the following gesture, and specifically, to: control the unmanned aerial vehicle to fly back away from the user in an oblique direction according to the following gesture to The first location point.

The processor is further configured to: adjust a posture of the pan/tilt carried by the unmanned aerial vehicle in the process of controlling the unmanned aerial vehicle to fly to the first position point, so that the user photographs the shooting device of the unmanned aerial vehicle In the picture.

After the UAV reaches the first location point, when the processor determines the user to follow the target, the processor is specifically configured to: determine a location of the user, and determine the user as a follow target according to the location of the user. Determining, by the processor, the location of the user, when determining the user as the following target according to the location of the user, specifically determining: determining a location of the user in the photographing screen of the photographing device of the unmanned aerial vehicle, according to the user The position in the shooting screen determines the user to follow the target.

When the processor determines the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle, the method is specifically configured to: according to the posture of the pan/tilt on the unmanned aerial vehicle, the distance between the first position point and the user, One or more of the trajectories of the human aircraft flying to the first location point for determination The position of the user in the shooting screen of the shooting device of the unmanned aerial vehicle.

After the processor controls the UAV to follow the user, the processor is further configured to: identify a photographing gesture of the user; and control the photographing device on the unmanned aerial vehicle to photograph the user according to the photographing gesture.

The processor is further configured to: after the user's photographing gesture is recognized, control the status light on the unmanned aerial vehicle to flash in the first flash mode.

After the processor determines the user to follow the target, the processor is further configured to: control the status light on the unmanned aerial vehicle to flash in the second flash mode.

The specific principles and implementation manners of the unmanned aerial vehicle control device provided by the embodiments of the present invention are similar to the embodiment shown in FIG. 16 and will not be further described herein.

In this embodiment, by recognizing the following gesture of the user, the UAV can be controlled to fly to the first location point, and the user is determined to follow the target at the first location, and the UAV is controlled to follow the user, so that the user does not need to The visualized remote control selects the target that the UAV follows, and controls the unmanned aerial vehicle to automatically follow through the gesture, which simplifies the method of controlling the UAV to enter the following mode, so that the user can leave the ground control such as the remote controller and the user terminal. The device quickly and easily controls the automatic follow-up or aerial photography of the UAV.

Embodiments of the present invention provide an unmanned aerial vehicle. FIG. 17 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 17, the unmanned aerial vehicle 1700 includes: a fuselage, a power system, and an unmanned aerial vehicle control device 1718. The unmanned aerial vehicle control device 1718 may specifically be a flight controller, the power system comprising at least one of: a motor 1707, a propeller 1706, and an electronic governor 1717, the power system being mounted to the fuselage for providing flight power; and the flight controller communicating with the power system a connection for controlling the UAV flight; wherein the flight controller includes an inertial measurement unit and a gyroscope. The inertial measurement unit and the gyroscope are configured to detect an acceleration, a pitch angle, a roll angle, a yaw angle, and the like of the unmanned aerial vehicle.

In addition, as shown in FIG. 17, the unmanned aerial vehicle 1700 further includes: a sensing system 1708, a communication system 1710, a supporting device 1702, and a photographing device 1704. The supporting device 1702 may specifically be a pan/tilt, and the communication system 1710 may specifically include receiving The receiver is configured to receive a wireless signal transmitted by the antenna 1714 of the ground station 1712, and 1716 represents an electromagnetic wave generated during communication between the receiver and the antenna 1714.

The specific principles and implementation manners of the UAV control device 1718 in the embodiment of the present invention are similar to the foregoing embodiments, and are not described herein again.

In this embodiment, the unmanned aerial vehicle is taken off from the palm of the user, and after the takeoff, the gesture of the user is recognized, the unmanned aerial vehicle is controlled according to the gesture of the user, and the action corresponding to the gesture is performed, and the unmanned aerial vehicle is controlled to land on the palm of the user. The user can control the unmanned aerial vehicle by gestures, and does not need to control the unmanned aerial vehicle by controlling the ground control device such as the remote controller and the user terminal, thereby realizing a way for the ordinary user to quickly get started and easily control the unmanned aerial vehicle.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Those skilled in the art can clearly understand that for the convenience and simplicity of the description, only the above The division of each functional module is illustrated. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. . For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (102)

A method for controlling an unmanned aerial vehicle, comprising: Controlling the UAV from taking off from the user's palm; Identify the user's gestures; If the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture; The UAV is controlled to land on the palm of the user. The method according to claim 1, wherein the controlling the unmanned aerial vehicle before taking off from the palm of the user further comprises: Detect user information; After detecting the completion of the user information, the motor of the UAV is started. The method according to claim 2, wherein the detecting user information comprises: The user information is detected after detecting the first operation of the user. The method of claim 3 wherein said first operation comprises at least one of: Click or double click on the operation of the battery switch, shake the operation of the UAV, and swing the operation of the UAV. The method according to any one of claims 2 to 4, wherein the user information comprises at least one of the following: Face information, iris information, fingerprint information, voiceprint information. The method according to any one of claims 2 to 5, wherein the method further comprises: When detecting the user information, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the first flash mode. The method of any of claims 2-6, wherein the method further comprises: If the user information is successfully detected, controlling the status light of the UAV to flash in the second flash mode; If the detecting of the user information fails, controlling the status light of the unmanned aerial vehicle according to the third Flash mode flashes. The method according to any one of claims 2 to 7, wherein after the starting the motor of the UAV, the method further comprises: Controlling the idle speed of the motor of the unmanned aerial vehicle; After detecting the second operation of the user, the unmanned aerial vehicle is controlled to take off from the palm of the user. The method of claim 8 wherein said second operation comprises at least one of: The operation of pressing the fuselage, the operation of releasing the unmanned aerial vehicle, and the operation of lifting the unmanned aerial vehicle upward are performed. The method according to any one of claims 1 to 9, wherein the method further comprises: After determining that the UAV is taking off from the palm of the user, the UAV is controlled to hover. The method of claim 10, wherein the method further comprises: After the UAV is hovered, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the fourth flash mode. The method according to claim 10 or 11, wherein the determining that the UAV takes off from the palm of the user comprises: The UAV is determined to take off from the user's palm by a change in distance detected by a distance sensor below the UAV. The method of claim 12 wherein said distance sensor comprises at least one of the following: Radar, ultrasonic detection equipment, TOF ranging detection equipment, laser detection equipment, visual detection equipment. The method according to any one of claims 10 to 13, wherein after the controlling the UAV to hover, the method further comprises: The UAV is controlled to enter a gesture recognition mode. The method of claim 14, wherein the method further comprises: After the UAV enters the gesture recognition mode, the status light of the UAV is controlled to flash in the first flash mode. The method according to any one of claims 1 to 15, wherein the recognizing a gesture of the user comprises: Obtaining image information of the gesture of the user captured by the first image sensor of the UAV; The gesture of the user is identified according to image information of the gesture of the user. The method of claim 16 further comprising: detecting a distance between said UAV and said user; If the distance between the UAV and the user exceeds a preset distance range, the status light of the UAV is controlled to flash in accordance with the fifth flash mode. The method according to any one of claims 1 to 17, wherein the method further comprises: If the gesture of the user is recognized, controlling the status light of the UAV to flash in a second flash mode; If it is determined that the gesture of the user fails, the status light of the unmanned aerial vehicle is controlled to flash in a third flash mode. The method according to any one of claims 16 to 18, wherein the image sensor comprises at least one of the following: RGB camera, monocular camera, binocular camera, TOF camera. The method according to any one of claims 1 to 19, wherein if the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture comprises: If the user's drag gesture is recognized, the UAV is controlled to fly in accordance with the moving direction of the drag gesture while maintaining the distance between the UAV and the user. The method according to any one of claims 1 to 19, wherein if the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture comprises: If the following gesture of the user is recognized, controlling the unmanned aerial vehicle to fly to the first location point according to the following gesture; After the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user. The method according to claim 21, wherein the distance between the first location point and the user is a preset distance. The method according to claim 21 or 22, further comprising: In the process of controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the sixth flash mode. The method according to any one of claims 21 to 23, wherein the controlling the unmanned aerial vehicle to fly to the first location point according to the following gesture comprises: The UAV is controlled to fly back to the first position point in a direction away from the user according to the following gesture. The method according to claim 24, wherein the controlling the unmanned aerial vehicle to fly back to the first position in a direction away from the user according to the following gesture comprises: The UAV is controlled to fly back to the first position point in an oblique direction away from the user according to the following gesture. The method according to any one of claims 21 to 25, wherein the method further comprises: In controlling the flight of the unmanned aerial vehicle to the first position point, the attitude of the pan/tilt carried by the unmanned aerial vehicle is adjusted such that the user is in a photographing screen of the photographing device of the unmanned aerial vehicle. The method according to any one of claims 21 to 26, wherein the method further comprises: After the unmanned aerial vehicle flies to the first position, the state light of the unmanned aerial vehicle is controlled to flash in accordance with the seventh flash mode. The method according to any one of claims 21 to 27, wherein after the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, including: After the unmanned aerial vehicle reaches the first location point, the location of the user is determined, and the user is determined to follow the target according to the location of the user. The method according to claim 28, wherein the determining the location of the user and determining the user as following the target according to the location of the user comprises: Determining the position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle, according to the use The position of the user in the shooting screen determines the user as a follow target. The method according to claim 29, wherein the determining the location of the user in the photographing screen of the photographing device of the UAV comprises: Determining the user's photographing device in the unmanned aerial vehicle according to one or more of the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user, and the trajectory of the unmanned aerial vehicle flying to the first position point The position in the shot screen. The method of any of claims 28-30, wherein the method further comprises: After the user is determined to follow the target, the status light of the unmanned aerial vehicle is controlled to flash in the second flash mode. The method according to any one of claims 21 to 31, wherein after the controlling the unmanned aerial vehicle to follow the user, the method further comprises: Identifying a user's photo gesture; The photographing device on the unmanned aerial vehicle is controlled to photograph the user according to the photographing gesture. The method of claim 32, wherein the method further comprises: After the user's photographing gesture is recognized, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the third flash mode. The method according to any one of claims 1 to 33, wherein if the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture comprises: If the returning gesture of the user is recognized, the UAV is controlled to return to the air and hover. The method of claim 34, wherein said controlling said UAV to return to flight and hovering comprises: Controlling the unmanned aerial vehicle to descend a preset height; The UAV is controlled to fly in a direction approaching the user such that the UAV is hovering at a second predetermined distance from the user in a horizontal direction. The method of claim 35, wherein the method further comprises: When the UAV is hovering at a second predetermined distance from the user in the horizontal direction, the status light of the UAV is controlled to flash in accordance with the fourth flash mode. A method according to any one of claims 1 to 36, wherein said controlling said UAV to land on said user's palm comprises: After determining that the user's palm is below the UAV, the UAV is controlled to land on the user's palm. The method according to claim 37, wherein said determining said user's palm below said unmanned aerial vehicle comprises: The change in distance detected by the distance sensor below the UAV and/or the image acquired by the image sensor determines that the palm of the user is below the UAV. The method according to claim 37 or claim 38, wherein after the palm of the user is determined to be below the unmanned aerial vehicle, controlling the unmanned aerial vehicle to land on the palm of the user comprises: After determining that the user's palm is below the UAV, determining the position of the user's palm in the horizontal direction relative to the UAV; The UAV is controlled to land on the palm of the user in accordance with the position of the user's palm in a horizontal direction relative to the UAV. An unmanned aerial vehicle control apparatus, comprising one or more processors, operating separately or in cooperation, the processor for: Controlling the UAV from taking off from the user's palm; Identify the user's gestures; If the gesture of the user is recognized, controlling the unmanned aerial vehicle to perform an action corresponding to the gesture according to the gesture; The UAV is controlled to land on the palm of the user. The UAV control apparatus according to claim 40, wherein said processor controls the unmanned aerial vehicle to take off from the palm of the user before: Detect user information; After detecting the completion of the user information, the motor of the UAV is started. The UAV control device according to claim 41, wherein when the processor detects user information, it is specifically used to: The user information is detected after detecting the first operation of the user. An unmanned aerial vehicle control apparatus according to claim 42, wherein The first operation includes at least one of the following: Click or double click on the operation of the battery switch, shake the operation of the UAV, and swing the operation of the UAV. The UAV control device according to any one of claims 41 to 43, wherein the user information comprises at least one of the following: Face information, iris information, fingerprint information, voiceprint information. The UAV control device according to any one of claims 41 to 44, wherein the processor is further configured to: When detecting the user information, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the first flash mode. The UAV control device according to any one of claims 41 to 45, wherein if the processor detects that the user information is successful, controlling the status light of the UAV according to the second flash mode Flashing light If the processor fails to detect the user information, the status light of the unmanned aerial vehicle is controlled to flash in a third flash mode. The UAV control device according to any one of claims 41 to 46, wherein after the processor starts the motor of the UAV, it is further configured to: Controlling the idle speed of the motor of the unmanned aerial vehicle; After detecting the second operation of the user, the unmanned aerial vehicle is controlled to take off from the palm of the user. The UAV control apparatus according to claim 47, wherein said second operation comprises at least one of the following: The operation of pressing the fuselage, the operation of releasing the unmanned aerial vehicle, and the operation of lifting the unmanned aerial vehicle upward are performed. The UAV control apparatus according to any one of claims 40 to 48, wherein the processor determines that the unmanned aerial vehicle is suspended from the palm of the user, and is further configured to: control the unmanned aerial vehicle to hang stop. The UAV control device according to claim 49, wherein after the UAV is hovered, the processor is further configured to: The status light that controls the UAV flashes in a fourth flash mode. An unmanned aerial vehicle control apparatus according to claim 49 or 50, characterized in that When the processor determines that the UAV is taking off from the palm of the user, the processor is specifically configured to: The UAV is determined to take off from the user's palm by a change in distance detected by a distance sensor below the UAV. The UAV control apparatus according to claim 51, wherein said distance sensor comprises at least one of the following: Radar, ultrasonic detection equipment, TOF ranging detection equipment, laser detection equipment, visual detection equipment. The UAV control device according to any one of claims 49 to 52, wherein after the processor controls the UAV to hover, the processor is further configured to: The UAV is controlled to enter a gesture recognition mode. The UAV control device according to claim 53, wherein after the UAV enters the gesture recognition mode, the processor is further configured to control the status light of the UAV according to the first flash mode. Flashing lights. The UAV control device according to any one of claims 40 to 54, wherein when the processor recognizes a gesture of the user, the method is specifically configured to: Obtaining image information of the gesture of the user captured by the first image sensor of the UAV; The gesture of the user is identified according to image information of the gesture of the user. The UAV control device according to claim 55, wherein the processor is further configured to: Detecting a distance between the UAV and the user by a distance sensor; If the distance between the UAV and the user exceeds a preset distance range, the status light of the UAV is controlled to flash in accordance with the fifth flash mode. The UAV control device according to any one of claims 40 to 56, wherein if the processor recognizes the gesture of the user, controlling the status light of the UAV according to the second flash Mode flashing light If the processor recognizes that the gesture of the user has failed, controlling the status light of the UAV to flash in a third flash mode. The UAV control apparatus according to any one of claims 55-57, wherein the image sensor comprises at least one of the following: RGB camera, monocular camera, binocular camera, TOF camera. The UAV control device according to any one of claims 40 to 58, wherein if the processor recognizes a drag gesture of the user, controlling the unmanned aerial vehicle according to the drag gesture The direction of movement is while maintaining the distance between the UAV and the user. The UAV control device according to any one of claims 40 to 58, wherein if the processor recognizes a follow gesture of the user, controlling the unmanned aerial vehicle to fly to the first according to the following gesture Location point After the unmanned aerial vehicle reaches the first location point, the processor determines the user as a follow target, and controls the unmanned aerial vehicle to follow the user. The UAV control device according to any one of claims 60, wherein the distance between the first location point and the user is a preset distance. The UAV control device according to claim 60 or claim 61, wherein the processor is further configured to: In the process of controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture, the status light of the unmanned aerial vehicle is controlled to flash in accordance with the sixth flash mode. The UAV control device according to any one of claims 60 to 62, wherein the processor is configured to: when the UAV is controlled to fly to the first location according to the following gesture, specifically: The UAV is controlled to fly back to the first position point in a direction away from the user according to the following gesture. The UAV control device according to claim 63, wherein the processor controls the UAV to fly back to the first position in a direction away from the user according to the following gesture, specifically for: The UAV is controlled to fly back to the first position point in an oblique direction away from the user according to the following gesture. The UAV control device according to any one of claims 60 to 64, wherein the processor is further configured to: Adjusting a posture of the pan/tilt carried by the unmanned aerial vehicle in a process of controlling the unmanned aerial vehicle to fly to the first position point, so that the user is photographing the photographing device of the unmanned aerial vehicle In the picture. The UAV control apparatus according to any one of claims 60 to 65, wherein said processor is further configured to control the state of said unmanned aerial vehicle after said unmanned aerial vehicle flies to a first position The lamp flashes in the seventh flash mode. The UAV control device according to any one of claims 60 to 66, wherein, after the UAV arrives at the first location point, the processor determines the user to follow the target, specifically for: The location of the user is determined, and the user is determined to follow the target based on the location of the user. The UAV control device according to claim 67, wherein the processor determines the location of the user, and when the user is determined to follow the target according to the location of the user, the processor is specifically configured to: The position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle is determined, and the user is determined to follow the target according to the position of the user in the photographing screen. The UAV control device according to claim 68, wherein the processor determines the position of the user in the photographing screen of the photographing device of the UAV, specifically for: Determining the user's photographing device in the unmanned aerial vehicle according to one or more of the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user, and the trajectory of the unmanned aerial vehicle flying to the first position point The position in the shot screen. The UAV control device according to any one of claims 67 to 69, wherein the processor determines to follow the target, and is further configured to control the status light of the UAV according to the second flash. The light mode flashes. The UAV control device according to any one of claims 60 to 70, wherein the processor controls the UAV to follow the user, and is further configured to: Identifying a user's photo gesture; The photographing device on the unmanned aerial vehicle is controlled to photograph the user according to the photographing gesture. The UAV control device according to claim 71, wherein the processor is further configured to control the status light of the UAV to flash in accordance with the third flash mode after recognizing the photographing gesture of the user. . The UAV control device according to any one of claims 40 to 72, wherein if the processor recognizes the returning gesture of the user, the UAV is controlled to return to the air and hover. The UAV control device according to claim 73, wherein when the processor controls the UAV to return to the air and hover, the processor is specifically configured to: Controlling the unmanned aerial vehicle to descend a preset height; The UAV is controlled to fly in a direction approaching the user such that the UAV is hovering at a second predetermined distance from the user in a horizontal direction. The UAV control apparatus according to claim 74, wherein said processor is further used for controlling when said UAV is hovering at a second predetermined distance from said user in a horizontal direction The status light of the UAV flashes in a fourth flash mode. The UAV control device according to any one of claims 40 to 75, wherein the processor controls the UAV to land on the palm of the user, specifically for: After determining that the user's palm is below the UAV, the UAV is controlled to land on the user's palm. The UAV control apparatus according to claim 76, wherein said processor determines that said user's palm is below said unmanned aerial vehicle is specifically used for: The change in the distance detected by the distance sensor below the UAV and/or the image acquired by the second image sensor determines that the palm of the user is below the UAV. The UAV control apparatus according to claim 76 or 77, wherein said processor determines that said unmanned aerial vehicle landed at said user after said user's palm is below said unmanned aerial vehicle When used on the palm of your hand, specifically for: After determining that the user's palm is below the UAV, determining the position of the user's palm in the horizontal direction relative to the UAV; The UAV is controlled to land on the palm of the user in accordance with the position of the user's palm in a horizontal direction relative to the UAV. An unmanned aerial vehicle, comprising: body; a power system mounted to the fuselage for providing flight power; And an unmanned aerial vehicle control apparatus according to any one of claims 40-78. A method for controlling an unmanned aerial vehicle, comprising: Identify the user's following gestures; Controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture; After the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user. The control method according to claim 80, wherein the distance between the first location point and the user is a preset distance. The control method according to claim 80 or claim 81, wherein the controlling the unmanned aerial vehicle to fly to the first location according to the following gesture comprises: The unmanned aerial vehicle is controlled to fly back to the first position point in a direction away from the user according to the following gesture. The control method according to claim 82, wherein the controlling the unmanned aerial vehicle to fly back to the first position in a direction away from the user according to the following gesture comprises: The UAV is controlled to fly back to the first position point in an oblique direction away from the user according to the following gesture. The method of any of claims 80-83, wherein the method further comprises: In controlling the flight of the unmanned aerial vehicle to the first position point, the attitude of the pan/tilt carried by the unmanned aerial vehicle is adjusted to make the user in the photographing screen of the photographing device of the unmanned aerial vehicle. The method according to any one of claims 80 to 84, wherein after the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, including: After the unmanned aerial vehicle reaches the first location point, the location of the user is determined, and the user is determined to follow the target according to the location of the user. The method according to claim 85, wherein the determining the location of the user and determining the user as following the target according to the location of the user comprises: The position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle is determined, and the user is determined to follow the target according to the position of the user in the photographing screen. The method according to claim 86, wherein the determining the location of the user in the photographing screen of the photographing device of the UAV comprises: Determining the user's photographing device in the unmanned aerial vehicle according to one or more of the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user, and the trajectory of the unmanned aerial vehicle flying to the first position point The position in the shot screen. The method according to any one of claims 80 to 87, wherein after the unmanned aerial vehicle is controlled to follow the user, the method further comprises: Identifying a user's photo gesture; According to the photographing gesture, the photographing device on the unmanned aerial vehicle is controlled to photograph the user. The method of claim 88, wherein the method further comprises: After the user's photographing gesture is recognized, the status light on the unmanned aerial vehicle is controlled to flash in the first flash mode. The method according to any one of claims 80 to 89, wherein after the user is determined to follow the target, the method further comprises: The status light on the unmanned aerial vehicle is controlled to flash in the second flash mode. An unmanned aerial vehicle control apparatus, comprising one or more processors, operating separately or in cooperation, the processor for: Identify the user's following gestures; Controlling the unmanned aerial vehicle to fly to the first position point according to the following gesture; After the unmanned aerial vehicle reaches the first location point, the user is determined to follow the target, and the unmanned aerial vehicle is controlled to follow the user. The UAV control apparatus according to claim 91, wherein the distance between the first location point and the user is a preset distance. The UAV control device according to claim 91 or claim 92, wherein the processor controls the unmanned aerial vehicle to fly to the first location point according to the following gesture, specifically for: The unmanned aerial vehicle is controlled to fly back to the first position point in a direction away from the user according to the following gesture. The UAV control apparatus according to claim 93, wherein said processor controls said unmanned aerial vehicle to retreat in a direction away from the user according to said following gesture When it is at the first position, it is specifically used to: The UAV is controlled to fly back to the first position point in an oblique direction away from the user according to the following gesture. The UAV control device according to any one of claims 91 to 94, wherein the processor is further configured to: In controlling the flight of the unmanned aerial vehicle to the first position point, the attitude of the pan/tilt carried by the unmanned aerial vehicle is adjusted to make the user in the photographing screen of the photographing device of the unmanned aerial vehicle. The UAV control device according to any one of claims 91 to 95, wherein, after the UAV arrives at the first location point, the processor determines the user to follow the target, specifically for: The location of the user is determined, and the user is determined to follow the target based on the location of the user. The UAV control device according to claim 96, wherein the processor determines the location of the user, and when the user is determined to follow the target according to the location of the user, the processor is specifically configured to: The position of the user in the photographing screen of the photographing device of the unmanned aerial vehicle is determined, and the user is determined to follow the target according to the position of the user in the photographing screen. The UAV control device according to claim 97, wherein the processor determines the position of the user in the photographing screen of the photographing device of the UAV, specifically for: Determining the user's photographing device in the unmanned aerial vehicle according to one or more of the posture of the gimbal on the unmanned aerial vehicle, the distance between the first position point and the user, and the trajectory of the unmanned aerial vehicle flying to the first position point The position in the shot screen. The UAV control device according to any one of claims 91 to 98, wherein the processor controls the UAV to follow the user, and is further configured to: Identifying a user's photo gesture; According to the photographing gesture, the photographing device on the unmanned aerial vehicle is controlled to photograph the user. The UAV control device according to claim 99, wherein the processor is further configured to: After identifying the user's photo gesture, controlling the status light on the UAV is in accordance with the first Flash mode flashes. The UAV control device according to any one of claims 91 to 100, wherein after the processor determines that the user follows the target, the processor is further configured to: The status light on the unmanned aerial vehicle is controlled to flash in the second flash mode. An unmanned aerial vehicle, comprising: body; a power system mounted to the fuselage for providing flight power; And an unmanned aerial vehicle control apparatus according to any one of claims 91-101.

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