阅读说明：本技术 无人机的返航控制方法和设备 (Method and equipment for controlling return flight of unmanned aerial vehicle ) 是由 周伟 陈超彬 于 2020-02-28 设计创作，主要内容包括：提供了一种无人机的返航控制方法和设备,该方法包括：获取返航指令(S301)；响应于返航指令,从由用户预先设置的多条返航航线中确定目标返航航线(S302)；根据目标返航航线,控制无人机返航(S303)。由于返航航线是由用户预先设置的,用户在预置返航航线时可以保障返航航线的安全性,确保无人机安全返航。而且无人机在接收到返航指令后无需规划返航航线,提高了返航效率。(Provided are a return control method and equipment for an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring a return flight instruction (S301); determining a target return course from a plurality of return courses preset by a user in response to a return instruction (S302); and controlling the unmanned aerial vehicle to return according to the target return route (S303). Because the return route is preset by the user, the safety of the return route can be guaranteed when the user presets the return route, and the safety of the unmanned aerial vehicle is guaranteed. And the unmanned aerial vehicle does not need to plan a return route after receiving the return command, so that the return efficiency is improved.)

A return control method of an unmanned aerial vehicle is characterized by comprising the following steps:

acquiring a return flight instruction;

determining a target return route from a plurality of return routes preset by a user in response to the return instruction;

and controlling the unmanned aerial vehicle to return according to the target return route.

The method of claim 1, further comprising: acquiring position information of the unmanned aerial vehicle;

determining a target return route from a plurality of preset return routes, comprising:

and determining a target return route from the multiple return routes according to the position information of the unmanned aerial vehicle.

The method of claim 2, wherein the plurality of return routes preset by the user includes at least one return route preset by the user for each of a plurality of flight sub-regions selected by the user, wherein,

according to the position information of the unmanned aerial vehicle, determining a target return route from the multiple return routes comprises the following steps:

determining a target flight sub-area from the plurality of flight sub-areas according to the position information of the unmanned aerial vehicle;

and determining one return route in the at least one return route preset aiming at the target flight subarea as a target return route.

The method of claim 3, wherein determining a target flight sub-region from the plurality of flight sub-regions based on the position information of the drone comprises:

determining a flight subarea where the unmanned aerial vehicle is located currently from the plurality of flight subareas according to the position information of the unmanned aerial vehicle;

and determining the current flight subarea as the target flight subarea.

The method of claim 3 or 4, wherein the return points corresponding to at least one return course for a first of the plurality of flight sub-regions are different from the return points corresponding to at least one return course for a second of the plurality of flight sub-regions.

A method according to any one of claims 3 to 5, wherein the starting waypoint of at least one return route of the flight sub-region is located within the flight sub-region.

The method according to any one of claims 1 to 6, wherein at least two return routes of the plurality of return routes preset by the user have different return points.

The method of any one of claims 1-7, wherein determining the target return route from the plurality of return routes comprises:

and determining the target return air route from the plurality of return air routes according to the priority of each return air route in the plurality of return air routes, wherein the priority of each return air route is preset by a user.

The method of claim 8, wherein the target return route is a highest priority return route of the plurality of return routes.

The method of any one of claims 1-7, wherein determining the target return route from the plurality of return routes comprises:

according to the current position of the unmanned aerial vehicle, the electric quantity consumed by the unmanned aerial vehicle for returning according to each returning route in the returning routes is estimated;

and determining the target return route from the plurality of return routes according to the corresponding consumed electric quantity of each return route in the plurality of return routes.

The method according to claim 10, wherein the determining the target return route from the plurality of return routes according to the consumed electric quantity corresponding to each return route in the plurality of return routes comprises:

determining a return route with the consumed electric quantity less than or equal to the residual electric quantity of the unmanned aerial vehicle from the plurality of return routes;

and determining the return route with the minimum power consumption as the target return route.

The method according to any one of claims 1-11, wherein said obtaining a return flight instruction comprises:

acquiring the return flight instruction sent by the control terminal; alternatively, the first and second electrodes may be,

when the fact that the residual electric quantity of the unmanned aerial vehicle is smaller than or equal to a preset electric quantity is detected, the return flight instruction is generated; alternatively, the first and second electrodes may be,

and generating the return flight instruction when the communication connection between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle is disconnected.

The method according to any one of claims 1-12, further comprising:

and receiving the plurality of return air routes sent by a control terminal of the unmanned aerial vehicle through wireless or wired communication connection, wherein the plurality of return air routes are determined by the control terminal through detection of the return air route setting operation of the user.

The return control method of the unmanned aerial vehicle is characterized by being applied to a control terminal of the unmanned aerial vehicle, and comprises the following steps:

detecting a return route setting operation of a user, and generating a plurality of return routes of the unmanned aerial vehicle according to the return route setting operation;

and transmitting the plurality of return air routes to an unmanned aerial vehicle so that the unmanned aerial vehicle selects a target return air route from the plurality of return air routes for return after acquiring a return instruction.

The method of claim 14, wherein the plurality of return routes includes at least one route preset by the user for each of the plurality of flight subsections, the method further comprising:

detecting a flight sub-region selection operation of the user;

selecting the plurality of flight sub-regions from a target flight region according to the flight sub-region selection operation;

detecting a return route setting operation of a user, and generating a plurality of return routes of the unmanned aerial vehicle according to the return route setting operation, including:

detecting a returning route setting operation of a user for each of the multiple flight sub-areas, and generating at least one returning route preset by the user for each of the multiple flight sub-areas according to the returning route setting operation;

the will many routes of returning to the journey transmit for unmanned aerial vehicle to make unmanned aerial vehicle after obtaining the instruction of returning to the journey, follow a plurality of flight subarea return to the route and select the route of returning to the journey of target, include:

and transmitting the multiple return air routes to an unmanned aerial vehicle so that the unmanned aerial vehicle selects a target return air route from the multiple return air routes set by the user for multiple flight subregions to return after acquiring a return instruction.

The method of claim 15, further comprising:

detecting a target flight area selection operation of the user;

and determining the target flight area according to the selected operation of the target flight area.

The method according to any one of claims 14-16, further comprising:

detecting a priority setting operation of a user;

determining the priority of each return route according to the priority setting operation of the user;

will many routes of returning to the journey transmit for unmanned aerial vehicle to make unmanned aerial vehicle after obtaining the instruction of returning to the journey, follow many routes of returning to the journey select the target route of returning to the journey to return to the journey, include:

and transmitting the priorities of the multiple return air routes and the multiple return air routes to the unmanned aerial vehicle so that the unmanned aerial vehicle selects a target return air route from the multiple return air routes according to the priorities to return after acquiring a return instruction.

The method of any of claims 14-17, wherein said transmitting the plurality of return routes to the drone comprises:

sending the plurality of return air routes to the unmanned aerial vehicle through wireless or wired communication connection; alternatively, the first and second electrodes may be,

and storing the plurality of return air routes into a storage device so that the unmanned aerial vehicle acquires the plurality of return air routes from the storage device.

The method according to any one of claims 14-18, further comprising:

determining the course of each return route;

and if the range of the return route is greater than the maximum range of the unmanned aerial vehicle, displaying range limit prompt information.

The method according to any one of claims 14-18, further comprising:

acquiring position information of an obstacle;

acquiring the distance between each return route and the obstacle according to the position information of the obstacle;

and if the distance is smaller than the preset distance, displaying barrier prompt information.

The method according to any one of claims 14-18, further comprising:

acquiring the return flight height of each return flight line;

and if the return flight height is greater than the highest flight height of the unmanned aerial vehicle, or the return flight height is less than the lowest flight height of the unmanned aerial vehicle, displaying return flight height limit prompt information.

The utility model provides an unmanned aerial vehicle's controlgear that navigates back which characterized in that includes: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

acquiring a return flight instruction;

determining a target return route from a plurality of return routes preset by a user in response to the return instruction;

and controlling the unmanned aerial vehicle to return according to the target return route.

The apparatus of claim 22, further comprising:

the positioning device is used for acquiring the position information of the unmanned aerial vehicle;

the processor is specifically configured to: and determining a target return route from a plurality of return routes according to the position information of the unmanned aerial vehicle acquired by the positioning device.

The apparatus of claim 23, wherein the plurality of return routes preset by the user comprises at least one return route preset by the user for each of a plurality of flight sub-regions selected by the user, wherein,

the processor is specifically configured to: determining a target flight sub-area from the plurality of flight sub-areas according to the position information of the unmanned aerial vehicle; and determining one return route in the at least one return route preset aiming at the target flight subarea as a target return route.

The device of claim 24, wherein the processor is specifically configured to:

determining a flight subarea where the unmanned aerial vehicle is located currently from the plurality of flight subareas according to the position information of the unmanned aerial vehicle;

and determining the current flight subarea as the target flight subarea.

The apparatus of claim 24 or 25, wherein the return points corresponding to at least one return course for a first of the plurality of flight sub-regions are different from the return points corresponding to at least one return course for a second of the plurality of flight sub-regions.

The apparatus of any one of claims 24 to 26, wherein the starting waypoint of at least one return route of the flight sub-region is located within the flight sub-region.

The apparatus according to any one of claims 22-27, wherein at least two return routes of the plurality of return routes preset by the user have different return points.

The device according to any of claims 22-28, wherein the processor is specifically configured to: and determining the target return air route from the plurality of return air routes according to the priority of each return air route in the plurality of return air routes, wherein the priority of each return air route is preset by a user.

The apparatus of claim 29 wherein said target return route is a highest priority return route of said plurality of return routes.

The device according to any of claims 22-30, wherein the processor is specifically configured to:

according to the current position of the unmanned aerial vehicle, the electric quantity consumed by the unmanned aerial vehicle for returning according to each returning route in the returning routes is estimated;

and determining the target return route from the plurality of return routes according to the corresponding consumed electric quantity of each return route in the plurality of return routes.

The device of claim 31, wherein the processor is specifically configured to:

determining a return route with the consumed electric quantity less than or equal to the residual electric quantity of the unmanned aerial vehicle from the plurality of return routes;

and determining the return route with the minimum power consumption as the target return route.

The apparatus of any one of claims 22-32,

the processor is specifically configured to: acquiring the return flight instruction sent by the control terminal, or generating the return flight instruction when the fact that the residual electric quantity of the unmanned aerial vehicle is smaller than or equal to the preset electric quantity is detected; or when the communication connection between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle is disconnected, the return flight instruction is generated.

The apparatus of any one of claims 22-33, further comprising:

and the communication device is used for receiving the multiple return air routes sent by the control terminal of the unmanned aerial vehicle through wireless or wired communication connection, wherein the multiple return air routes are determined by the control terminal through detection of the return air route setting operation of the user.

A control terminal, comprising:

the interaction device is used for detecting the setting operation of the return route of the user;

and the processor is used for generating a plurality of return air routes of the unmanned aerial vehicle according to the return air route setting operation, and transmitting the plurality of return air routes to the unmanned aerial vehicle so that the unmanned aerial vehicle can select a target return air route from the plurality of return air routes to return air after acquiring a return air instruction.

The control terminal of claim 35, wherein the plurality of return routes comprise at least one route preset by the user for each of the plurality of flight subsections;

the interaction device is also used for detecting the flight subarea selection operation of the user;

the processor is further used for selecting the plurality of flight sub-areas from a target flight area according to the flight sub-area selection operation;

when detecting the return route setting operation of the user, the interaction device is specifically used for: detecting a return route setup operation of a user for each of the plurality of flight sub-regions;

the processor is according to return the flight line setting operation, when generating many of unmanned aerial vehicle's the flight line of returning, specifically is used for: generating at least one return route preset by a user for each of a plurality of flight sub-areas according to the return route setting operation;

the processor is transmitting the multiple return routes to the unmanned aerial vehicle so that after the unmanned aerial vehicle acquires a return instruction, when the unmanned aerial vehicle selects a target return route from the multiple flight subarea return routes for returning, the processor is specifically configured to: and transmitting the multiple return air routes to an unmanned aerial vehicle so that the unmanned aerial vehicle selects a target return air route from the multiple return air routes set by the user for multiple flight subregions to return after acquiring a return instruction.

The control terminal according to claim 36, wherein the interaction means is further configured to: detecting a target flight area selection operation of the user;

the processor is further configured to determine the target flight zone according to the target flight zone selection operation.

The control terminal according to any of claims 35-37, wherein the interaction means is further configured to detect a user's priority setting operation;

the processor is further used for setting operation according to the priority of the user and determining the priority of each return route;

the processor transmits the multiple return air routes to the unmanned aerial vehicle so that the unmanned aerial vehicle can select a target return air route from the multiple return air routes for return air after acquiring a return air instruction, and the processor is specifically used for:

and transmitting the priorities of the multiple return air routes and the multiple return air routes to the unmanned aerial vehicle so that the unmanned aerial vehicle selects a target return air route from the multiple return air routes according to the priorities to return after acquiring a return instruction.

The control terminal according to any of claims 35-38, further comprising: a communication device, the processor specifically configured to: controlling the communication device to send the plurality of return air routes to the unmanned aerial vehicle through wireless or wired communication connection; alternatively, the first and second electrodes may be,

the processor is specifically configured to: and storing the plurality of return air routes into a storage device so that the unmanned aerial vehicle acquires the plurality of return air routes from the storage device.

The control terminal according to any of claims 35-39, further comprising: a display device;

the processor is also used for determining the range of each return route; and if the range of the return route is greater than the maximum range of the unmanned aerial vehicle, controlling the display device to display range limit prompt information.

The control terminal according to any of claims 35-39, further comprising: a display device;

the processor is further used for acquiring position information of the obstacle; acquiring the distance between each return route and the obstacle according to the position information of the obstacle; and if the distance is smaller than the preset distance, controlling the display device to display the barrier prompt message.

The control terminal according to any of claims 35-39, further comprising: a display device;

the processor is also used for acquiring the return flight height of each return flight line; and if the return flight height is greater than the highest flight height of the unmanned aerial vehicle, or the return flight height is less than the lowest flight height of the unmanned aerial vehicle, controlling the display device to display return flight height limit prompt information.

A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implements a method of fly-back control of a drone as claimed in any one of claims 1-13 or 14-21.