CN113614670A

CN113614670A - Method and equipment for controlling return flight of unmanned aerial vehicle

Info

Publication number: CN113614670A
Application number: CN202080024313.4A
Authority: CN
Inventors: 周伟; 陈超彬
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2021-11-05
Also published as: WO2021168819A1

Abstract

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.

Description

Method and equipment for controlling return flight of unmanned aerial vehicle

Technical Field

The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to a return control method and return control equipment for an unmanned aerial vehicle.

Background

In the flight process of the unmanned aerial vehicle, if an obstacle exists, the obstacle shelters and causes signal interference, and the phenomenon of disconnection between the unmanned aerial vehicle and a remote controller occurs; or if the current distance between the unmanned aerial vehicle and the starting point is far, the communication signal between the unmanned aerial vehicle and the remote controller is very weak, and the phenomenon of signal disconnection between the unmanned aerial vehicle and the remote controller occurs; these all result in the loss of the drone. Therefore, in order to guarantee the flight safety of the unmanned aerial vehicle, the unmanned aerial vehicle can automatically return to the home.

At present, when unmanned aerial vehicle began to carry out the flight mission, under the general condition, can set up the point of returning a voyage for unmanned aerial vehicle in advance, this point of returning a voyage can be unmanned aerial vehicle's the initial point or the point that the user set up. When the unmanned aerial vehicle executes automatic return flight, a return flight line is planned according to the current position and the return point, and then the return flight line returns according to the return flight line, so that the flight safety of the unmanned aerial vehicle is guaranteed.

However, if unmanned aerial vehicle returns to navigate the in-process, touch the barrier a lot, under the circumstances such as the topography height is uneven, unmanned aerial vehicle has the barrier in its top or below of detection chance, and unmanned aerial vehicle hovers in order to avoid danger this moment, causes unmanned aerial vehicle can't return to navigate, damages even because of the electric quantity exhausts.

Disclosure of Invention

The embodiment of the application provides a return control method and return control equipment of an unmanned aerial vehicle, which are used for improving the return safety of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present application provides a return control method for an unmanned aerial vehicle, including:

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.

In a second aspect, an embodiment of the present application provides a return control method for an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle control terminal, and the method includes:

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.

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle's return control device, including: 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;

In a fourth aspect, an embodiment of the present application provides a control terminal, including:

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.

In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed, the method for controlling return flight of an unmanned aerial vehicle according to the first aspect or the second aspect is implemented.

In a sixth aspect, an embodiment of the present invention provides a program product, where the program product includes a computer program, where the computer program is stored in a readable storage medium, and at least one processor may read the computer program from the readable storage medium, and execute the computer program by the at least one processor to implement the method for controlling return voyage of a drone according to the embodiment of the present application in the first aspect or the second aspect.

In summary, according to the method and the device for controlling the return flight of the unmanned aerial vehicle provided by the embodiment of the application, the return flight line is preset by the user, so that the safety of the return flight line can be guaranteed when the user presets the return flight line, 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.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

fig. 2 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 3 is a flowchart of a return control method for an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 4 is a schematic illustration of a return path for a flight sub-region provided in accordance with an embodiment of the present application;

fig. 5 is a flowchart of a return control method for an unmanned aerial vehicle according to another embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a user's return route setting operation according to an embodiment of the present application;

fig. 7 is a flowchart of a return control method for an unmanned aerial vehicle according to another embodiment of the present application;

FIG. 8 is a schematic illustration of a return route for each flight sub-region as provided in an embodiment of the present application;

FIG. 9 is a schematic illustration of a selected target flight zone provided by an embodiment of the present application;

fig. 10 is a schematic structural diagram of a return control device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a control terminal according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of a return control system of an unmanned aerial vehicle according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, 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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiment of the application provides a return control method and return control equipment of an unmanned aerial vehicle. Wherein, the embodiment of this application can be applied to various types of unmanned aerial vehicle. For example, the drone may be a small or large drone. In certain embodiments, the drone may be a rotorcraft (rotorcraft), for example, a multi-rotor drone propelled through the air by a plurality of propulsion devices, embodiments of the present application are not so limited, and it will be apparent to those skilled in the art that other types of drones may be used without limitation.

Fig. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.

The unmanned flight system 100 can include a drone 110, a display device 130, and a control terminal 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan-tilt 120 carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130. Wherein, the drone 110 further includes a battery (not shown in the figures) that provides electrical energy to the power system 150. The drone 110 may be an agricultural drone or an industrial application drone, with the need for cyclic operation. Accordingly, the battery also has a demand for a cycle operation.

The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.

The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the drone, i.e., position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 may be controlled according to attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to preprogrammed instructions, or may control the drone 110 in response to one or more remote control signals from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt head is used to carry a load, which may be, for example, the camera 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 may also be directly fixed to the drone 110, such that the pan/tilt head 120 may be omitted.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.

It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present application.

The embodiment of the application can be used for the return flight scene of the unmanned aerial vehicle. Fig. 2 is a schematic view of an application scenario provided in the embodiment of the present application, and as shown in fig. 2, fig. 2 shows an unmanned aerial vehicle 201 and a control terminal 202 of the unmanned aerial vehicle. The control terminal 202 of the drone 201 may be one or more of a remote control, a smartphone, a desktop computer, a laptop computer, a wearable device (watch, bracelet). The embodiment of the present application takes the control terminal 202 as the remote controller 2021 and the terminal device 2022 as an example for schematic explanation. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, and the like, but the embodiment of the present application is not limited thereto. When the unmanned aerial vehicle 201 executes a work task, the unmanned aerial vehicle 201 can return according to a return route preset by a user, the unmanned aerial vehicle 201 is not required to plan the return route in real time according to a return point and the current position when the unmanned aerial vehicle 201 needs to return, the unmanned aerial vehicle 201 can safely reach the return point according to the return route preset by the user, and the phenomenon that the unmanned aerial vehicle 201 is damaged in the return process is avoided. Wherein, the spatial position that the unmanned aerial vehicle expects to arrive when carrying out the return voyage is returned to the point of returning the voyage.

In some embodiments, the user may set the return route of the drone 201 in advance by operating the terminal device 2022.

In some embodiments, the process of the unmanned aerial vehicle 201 returning back may be controlled by a return control device of the unmanned aerial vehicle. Optionally, the return control device of the drone may be provided on the drone 201. Alternatively, a part of the return control devices of the drone is provided on the drone 201, and another part is provided on the control terminal 202 of the drone.

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

Fig. 3 is a flowchart of a return control method for an unmanned aerial vehicle according to an embodiment of the present application, where the method of this embodiment may be applied to a return control device for an unmanned aerial vehicle. The return control equipment of the unmanned aerial vehicle can be arranged on the unmanned aerial vehicle; or, the part of the return control equipment of the unmanned aerial vehicle is arranged on the unmanned aerial vehicle, and the other part of the return control equipment is arranged on the control terminal of the unmanned aerial vehicle. Taking the return control device of the unmanned aerial vehicle to be set in the unmanned aerial vehicle as an example for explanation, as shown in fig. 3, the method of the embodiment includes:

s301, acquiring a return flight instruction.

In this embodiment, unmanned aerial vehicle acquires the instruction of returning a voyage, and this instruction of returning a voyage is used for instructing unmanned aerial vehicle to return a voyage.

In a possible implementation manner, when the user wants to control the unmanned aerial vehicle to return to the air, the user may perform a return operation on the control terminal, and accordingly, the control terminal detects the return operation of the user, and the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, and a wearable device, which is not described herein again. For example, a user performs a return operation through an interaction device of the control terminal, where the interaction device may be an important component of the control terminal and is an interface for interacting with the user, and the user may operate the interaction device to implement an operation on the unmanned aerial vehicle; accordingly, the control terminal detects the return operation of the user through the interaction device. The interaction device can be one or more of a touch screen, a keyboard, a rocker and a wave wheel of the control terminal. And then, the control terminal generates a return command according to the return operation and sends the return command to the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle receives a return flight instruction sent by the control terminal.

In another possible implementation manner, the remaining capacity of the unmanned aerial vehicle can be acquired, whether the remaining capacity of the unmanned aerial vehicle is larger than the preset capacity or not is judged, if the remaining capacity of the unmanned aerial vehicle is smaller than or equal to the preset capacity, a return flight instruction is generated, it is indicated that the unmanned aerial vehicle needs to return as soon as possible, otherwise, the unmanned aerial vehicle loses connection and even loses loss due to electric quantity exhaustion. If unmanned aerial vehicle's residual capacity is greater than when presetting the electric quantity, then do not trigger unmanned aerial vehicle and return to navigate, continue to acquire unmanned aerial vehicle's residual capacity to judge whether unmanned aerial vehicle's residual capacity is greater than and preset the electric quantity.

In another possible implementation, it may be detected whether the communication connection between the drone and the control terminal of the drone is disconnected. If the communication connection between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle is disconnected, a return flight instruction is generated, and the loss of the unmanned aerial vehicle due to loss of connection is avoided. If the communication connection between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle is not disconnected, whether the communication connection between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle is disconnected or not is continuously detected.

It should be noted that any one of the three possible implementation manners described above is satisfied, and the return flight instruction can be obtained.

S302, in response to the return flight instruction, determining a target return flight path from a plurality of return flight paths preset by a user.

In this embodiment, in response to an acquired return flight instruction, one return flight path is determined as a target return flight path from a plurality of return flight paths preset by a user.

Optionally, at least two return routes of the multiple return routes preset by the user have different return points. Therefore, the user can make the unmanned aerial vehicle execute different return routes and possibly return to different positions by presetting the return route, the diversity of the return route is improved, multiple choices are provided for safe return of the unmanned aerial vehicle, and the return control is more flexible.

The multiple return routes preset by the user may be pre-stored in the unmanned aerial vehicle, and before executing the above S301, the multiple return routes are preset by the user through the control terminal, and then the unmanned aerial vehicle acquires the multiple return routes from the control terminal and stores them. Or after executing S301 and before executing S302, the unmanned aerial vehicle sends a return route request instruction to the control terminal, and the control terminal sends a plurality of return routes preset by the user to the unmanned aerial vehicle according to the return route request instruction. Here, the user sets a plurality of return routes through the control terminal of the unmanned aerial vehicle as an example, and in other embodiments, the user may set a plurality of return routes in advance through a return route setting device different from the control terminal of the unmanned aerial vehicle.

And S303, controlling the unmanned aerial vehicle to return according to the target return route.

In this embodiment, after the target return route is determined, the unmanned aerial vehicle is controlled to return along the target return route according to the target return route.

According to the return control method of the unmanned aerial vehicle, after the return instruction is obtained, the target return air route is determined from the multiple return air routes preset by the user, and the unmanned aerial vehicle is controlled to return according to the target return air route. 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.

In other embodiments, the user sets one return route in advance, and accordingly, an alternative implementation manner to the above S302 is: and responding to the return command, and determining one return route preset by a user as a target return route. The return route is preset by a user, so that the safe return of the unmanned aerial vehicle can be ensured, and in addition, the step of selecting a target return route from a plurality of return routes is not needed, so that the efficiency of determining the target return route is improved.

In other embodiments, if the return flight instruction is sent by the acquisition control terminal, the return flight instruction may include a return flight path (including information of each waypoint) preset by the user, and accordingly, an alternative implementation manner of S302 above may be: and responding to the return command, and determining a return route carried in the return command and preset by a user as a target return route. The route of returning a journey is preset by the user, consequently can ensure that unmanned aerial vehicle safely returns a journey, in addition, does not preserve the route of returning a journey in advance among the unmanned aerial vehicle, can save storage space.

Next, a specific implementation process of determining a target return route from a plurality of return routes preset by the user in response to the return instruction in S302 will be described.

After S301 is executed, namely after the return flight instruction is acquired, the position information of the unmanned aerial vehicle is also acquired. Accordingly, one possible implementation of determining a target return route from among a plurality of return routes previously set by a user is: and determining a target return route from the multiple return routes according to the position information of the unmanned aerial vehicle. Unmanned aerial vehicle is at the flight in-process, and unmanned aerial vehicle's position can change, so acquire unmanned aerial vehicle's positional information (representing unmanned aerial vehicle's current position), reunion unmanned aerial vehicle's current position, confirm from many returning the air route with unmanned aerial vehicle's current position assorted target returning the air route to it is more convenient that unmanned aerial vehicle begins to return the air route from the current position.

In some embodiments, 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. The plurality of flight sub-areas are divided by a user in advance, and the user can preset at least one return route for each flight sub-area.

One possible implementation manner for determining the target return route from the multiple return routes according to the position information of the unmanned aerial vehicle is as follows: and determining a target flight sub-area from the plurality of flight sub-areas according to the position information of the unmanned aerial vehicle. And then determining one return route in at least one return route preset aiming at the target flight subarea as a target return route.

In this embodiment, according to the position information of the unmanned aerial vehicle, one flight sub-region that matches with the current position of the unmanned aerial vehicle is determined from the multiple flight sub-regions as a target flight sub-region, for example: according to the position information of the unmanned aerial vehicle, determining the current flight sub-area of the unmanned aerial vehicle from the plurality of flight sub-areas, and then determining the current flight sub-area of the unmanned aerial vehicle as the target flight sub-area. Optionally, if it is determined that the unmanned aerial vehicle is not currently in any of the multiple flight sub-regions according to the position information of the unmanned aerial vehicle, the flight sub-region closest to the unmanned aerial vehicle currently may be determined as the target flight sub-region. Or, if it is determined that the unmanned aerial vehicle is not currently in any of the multiple flight sub-areas according to the position information of the unmanned aerial vehicle, the unmanned aerial vehicle may be controlled to return according to the manner in the prior art.

After the target flight sub-area is determined, if one return route is preset for the target flight sub-area, the return route preset for the target flight sub-area is determined as a target return route. And if the number of the return routes preset for the target flight sub-area is multiple, determining a target return route from the multiple return routes preset for the target flight sub-area.

Optionally, the return point corresponding to the at least one return route for the first sub-area of the multiple sub-areas of flight is different from the return point corresponding to the at least one return route for the second sub-area of the multiple sub-areas of flight. That is, the return point of the unmanned aerial vehicle returning when the target sub-region is the first flight sub-region is different from the return point of the unmanned aerial vehicle returning when the target sub-region is the second flight sub-region. If the determined target sub-regions are different, the unmanned aerial vehicle can return to different positions, different return points are preset for the unmanned aerial vehicle, and multiple choices are provided for safe return of the unmanned aerial vehicle. It should be noted that the return points corresponding to at least one return route in the same flight sub-area may be the same return point, and the user may set at least one return route in advance to make the unmanned aerial vehicle return to the same position. The return points corresponding to the multiple return routes of the same flight subarea do not need to be the same return point, and the user can select the return to different positions by presetting the multiple return routes of the same flight subarea.

Optionally, the starting waypoint of at least one return route of the flight sub-area is located in the flight sub-area. The starting waypoint of the target return route is generally located in the flight subarea where the unmanned aerial vehicle is currently located, so that the unmanned aerial vehicle can be ensured to fly to the starting waypoint of the target return route from the current position as soon as possible, and the return of the unmanned aerial vehicle can be controlled more quickly.

The return point of the return course of a flight sub-zone may be located in that flight sub-zone, or may be located in other flight sub-zones, or may not be located in any flight sub-zone.

Next, a return route in different flight sub-regions is described by way of example, fig. 4 is a schematic view of a return route of a flight sub-region provided in an embodiment of the present application, as shown in fig. 4, fig. 4 shows 4 flight sub-regions, which are a flight sub-region 1, a flight sub-region 2, a flight sub-region 3, and a flight sub-region 4 respectively. At least one return route is preset for each flight sub-area, and fig. 4 illustrates a return route of the flight sub-area 1 and a return route of the flight sub-area 4 as an example, and illustrates a return route of the flight sub-area 1 and a return route of the flight sub-area 4 as an example.

As shown in fig. 4, the starting waypoint of the return route of the flight sub-area 1 is located within the flight sub-area 1, and the return point of the return route is also located within the flight sub-area 1, and all waypoints of this return route are located within the flight sub-area 1. The starting waypoint of the return route of the flight subarea 4 is located in the flight subarea 4, the return point of the return route is located in the flight subarea 3, one part of waypoint of the return route is located in the flight subarea 4, and the other part of waypoint is located in other flight subareas (such as the flight subarea 3).

If the unmanned aerial vehicle is currently located in the flight sub-region 1, after a return command is obtained, position information of the unmanned aerial vehicle is obtained in response to the return command, the flight sub-region where the unmanned aerial vehicle is currently located is determined to be the flight sub-region 1 according to the position information of the unmanned aerial vehicle, the flight sub-region 1 is determined to be a target flight sub-region, then a return route preset for the flight sub-region 1 is determined to be a target return route, the target return route is, for example, a return route of the flight sub-region 1 shown in fig. 4, the unmanned aerial vehicle is controlled to fly to the waypoint 1 of the return route from the current position, fly to the waypoint 2 from the waypoint 1, fly to the waypoint 3 from the waypoint 3, fly to the waypoint 4 from the waypoint 3, and land the unmanned aerial vehicle to reach the return route.

The following describes in detail how a target return course is determined from a plurality of return courses.

In a possible implementation manner, the priority of each return route is preset by a user, the unmanned aerial vehicle of the embodiment can acquire the priority of each return route, and a target return route is determined from the multiple return routes according to the priority of each return route.

Optionally, the target return route is a return route with the highest priority among the plurality of return routes. The priority of each return route can be obtained, so that the multiple return routes are sequenced according to the priority of each return route and the sequence of the priorities from high to low or from low to high, the return route with the highest priority is obtained from the sequenced return routes, and the return route with the highest priority is determined as the target return route.

In another possible implementation manner, the position information of the drone may be obtained, so that the current position of the drone may be obtained. 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 can be predicted and referred to as the electric quantity consumed by each returning route. The power consumption corresponding to each return route comprises power consumption consumed by the unmanned aerial vehicle flying from the current position to the initial waypoint of the return route and power consumption consumed by the unmanned aerial vehicle flying along the return route from the initial waypoint. And after the power consumption corresponding to each returning route is estimated, determining a target returning route from the multiple returning routes according to the power consumption corresponding to each returning route.

The residual electric quantity of the unmanned aerial vehicle can be obtained, the consumed electric quantity corresponding to each return air route in the multiple return air routes is compared with the residual electric quantity of the unmanned aerial vehicle, and the return air route with the consumed electric quantity less than or equal to the residual electric quantity of the unmanned aerial vehicle is determined from the multiple return air routes. And then, a target return route is determined from the return routes with the electric quantity consumption less than or equal to the residual electric quantity of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be prevented from crashing due to the exhaustion of the electric quantity when returning.

Optionally, the power consumption of the target return route is the minimum. For example: after a return route with the electric quantity consumption less than or equal to the residual electric quantity of the unmanned aerial vehicle is determined from the multiple return routes, the determined return routes are sequenced according to the sequence of the electric quantity consumption from high to low or from low to high, the return route with the lowest electric quantity consumption is determined from the sequenced return routes, and the return route with the lowest electric quantity consumption is determined as a target return route. Alternatively, the first and second electrodes may be,

according to the current position of the unmanned aerial vehicle, after the electric quantity consumed by each return route in a plurality of return routes of the unmanned aerial vehicle is pre-estimated, the return routes are sequenced according to the sequence of the consumed electric quantity from high to low or from low to high, the return route with the lowest consumed electric quantity is obtained from the sequenced return routes, and the return route with the lowest consumed electric quantity is determined as a target return route. Optionally, the lowest power consumption may be compared with a remaining power of the unmanned aerial vehicle, and if the lowest power consumption is less than or equal to the remaining power of the unmanned aerial vehicle, the return route with the lowest power consumption is determined as the target return route.

Optionally, the target return route is a return route which consumes less than or equal to the remaining electric quantity of the unmanned aerial vehicle and has the highest priority. For example: after determining the return air routes with the consumed electric quantity less than or equal to the residual electric quantity of the unmanned aerial vehicle from the multiple return air routes, sequencing the determined return air routes according to the sequence of the priority from high to low or the sequence of the priority from low to high, determining the return air route with the highest priority from the sequenced return air routes, and determining the return air route with the highest priority as the target return air route.

In another possible implementation manner, because the priority of each returning route can be obtained, the multiple returning routes can be sorted according to the priority of each returning route and according to the sequence from high to low or from low to high, and the returning route with the highest priority is obtained from the sorted multiple returning routes. And according to the current position of the unmanned aerial vehicle, pre-estimating the electric quantity consumed by the unmanned aerial vehicle for returning according to the return route with the highest priority, and if the consumed electric quantity is less than or equal to the residual electric quantity of the unmanned aerial vehicle, determining that the target return route of the unmanned aerial vehicle is the return route with the highest priority. If the power consumption of the return route with the highest priority is larger than the residual power of the unmanned aerial vehicle, the power consumption of the unmanned aerial vehicle for returning according to the return route with the second highest priority is estimated according to the current position of the unmanned aerial vehicle, and if the power consumption is smaller than or equal to the residual power of the unmanned aerial vehicle, the target return route of the unmanned aerial vehicle is determined to be the return route with the second highest priority. If the power consumption of the return route with the second highest priority is larger than the residual power of the unmanned aerial vehicle, the power consumption of the unmanned aerial vehicle for returning according to the return route with the third highest priority is estimated according to the current position of the unmanned aerial vehicle, and the like, so that the details are not repeated. In the implementation mode, the target return route can be determined without predicting the power consumption corresponding to all return routes, the efficiency of determining the target return route is improved, and the power consumption is not consumed when the unmanned aerial vehicle returns to the return point according to the target return route.

Optionally, if the target return route is not obtained from the plurality of return routes according to the above manners, return may be performed according to the return mode of the prior art.

In other embodiments, another possible implementation manner of the above-mentioned determining the target return route from the plurality of return routes preset by the user may be: the multiple return routes are all provided with marks in advance. If the return flight instruction is sent by the control terminal, the user can determine one return flight path from the multiple return flight paths as a target return flight path, and correspondingly, the return flight instruction sent by the control terminal can include the identification of the target return flight path. And then the unmanned aerial vehicle determines a target return air route from the multiple return air routes according to the identification of the target return air route. Thus, the user can control the actual return route of the drone.

In each embodiment, the range of each return route is smaller than the maximum range of the unmanned aerial vehicle, so that the unmanned aerial vehicle can smoothly return according to the return route.

In each of the above embodiments, the distance between each return route and the obstacle is less than or equal to the preset distance so as to ensure that the unmanned aerial vehicle returns according to the return route in a known safe environment, and ensure that the obstacle does not hinder the return of the unmanned aerial vehicle.

In each of the above embodiments, the return flight height of each return flight path is less than or equal to the highest flight height of the unmanned aerial vehicle, and the return flight height of each return flight path is greater than or equal to the lowest flight height of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle returns at a proper flight height.

Fig. 5 is a flowchart of a return control method for an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 5, the method according to this embodiment may be applied to a control terminal of an unmanned aerial vehicle, and the method according to this embodiment includes:

s501, detecting a returning air route setting operation of a user, and generating a plurality of returning air routes of the unmanned aerial vehicle according to the returning air route setting operation.

In this embodiment, when the user wants to set a return route for the unmanned aerial vehicle, the user may perform a return route setting operation on the control terminal, and accordingly, the control terminal detects the return route setting operation of the user, and the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, and wearable equipment, which is not described herein again. For example, a user performs a returning route setting operation through an interaction device of the control terminal, where the interaction device may be an important component of the control terminal and is an interface for interacting with the user, and the user may operate the interaction device to implement an operation on the unmanned aerial vehicle; accordingly, the control terminal can detect the returning air route setting operation of the user through the interaction device. The interaction device can be one or more of a touch screen, a keyboard, a rocker and a wave wheel of the control terminal. And then, the control terminal sets operation according to the return route to generate a plurality of return routes of the unmanned aerial vehicle. Optionally, the user can set multiple return air routes through one-time return air route setting operation, and correspondingly, the control terminal sets the operation according to the one-time return air route to generate multiple return air routes of the unmanned aerial vehicle. Or, the user can set one return air route of the unmanned aerial vehicle through one return air route setting operation, and correspondingly, the control terminal sets the operation according to the detected multiple return air routes to generate multiple return air routes of the unmanned aerial vehicle.

Each return route may include three-dimensional coordinates (latitude and longitude and altitude) of a plurality of waypoints. Optionally, each return route may further include a return speed. The return speeds of each return route may not be exactly the same. If the unmanned aerial vehicle selects a return route preset by a user as a target return route, the unmanned aerial vehicle takes the return speed of the return route as the flight speed in the return process to return.

Fig. 6 is a schematic view illustrating a user's return route setting operation according to an embodiment of the present application, as shown in fig. 6. The display device of the control terminal can display an electronic map, a user can perform dotting operation on the waypoints based on the electronic map, and accordingly the control terminal can acquire information of each waypoint so as to generate a return route.

S502, transmitting 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 after acquiring a return instruction.

In this embodiment, after generating a plurality of return routes of the unmanned aerial vehicle, the control terminal transmits the plurality of return routes to the unmanned aerial vehicle. The unmanned aerial vehicle acquires a plurality of return routes preset by the user, and then the unmanned aerial vehicle can execute the schemes of the above embodiments, which is not described herein again.

In one possible implementation manner, after a plurality of return air routes preset by a user are generated, the control terminal sends the return air routes to the unmanned aerial vehicle through wireless or wired communication. Correspondingly, the unmanned aerial vehicle receives a plurality of return routes preset by the user and sent by the control terminal through wireless or wired communication connection.

In another possible implementation manner, after a plurality of return routes preset by a user are generated, the control terminal stores the plurality of return routes into a storage device, so that the unmanned aerial vehicle acquires the plurality of return routes from the storage device. The storage device is, for example, a Secure Digital Memory Card (SD Card), but the embodiment is not limited thereto. The control terminal stores the multiple return air routes to the SD card, then the user pulls out the SD card from the control terminal and inserts the SD card into the unmanned aerial vehicle, and the unmanned aerial vehicle acquires the multiple return air routes preset by the user from the SD card inserted into the unmanned aerial vehicle.

Then the unmanned aerial vehicle obtains a plurality of return routes preset by the user through the implementation modes and stores the return routes locally. Even if the unmanned aerial vehicle is powered off, a plurality of return routes preset by a user can be stored in the unmanned aerial vehicle until the return routes are deleted.

In this embodiment, through the operation of setting up of returning a voyage route of detecting the user, according to the operation is set up to return a voyage route, generates many routes of returning a voyage of unmanned aerial vehicle, will again many routes of returning a voyage transmit for unmanned aerial vehicle, so that unmanned aerial vehicle after obtaining the instruction of returning a voyage, follow many routes of returning a voyage select the target route of returning a voyage to return a voyage. Because the route of returning a journey is preset by the user, the user can ensure the security of the route of returning a journey when presetting the route of returning a journey, and unmanned aerial vehicle is according to the route of returning a journey that the user preset and is returning a journey, can ensure that unmanned aerial vehicle safely returns a journey. 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.

Fig. 7 is a flowchart of a return control method for an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 7, the method according to this embodiment may be applied to a control terminal of an unmanned aerial vehicle, where in this embodiment, a plurality of return routes preset by a user include at least one route preset by the user for each of a plurality of flight sub-areas, and the method according to this embodiment includes:

s701, detecting the operation of selecting the flight subarea of the user.

S702, selecting the plurality of flight sub-areas from the target flight area according to the flight sub-area selection operation.

The user may divide the target flight area into a plurality of flight sub-areas, for example, the user may perform a flight sub-area selection operation on the control terminal, and accordingly, the control terminal detects the flight sub-area selection operation of the user. And then, the control terminal selects a plurality of flight sub-areas from the target flight area according to the flight sub-area selection operation, and the user is indicated to set a return route for the flight sub-areas.

As shown in fig. 8, fig. 8 is a schematic diagram of setting a return route for each flight sub-region according to an embodiment of the present application, where fig. 8 shows that the selected flight sub-regions are respectively a flight sub-region 1, a flight sub-region 2, a flight sub-region 3, and a flight sub-region 4.

S703, 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.

When the user wants to set a return route for each flight sub-area, the user can perform a return route setting operation for each of the multiple flight sub-areas on the control terminal, and accordingly, the control terminal detects the return route setting operation of the user for each of the multiple flight sub-areas. And then, the control terminal generates at least one return route preset by the user for each of the multiple flight sub-areas according to the return route setting operation.

As shown in fig. 8, the control terminal may display an electronic map of the flight sub-area, and the user performs waypoint dotting based on the electronic map, where in fig. 8, taking the return route of the flight sub-area 4 as an example, the starting waypoint is located in the flight sub-area 4, and other waypoints may be located in other flight sub-areas (e.g., the flight sub-area 3).

S704, transmitting the multiple return air routes to an unmanned aerial vehicle so that the unmanned aerial vehicle can select a target return air route from the multiple return air routes set by the user for the multiple flight subregions to return after acquiring a return instruction.

In this embodiment, how to transmit the at least one return route preset by the user for each of the multiple flight sub-areas to the unmanned aerial vehicle may refer to the related description of S502 in fig. 5, which is not described herein again.

Correspondingly, the unmanned aerial vehicle acquires a plurality of return air routes set by the user for a plurality of flight sub-areas, and then after acquiring the return instruction, the unmanned aerial vehicle selects a target return air route from the plurality of return air routes set by the user for the plurality of flight sub-areas to return.

In this embodiment, a plurality of flight sub-regions are selected from the target flight region, and each flight sub-region is smaller than the target flight region. And then generating at least one return route of each flight sub-area according to the detected return route setting operation of the user aiming at each of the plurality of flight sub-areas. Because the embodiment respectively sets at least one return route for the flight subareas of a smaller area, the accuracy of each return route is higher, and the environmental adaptability and the safety of the return routes are enhanced.

Optionally, before performing the step S701, the present embodiment further includes steps S700a and S700 b:

and S700a, detecting the target flight area selection operation of the user.

S700b, determining a target flight area according to the target flight area selection operation.

In this embodiment, before selecting a plurality of flight sub-regions from the target flight region, the user selects the target flight region. The user can execute target flight area selection operation on the control terminal, and accordingly the control terminal detects the target flight area selection operation of the user. And then, the control terminal determines the target flight area according to the target flight area selection operation.

The display interface of the control terminal can display an electronic map, and a user can execute target flight area selection operation based on the displayed electronic map. As shown in fig. 9, fig. 9 is a schematic diagram of a selected target flight zone provided in an embodiment of the present application.

Optionally, the target flight area is an operation area of the unmanned aerial vehicle, and a plurality of flight sub-areas are selected from the operation area of the unmanned aerial vehicle to ensure that the unmanned aerial vehicle is in a known area at any time as far as possible, so that the unmanned aerial vehicle determines a target return route from a plurality of return routes preset by a user, and safety return is ensured.

In some embodiments, the user may further set a priority of each return route, and the user may perform a priority setting operation on the control terminal, and accordingly, the control terminal detects the priority setting operation of the user. And then, the control terminal determines the priority of each air route according to the priority setting operation and transmits the priorities of the multiple return air routes to the unmanned aerial vehicle. For a specific implementation process of how to transmit the priorities of the multiple return routes to the unmanned aerial vehicle, reference may be made to the relevant description in S502 in fig. 5, which is not described herein again. Optionally, the control terminal may transmit the priorities of the plurality of return routes and the plurality of return routes to the unmanned aerial vehicle.

After the unmanned aerial vehicle acquires a plurality of return air routes preset by a user and the priority of each return air route, if the unmanned aerial vehicle acquires a return instruction, selecting a target return air route from the plurality of return air routes according to the priority of the return air route for returning, wherein the specific implementation process can be described in the related embodiments, and is not repeated here.

It should be noted that the priorities of the plurality of return routes preset by the user are different. Or the priorities of at least one return route for the same flight subarea preset by the user are different, and the priorities of the return routes for different flight subareas may be the same.

In some embodiments, the control terminal determines the course of each return route after generating the return route, and if the course of the return route is greater than the maximum course of the unmanned aerial vehicle, displays course limit prompting information, wherein the course limit prompting information is used for prompting that the course of the return route is greater than the maximum course of the unmanned aerial vehicle, and the return route is not available for the return of the unmanned aerial vehicle and needs to be adjusted. Optionally, the journey limit prompting message may also prompt that the journey of the returning route exceeds the journey value of the maximum journey of the unmanned aerial vehicle. Then, the user can execute the returning air route adjusting operation on the user, for example, the user can change the position of an air point, the control terminal detects the returning air route adjusting operation of the user, a new returning air route is generated according to the returning air route adjusting operation, and the air route of the generated new returning air route is ensured to be less than or equal to the maximum air route of the unmanned aerial vehicle.

In some embodiments, the control terminal may obtain the position information of the obstacle after generating the return route. The user performs a returning route setting operation based on the map displayed by the control terminal, for example, the user sets waypoints of a returning route on the map displayed by the control terminal, and the map includes information of each obstacle, for example, position information of each obstacle. And then, according to the position information of the obstacles, the distance between each return route and the obstacle can be obtained. And if the distance is smaller than the preset distance, displaying barrier prompt information. The obstacle prompt information is used for prompting that the distance between the return route and the obstacle is short, and the return route cannot be used for returning of the unmanned aerial vehicle and needs to adjust the route of the return route. Optionally, the obstacle prompt message may also prompt a distance between the return route and the obstacle. Then, the user can execute a returning air route adjusting operation on the user, for example, the user can change the position of an air point, the control terminal detects the returning air route adjusting operation of the user, a new returning air route is generated according to the returning air route adjusting operation, and the distance between the new returning air route and the obstacle is ensured to be larger than or equal to the preset distance.

In some embodiments, after the control terminal generates the return route, the control terminal may acquire a return altitude of the return route. The return flight height is determined, for example, according to a return flight path setting operation of the user. And if the return flight height of the return flight line is greater than the highest flight height of the unmanned aerial vehicle, or if the return flight height of the return flight line is less than the lowest flight height of the unmanned aerial vehicle, displaying return flight height limit prompt information. The return flight height limit prompt information is used for prompting that the return flight height of the return flight line exceeds the highest flight height of the unmanned aerial vehicle, or the return flight height of the return flight line is lower than the lowest flight height of the unmanned aerial vehicle, and the return flight line cannot be used for returning of the unmanned aerial vehicle and needs to adjust the course of the return flight line. Optionally, the return flight height limit prompting message may also prompt that the return flight height exceeds a height value of the highest flight height, or that the return flight height of the return flight path is lower than a height value of the lowest flight height of the unmanned aerial vehicle. Then, the user can perform a returning air route adjusting operation on the user, for example, the user can adjust the returning height of the returning air route, the control terminal detects the returning air route adjusting operation of the user, a new returning air route is generated according to the returning air route adjusting operation, and the returning height of the new returning air route is ensured to be greater than or equal to the lowest flight height of the unmanned aerial vehicle and less than or equal to the highest flight height.

The embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, and when the program is executed, the computer storage medium may include some or all of the steps of the method for controlling return flight of an unmanned aerial vehicle according to any of the above embodiments.

Fig. 10 is a schematic structural diagram of a return control device of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 10, the return control device 1000 of the unmanned aerial vehicle according to this embodiment may include: a memory 1001 and a processor 1002. Optionally, the return control device 1000 of the unmanned aerial vehicle of this embodiment may further include: a positioning device 1003. Optionally, the return control device 1000 of the unmanned aerial vehicle of this embodiment may further include: a communication device 1004.

The memory 1001 is used for storing program codes.

The processor 1002, 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.

Optionally, the positioning device 1003 is configured to obtain position information of the unmanned aerial vehicle. The processor 1002 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.

Optionally, the plurality of return routes preset by the user include at least one return route preset by the user for each of a plurality of flight sub-regions selected by the user,

the processor 1002 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.

Optionally, the processor 1002 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.

Optionally, the return point corresponding to the at least one return route for the first sub-area of the multiple sub-areas of flight is different from the return point corresponding to the at least one return route for the second sub-area of the multiple sub-areas of flight.

Optionally, the starting waypoint of at least one return route of the flight sub-area is located in the flight sub-area.

Optionally, at least two return routes of the multiple return routes preset by the user have different return points.

Optionally, the processor 1002 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.

Optionally, the target return route is a return route with the highest priority among the plurality of return routes.

Optionally, the processor 1002 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.

Optionally, the processor 1002 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.

Optionally, the processor 1002 is specifically configured to: acquiring the return flight instruction sent by a control terminal of the unmanned aerial vehicle, 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 a 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.

Optionally, the communication device 1004 is configured to receive the return flight instruction sent by the control terminal of the unmanned aerial vehicle. The processor 1002 is specifically configured to: a return flight instruction received by the communication device 1004 is acquired.

Optionally, the communication device 1004 is configured to receive, through a wireless or wired communication connection, the multiple return routes sent by the control terminal, where the multiple return routes are determined by the control terminal through detecting a return route setting operation of the user.

The control equipment that navigates back of unmanned aerial vehicle of this embodiment can be used for carrying out the technical scheme of unmanned aerial vehicle in above-mentioned each method embodiment of this application, and its realization principle and technological effect are similar, and it is no longer repeated here.

Fig. 11 is a schematic structural diagram of a control terminal according to an embodiment of the present application, and as shown in fig. 11, the control terminal 1100 according to this embodiment may include: an interaction device 1101 and a processor 1102. Optionally, the control terminal 1100 may further include: a communication device 1103. Optionally, the control terminal 1100 may further include: a display device 1104.

And an interaction device 1101 for detecting a return route setting operation of the user.

And the processor 1102 is configured to generate multiple return air routes of the unmanned aerial vehicle according to the return air route setting operation detected by the interaction device 1101, and transmit 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 to return after acquiring a return air instruction.

Optionally, the plurality of return routes include at least one route preset by the user for each of the plurality of flight subsections.

The interaction device 1101 is further configured to detect a flight sub-region selection operation of the user.

The processor 1102 is further configured to select the plurality of flight sub-regions from a target flight region according to the flight sub-region selection operation.

When detecting a return route setting operation of the user, the interaction device 1101 is specifically configured to: detecting a return route setup operation of a user for each of the plurality of flight sub-regions.

The processor 1102 is specifically configured to, when generating multiple return routes of the unmanned aerial vehicle according to the return route setting operation: and generating at least one return route preset by the user for each of the multiple flight sub-areas according to the return route setting operation.

The processor 1102 is specifically configured to transmit the return air routes to the unmanned aerial vehicle so that the unmanned aerial vehicle selects a target return air route from the return air routes of the flight sub-regions to return when the unmanned aerial vehicle acquires a return instruction and returns: 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.

Optionally, the interaction device 1101 is further configured to: and detecting the target flight area selection operation of the user.

The processor 1102 is further configured to determine the target flight zone according to the target flight zone selection operation.

Optionally, the interaction device 1101 is further configured to detect a priority setting operation of a user.

The processor 1102 is further configured to determine a priority of each return route according to the priority setting operation of the user.

The processor 1102 is configured to transmit 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 return routes to return, the processor is specifically configured to: 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.

Optionally, the communication device 1103 is configured to send the multiple return routes to the unmanned aerial vehicle through a wireless or wired communication connection.

The processor 1102 is specifically configured to: and controlling the communication device 1103 to send the plurality of return routes to the unmanned aerial vehicle through wireless or wired communication.

Optionally, the processor 1102 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.

Optionally, the display device 1104 is configured to display the flight limit prompting message.

The processor 1102 is further configured to determine a course 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 1104 to display range limit prompt information.

Optionally, the display device 1104 is configured to display the obstacle prompt message.

The processor 1102 is further configured to obtain 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, controlling the display device 1104 to display the obstacle prompt message.

Optionally, the display device 1104 is configured to display a return flight height limit prompt message.

The processor 1102 is further configured to obtain a return flight height of each return flight path; 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, the display device 1104 is controlled to display return flight height limit prompt information.

Alternatively, the interaction device 1101 may be a touch screen, and the display device 1104 may be a display screen. The interaction device 1101 and the display device 1104 are respectively part of a touch display screen.

Optionally, the control terminal of this embodiment further includes a memory (not shown in the figure), where the memory is used to store program codes, and when the program codes are executed, the control terminal is enabled to implement the above schemes.

The control terminal of this embodiment may be configured to execute the technical solution of the control terminal in each of the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 12 is a schematic structural diagram of a return control system of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 12, a return control system 1200 of an unmanned aerial vehicle according to this embodiment may include: unmanned aerial vehicle 1201, unmanned aerial vehicle's control device 1202 that returns and control terminal 1203.

The return control device 1202 of the unmanned aerial vehicle may adopt the structure of the embodiment shown in fig. 10, and accordingly, the technical solutions of the unmanned aerial vehicle in the above method embodiments may be implemented, and the implementation principle and the technical effect are similar, which is not described herein again.

The control terminal 1203 may adopt the structure of the embodiment shown in fig. 11, and accordingly, may execute the technical solutions of the control terminal in the above method embodiments, and the implementation principles and technical effects are similar, and are not described herein again.

It should be noted that the return control device 1202 of the drone may be provided on the drone 1201, and the return control device 1202 of the drone is, for example, a part of the drone 1201. Alternatively, a part of the return control apparatus 1202 of the drone may be provided on the drone 1201, and another part of the return control apparatus 1202 of the drone may be provided on the control terminal 1203.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

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.