CN116745723A - Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium - Google Patents

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Download PDF

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Publication number
CN116745723A
CN116745723A CN202180087703.0A CN202180087703A CN116745723A CN 116745723 A CN116745723 A CN 116745723A CN 202180087703 A CN202180087703 A CN 202180087703A CN 116745723 A CN116745723 A CN 116745723A
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China
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unmanned aerial
aerial vehicle
operator
distance
drone
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CN202180087703.0A
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赵力尧
张立天
郭晓东
邬奇峰
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN116745723A publication Critical patent/CN116745723A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12—Target-seeking control

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A control method of a drone, a drone and a storage medium, the drone being in communication connection with a control device operable by an operator to control the drone, the method comprising: determining whether a following target of the unmanned aerial vehicle is the operator (S101); if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover or return to a first return point when a return condition is triggered (S102A); if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, the second return point being different from the first return point (S103A).

Description

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
In the consumer unmanned aerial vehicle market, most products have intelligent following functions. This function can make unmanned aerial vehicle follow a preselected target and shoot, reaches an intelligence and follows the effect of clapping. The drone, while following the target, typically still sets the departure point as the destination for the return trip. So, when the user of unmanned aerial vehicle is operated to the target that follows, unmanned aerial vehicle follows the user and keeps away from the flying spot gradually, and unmanned aerial vehicle is nearer to the user this moment, keeps away from the flying spot instead, when the condition of returning to the journey triggers, if still return to the flying spot can actually keep away from the user of operation unmanned aerial vehicle, influences user experience.
Disclosure of Invention
Based on this, the present application provides a control method of an unmanned aerial vehicle, and a storage medium.
In a first aspect, the present application provides a method of controlling a drone, the drone being communicatively connected to a control device operable by an operator to control the drone, the method comprising:
determining whether a following target of the unmanned aerial vehicle is the operator;
if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point;
and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point.
In a second aspect, the present application provides a drone in communication with a control device operable by an operator to control the drone, the drone comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
Determining whether a following target of the unmanned aerial vehicle is the operator;
if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point;
and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point.
In a third aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling a drone as described above.
The embodiment of the application provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, wherein the unmanned aerial vehicle is in communication connection with control equipment, the control equipment can be operated by an operator to control the unmanned aerial vehicle, and whether a following target of the unmanned aerial vehicle is the operator is determined; if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point; and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point. Because the unmanned aerial vehicle is controlled to execute different return strategies according to whether the following target of the unmanned aerial vehicle is an operator or not when the return condition is triggered, the unmanned aerial vehicle flies along with the operator, and the unmanned aerial vehicle hovers or returns to a first return point when the return condition is triggered; the unmanned aerial vehicle is not an operator along with the target, and the unmanned aerial vehicle returns to a second return point different from the first return point when the return condition is triggered, so that different return strategies can be executed according to the following target when the return condition is triggered, technical support can be provided for operators along with the follow-up target, and the unmanned aerial vehicle is as close to the operators as possible when the return condition is triggered, and user experience can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments 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 may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a control method of a unmanned aerial vehicle according to the present application;
FIG. 2 is a flow chart of another embodiment of a control method of the unmanned aerial vehicle of the present application;
FIG. 3 is a flow chart of a control method of the unmanned aerial vehicle according to another embodiment of the application;
FIG. 4 is a schematic diagram of an embodiment of determining whether a following target is an operator according to a control method of the unmanned aerial vehicle of the present application in combination with a measurement error;
FIG. 5 is a flow chart of a control method of the unmanned aerial vehicle according to another embodiment of the application;
fig. 6 is a schematic structural view of an embodiment of the unmanned aerial vehicle of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The drone, while following the target, typically still sets the departure point as the destination for the return trip. So, when the user of unmanned aerial vehicle is operated to the target that follows, unmanned aerial vehicle follows the user and keeps away from the flying spot gradually, and unmanned aerial vehicle is nearer to the user this moment, keeps away from the flying spot instead, when the condition of returning to the journey triggers, if still return to the flying spot can actually keep away from the user of operation unmanned aerial vehicle, influences user experience.
The embodiment of the application provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, wherein the unmanned aerial vehicle is in communication connection with control equipment, the control equipment can be operated by an operator to control the unmanned aerial vehicle, and whether a following target of the unmanned aerial vehicle is the operator is determined; if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point; and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point. Because the unmanned aerial vehicle is controlled to execute different return strategies according to whether the following target of the unmanned aerial vehicle is an operator or not when the return condition is triggered, the unmanned aerial vehicle flies along with the operator, and the unmanned aerial vehicle hovers or returns to a first return point when the return condition is triggered; the unmanned aerial vehicle is not an operator along with the target, and the unmanned aerial vehicle returns to a second return point different from the first return point when the return condition is triggered, so that different return strategies can be executed according to the following target when the return condition is triggered, and technical support can be provided for the follow-up target to be the operator, and the unmanned aerial vehicle is as close to the operator as possible when the return condition is triggered; for example, when the following target is the operator, the unmanned aerial vehicle follows the operator and gradually keeps away from the departure point, and unmanned aerial vehicle is nearer to the operator than this moment, keeps away from the departure point, and when the condition of returning voyage triggers, unmanned aerial vehicle hovers, and the operator can make unmanned aerial vehicle stop nearby position through manual operation, perhaps returns to the first point of returning voyage that is close to the operator automatically to can promote user experience.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a flow chart of an embodiment of a control method of the unmanned aerial vehicle of the present application, the unmanned aerial vehicle being communicatively connected to a control device operable by an operator to control the unmanned aerial vehicle. The control apparatus in this embodiment includes, but is not limited to: a remote control, a combination of a remote control and other devices (e.g., a combination of a remote control and a user device, a combination of a remote control, a user device, and other devices, etc.), other devices, or a combination of other devices, etc. The method comprises the following steps: step S101, step S102, and step S103.
Step S101: it is determined whether the following target of the drone is an operator.
Step S102: and if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to execute a first return strategy when a return condition is triggered.
Step S103: and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to execute a second return strategy when a return condition is triggered, wherein the second return strategy is different from the first return strategy.
In this embodiment, the unmanned aerial vehicle can realize automatic follow-up shooting under the following mode, that is, the unmanned aerial vehicle will automatically follow the target (i.e. the shot subject) and complete tracking shooting with the high-altitude visual angle.
The specific way of determining whether the following target of the drone is an operator is numerous, for example: detecting whether an image area of an operator exists in a shot image; the operator operates the control device, or may detect whether there is an image area of the control device in the photographed image; the unmanned aerial vehicle follows the operator or follows the non-operator, the distance between unmanned aerial vehicle and operator is different, therefore, can detect the distance between unmanned aerial vehicle and control equipment; or an operator carries the portable positioning device, and can detect the distance between the unmanned aerial vehicle and the portable positioning device; etc.
The return condition may be, for example, receipt of a return instruction, loss of control signals, bad weather, low battery, completion of a mission, etc. The return policy may refer to return requirements including a return point and/or return behavior when the unmanned aerial vehicle returns, for example: a return point, different return points under different following targets, different return behaviors under different following targets, and so on. The first return strategy may refer to a return strategy when the following target of the unmanned aerial vehicle is an operator, and the second return strategy may refer to a return strategy when the following target of the unmanned aerial vehicle is not an operator. That is, in this embodiment, according to whether the following target of the unmanned aerial vehicle is an operator, the unmanned aerial vehicle executes different return strategies when the return condition is triggered, so that the return strategy of the unmanned aerial vehicle is more flexible, more accords with the user requirement, and can increase the user experience.
In an embodiment, the return condition includes that the unmanned aerial vehicle receives a return instruction sent by the control device, the remaining power of the unmanned aerial vehicle is smaller than a power threshold, the wind speed is greater than or equal to a wind speed threshold, or the communication connection between the unmanned aerial vehicle and the control device is interrupted.
The electric quantity threshold value is a first electric quantity threshold value when the following target is the operator, and is a second electric quantity threshold value when the following target is not the operator, wherein the second electric quantity threshold value is larger than the first electric quantity threshold value.
Because the first electric quantity threshold value when the following target is the operator is smaller than the second electric quantity threshold value when the following target is not the operator, the unmanned aerial vehicle can have more electric quantity for following when the following target is the operator, the following time is prolonged, and therefore user experience is improved.
Referring to fig. 2, in step S102, if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to execute the first return strategy when the return condition is triggered may include: step S102A, namely if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover or return to the first return point when the return condition is triggered. Step S103: if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to execute a second return strategy when a return condition is triggered may include: step S103A, namely if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point.
Under normal conditions, the return strategy pays more attention to return points, whether the following target of the unmanned aerial vehicle is an operator or not, the distance between the unmanned aerial vehicle and the operator is different, and the unmanned aerial vehicle can return to different return points when the return condition is triggered, so that the actual requirements of users are met, and the user experience can be improved. In addition, when the following target of the unmanned aerial vehicle is an operator, the unmanned aerial vehicle is very close to the operator, and in the visual range of the operator, the unmanned aerial vehicle can hover without automatic return to wait for the further operation of the operator, for example, a user can make the unmanned aerial vehicle drop on the side of the user by a manual control mode, or the operator sends a return destination, and the unmanned aerial vehicle drops to the return destination sent by the operator; therefore, the participation of the user can be better met, and the user experience is better improved.
And if the following target of the unmanned aerial vehicle is the operator, the first return point is close to the position of the control equipment. The control equipment is operated by an operator, when the following target of the unmanned aerial vehicle is the operator, the first return point is close to the position of the control equipment, and the landing position of the unmanned aerial vehicle is also close to the operator.
And if the following target of the unmanned aerial vehicle is not the operator, the second return point is a departure point. When unmanned aerial vehicle is not following the operator and flies, the operator is near the position that unmanned aerial vehicle took off under most circumstances, when unmanned aerial vehicle's the target of following was not the operator, unmanned aerial vehicle returned to the flying spot, can make unmanned aerial vehicle be close to the position landing of operator.
In an embodiment, in step S102A, if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover or return to the first return point when the return condition triggers may include: and if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover when the residual electric quantity of the unmanned aerial vehicle is smaller than a first electric quantity threshold value so as to wait for the user to send out an instruction.
In this embodiment, when the unmanned aerial vehicle waits for the user to send the instruction, the user may manually operate to make the unmanned aerial vehicle drop to the side of the user; or, the user can also send the return destination to the unmanned aerial vehicle through the control device, and the unmanned aerial vehicle returns to the received return destination after receiving the return destination sent by the control device, i.e. the method can further comprise: receiving a return destination sent by the control equipment; and controlling the unmanned aerial vehicle to return to the received return destination.
Wherein the controlling the unmanned aerial vehicle to hover to wait for the user to issue an instruction may further include: and controlling the unmanned aerial vehicle to hover and sending prompt information to the control equipment so as to remind the user to send out an instruction.
Details of step S101 are described in detail below.
In an embodiment, the distance between the drone and the control device is different, as the distance between the drone and the control device is generally easier to obtain, whether the following target of the drone is the operator. It is thus determined by the distance between the drone and the control device whether the following target of the drone is the operator. That is, step S101, the determining whether the following target of the unmanned aerial vehicle is the operator may include: substep S101A1 and substep S101A2, as shown in fig. 3.
Substep S101A1: and acquiring the distance between the unmanned aerial vehicle and the control equipment.
Substep S101A2: and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment.
The distance between the unmanned aerial vehicle and the control device can be determined by utilizing the existing configurations on the unmanned aerial vehicle and the control device, for example, can be determined based on a positioning module, can be determined based on a communication time delay between the unmanned aerial vehicle and the control device, and can also be determined by combining the unmanned aerial vehicle and the control device, and the method is specifically described below.
In a first case, the distance between the unmanned aerial vehicle and the control device may be determined based on the positioning module, i.e. the distance between the unmanned aerial vehicle and the control device is determined based on positioning data acquired by the positioning module. The distance can be determined in the following ways:
(1) The control equipment comprises a remote controller, the remote controller is provided with a GPS positioning module, and the distance between the unmanned aerial vehicle and the control equipment is obtained based on positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and positioning data acquired by the GPS positioning module of the remote controller. In this embodiment, the positioning data acquired by the GPS positioning module of the remote controller may be sent to the unmanned aerial vehicle, and the distance between the unmanned aerial vehicle and the control device is calculated by the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the received positioning data acquired by the GPS positioning module of the remote controller.
(2) The control equipment comprises a remote controller and user equipment, wherein the user equipment is provided with a GPS positioning module, the remote controller can acquire positioning data acquired by the GPS positioning module of the user equipment, and the distance between the unmanned aerial vehicle and the control equipment is acquired based on the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the GPS positioning module of the user equipment. In this embodiment, the user equipment includes, but is not limited to: a mobile phone, a tablet computer, a mobile terminal, etc., and a common user equipment is various smart phones. The remote control and the user equipment form a control device. In general, the user equipment may install a corresponding application program, and the communication flow between the unmanned aerial vehicle, the remote controller and the user equipment may be: the remote controller is connected with the user equipment, and an instruction generated by the operation of an operator on an application program of the user equipment is transmitted to the remote controller, and then the remote controller is transmitted to the unmanned aerial vehicle; the unmanned aerial vehicle sends information to the remote controller, the remote controller sends the information to the user equipment, and the user equipment can display on an application program. In this embodiment, the remote controller obtains the positioning data obtained by the GPS positioning module of the user equipment and sends the positioning data to the unmanned aerial vehicle, and the unmanned aerial vehicle calculates the distance between the unmanned aerial vehicle and the control equipment according to the positioning data obtained by the GPS positioning module of the unmanned aerial vehicle and the positioning data obtained by the GPS positioning module of the user equipment.
In general, the positioning accuracy of the GPS positioning module of the remote controller is higher than that of the GPS positioning module of the user equipment, if the remote controller is provided with the GPS positioning module, the positioning data obtained by the GPS positioning module of the remote controller can be adopted, and if the remote controller is not provided with the GPS positioning module, the positioning data obtained by the GPS positioning module of the user equipment is adopted.
(3) The control equipment comprises portable GPS positioning equipment, the portable GPS positioning equipment can send the acquired positioning data to the unmanned aerial vehicle in a wireless communication mode, and the distance between the unmanned aerial vehicle and the control equipment is acquired based on the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the portable GPS positioning equipment.
In this embodiment, the operator carries portable GPS positioning equipment on his body, and the portable GPS positioning equipment can send the positioning data acquired by the portable GPS positioning equipment to the unmanned aerial vehicle in a wireless communication manner, and the unmanned aerial vehicle calculates the distance between the unmanned aerial vehicle and the control device according to the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the portable GPS positioning equipment.
In a second case, the distance between the drone and the control device may be determined based on the communication delay, i.e. the distance between the drone and the control device is obtained based on the communication delay between the drone and the control device. If the control device is not provided with a positioning module, the distance between the unmanned aerial vehicle and the control device can be determined through the communication time delay between the unmanned aerial vehicle and the control device. For example, the drone may determine the distance between the drone and the control device by the time the control device sends information, the time the drone receives information, and the rate of transmission of the information.
In a third case, the distance between the unmanned aerial vehicle and the control device may be determined based on the positioning module and the communication delay, i.e. the distance between the unmanned aerial vehicle and the control device is obtained based on the fusion of: a first distance determined based on the positioning data acquired by the positioning module; and determining a second distance based on the communication time delay between the unmanned aerial vehicle and the control equipment.
The distance is determined in a single mode, the problem that the determined distance is larger in error due to the fact that the external detection environment is poor is solved, the probability that both the external detection environments are poor is very low, and therefore the first distance determined based on the positioning data acquired by the positioning module and the second distance determined based on the communication time delay between the unmanned aerial vehicle and the control equipment are fused, the distance between the unmanned aerial vehicle and the control equipment is obtained, and therefore the measurement error of the distance between the unmanned aerial vehicle and the control equipment can be reduced.
The weights of the two distances can be determined first, and the distance between the unmanned aerial vehicle and the control device can be determined according to the weights. I.e. the method further comprises: determining a first weight of the first distance according to the positioning accuracy of the positioning module; determining a second weight of the second distance according to the communication quality between the unmanned aerial vehicle and the control equipment; the distance between the unmanned aerial vehicle and the control equipment is obtained based on the first distance and the second distance, and the first weight and the second weight. For example, when the positioning accuracy of the positioning module is relatively high, a first weight of the first distance may be increased, when the communication quality between the unmanned aerial vehicle and the control device is relatively high, a second weight of the second distance may be increased, and when the positioning accuracy of the positioning module is approximately equal to the communication quality between the unmanned aerial vehicle and the control device, the first weight and the second weight may be approximately equivalent.
In an embodiment, when determining whether the following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control device, the measurement error is taken into consideration, so as to improve the accuracy of the measured distance between the unmanned aerial vehicle and the control device, and further improve the accuracy of determining whether the following target of the unmanned aerial vehicle is the operator. I.e. sub-step S101A2, the determining whether the following target of the drone is the operator according to the distance between the drone and the control device may include: and determining whether the following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the measurement error and a distance threshold between the following target and the unmanned aerial vehicle.
The distance threshold between the unmanned aerial vehicle and the following target may refer to a maximum limit of a distance between the unmanned aerial vehicle and the following target when the unmanned aerial vehicle is flown following the target; that is, when the unmanned aerial vehicle considers that the distance between the following target and the unmanned aerial vehicle exceeds the distance threshold, the unmanned aerial vehicle considers that the following task cannot be finished continuously, and then the following is stopped.
Wherein, substep S101A2, the determining whether the following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control device, the measurement error, and the distance threshold between the following target and the unmanned aerial vehicle, may further include: determining the distance between the unmanned aerial vehicle and the control equipment according to the measurement position of the unmanned aerial vehicle and the measurement position of the control equipment; and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the respective measurement errors of the unmanned aerial vehicle and the control equipment and the distance threshold.
Referring to fig. 4, in an application, the real position of the unmanned aerial vehicle is P1, the measurement position of the unmanned aerial vehicle is P2, and the measurement error of the unmanned aerial vehicle is a; the real position of the control equipment is P3, the measurement position of the control equipment is P4, the measurement error of the control equipment is b, the distance threshold between the unmanned aerial vehicle and the following target is D, the distance between the unmanned aerial vehicle and the control equipment determined according to the measurement position of the unmanned aerial vehicle and the measurement position of the control equipment is measured distance D, and the real distance between the unmanned aerial vehicle and the control equipment is dt.
Considering measurement errors, when the unmanned aerial vehicle follows a target, the maximum distance between the unmanned aerial vehicle and the following target is D+a+b, and the minimum distance between the unmanned aerial vehicle and the following target is D-a-b. If the measured distance D is greater than the maximum distance d+a+b of the unmanned aerial vehicle from the following target, i.e. D is greater than d+a+b, then the unmanned aerial vehicle must follow other targets than the operator, if the measured distance D is less than or equal to the minimum distance D-a-b of the unmanned aerial vehicle from the following target, i.e. D is less than or equal to D-a-b, then the unmanned aerial vehicle must be the following operator, and when D is between both the maximum distance d+a+b and the minimum distance D-a-b, it cannot be determined whether the unmanned aerial vehicle is following other targets or the following operator.
Or, taking measurement errors into consideration, the real distance dt between the unmanned aerial vehicle and the control device has a maximum value of d+a+b and a minimum value of d-a-b. If the minimum value D-a-b of the real distance dt between the drone and the control device is greater than the distance threshold D, the drone must be following other targets, and if the maximum value d+a+b of the real distance dt between the drone and the control device is less than or equal to the distance threshold D, the drone must be following the operator.
In an embodiment, it may be determined whether the following target of the unmanned aerial vehicle is the operator by means of a detection image. That is, step S101, the determining whether the following target of the unmanned aerial vehicle is the operator may include: sub-step S101B1 and sub-step S101B2 are as shown in fig. 5.
Substep S101B1: and acquiring an image shot by the unmanned aerial vehicle.
Substep S101B2: and determining whether a following target of the unmanned aerial vehicle is the operator according to the image shot by the unmanned aerial vehicle.
The unmanned aerial vehicle flies along the target, the camera device on the unmanned aerial vehicle shoots images, whether the images have the image area of an operator or whether the images have the image area of a control device (the operator operates the control device) or whether the images have the image area of a specific identification image area attached to the operator, and the like.
In an embodiment, detecting whether there is an image area of the control device in the image, i.e. the sub-step S101B2, the determining whether the following target of the unmanned aerial vehicle is the operator according to the image captured by the unmanned aerial vehicle may further include: if an image area corresponding to the control equipment is detected in the tracking frame of the image, determining that a following target of the unmanned aerial vehicle is the operator; and if the image area corresponding to the control equipment is not detected in the tracking frame of the image, determining that the following target of the unmanned aerial vehicle is not the operator.
In an embodiment, a user-set manner may be used to determine whether the following target of the drone is the operator. That is, step S101, the determining whether the following target of the unmanned aerial vehicle is the operator may include: substep S101C, determining whether the following target of the unmanned aerial vehicle is the operator according to user setting information sent by the control device, where the user setting information is generated based on the operation of the control device by the operator. For example, when the user selects the following target on the control device, the user is simultaneously asked to confirm whether the following target is an operator, user setting information is generated by the user's confirmation information (i.e. the following target is an operator or the following target is not an operator) and is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine whether the following target of the unmanned aerial vehicle is the operator according to the user setting information.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present application, and it should be noted that, the unmanned aerial vehicle of the present embodiment can execute steps in the control method of the unmanned aerial vehicle, and detailed descriptions of related contents refer to related contents of the control method of the unmanned aerial vehicle, which are not described herein.
The drone 100 is communicatively connected to a control device 200, the control device 200 being operable by an operator to control the drone 100, the drone 100 comprising: a memory 1 and a processor 2; the processor 2 is connected to the memory 1 via a bus.
The processor 2 may be a micro control unit, a central processing unit or a digital signal processor, among others.
The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, a removable hard disk, or the like.
The memory 1 is used for storing a computer program; the processor 2 is configured to execute the computer program and when executing the computer program, to implement the steps of:
determining whether the following target of the unmanned aerial vehicle is an operator; if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to execute a first return strategy when a return condition is triggered; and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to execute a second return strategy when a return condition is triggered, wherein the second return strategy is different from the first return strategy.
Wherein the processor, when executing the computer program, performs the steps of: if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point; and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition triggers, wherein the second return point is different from the first return point.
Wherein the processor, when executing the computer program, performs the steps of: acquiring the distance between the unmanned aerial vehicle and the control equipment; and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment.
The distance between the unmanned aerial vehicle and the control equipment is determined based on positioning data acquired by the positioning module.
The control equipment comprises a remote controller, the remote controller is provided with a GPS positioning module, and the distance between the unmanned aerial vehicle and the control equipment is obtained based on positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and positioning data acquired by the GPS positioning module of the remote controller.
The control equipment comprises a remote controller and user equipment, wherein the user equipment is provided with a GPS positioning module, the remote controller can acquire positioning data acquired by the GPS positioning module of the user equipment, and the distance between the unmanned aerial vehicle and the control equipment is acquired based on the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the GPS positioning module of the user equipment.
The control device comprises a portable GPS positioning device, the portable GPS positioning device can send the acquired positioning data to the unmanned aerial vehicle in a wireless communication mode, and the distance between the unmanned aerial vehicle and the control device is obtained based on the positioning data acquired by a GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the portable GPS positioning device.
The distance between the unmanned aerial vehicle and the control equipment is obtained based on communication time delay between the unmanned aerial vehicle and the control equipment.
The distance between the unmanned aerial vehicle and the control equipment is obtained based on fusion of the following two: a first distance determined based on the positioning data acquired by the positioning module; and determining a second distance based on the communication time delay between the unmanned aerial vehicle and the control equipment.
Wherein the processor, when executing the computer program, performs the steps of: determining a first weight of the first distance according to the positioning accuracy of the positioning module; determining a second weight of the second distance according to the communication quality between the unmanned aerial vehicle and the control equipment; the distance between the unmanned aerial vehicle and the control equipment is obtained based on the first distance and the second distance, and the first weight and the second weight.
Wherein the processor, when executing the computer program, performs the steps of: and determining whether the following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the measurement error and a distance threshold between the following target and the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, performs the steps of: determining the distance between the unmanned aerial vehicle and the control equipment according to the measurement position of the unmanned aerial vehicle and the measurement position of the control equipment; and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the respective measurement errors of the unmanned aerial vehicle and the control equipment and the distance threshold.
Wherein the processor, when executing the computer program, performs the steps of: acquiring an image shot by the unmanned aerial vehicle; and determining whether a following target of the unmanned aerial vehicle is the operator according to the image shot by the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, performs the steps of: if an image area corresponding to the control equipment is detected in the tracking frame of the image, determining that a following target of the unmanned aerial vehicle is the operator; and if the image area corresponding to the control equipment is not detected in the tracking frame of the image, determining that the following target of the unmanned aerial vehicle is not the operator.
Wherein the processor, when executing the computer program, performs the steps of: and determining whether a following target of the unmanned aerial vehicle is the operator according to user setting information sent by the control equipment, wherein the user setting information is generated based on the operation of the control equipment by the operator.
The method comprises the steps that the unmanned aerial vehicle receives a return instruction sent by the control equipment, the residual electric quantity of the unmanned aerial vehicle is smaller than an electric quantity threshold value, the wind speed is larger than or equal to a wind speed threshold value, or the communication connection between the unmanned aerial vehicle and the control equipment is interrupted.
The electric quantity threshold value is a first electric quantity threshold value when the following target is the operator, and is a second electric quantity threshold value when the following target is not the operator, wherein the second electric quantity threshold value is larger than the first electric quantity threshold value.
Wherein the first return point is near the location of the control device.
Wherein the second return point is a departure point.
Wherein the processor, when executing the computer program, performs the steps of: and if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover when the residual electric quantity of the unmanned aerial vehicle is smaller than a first electric quantity threshold value so as to wait for the user to send out an instruction.
Wherein the processor, when executing the computer program, performs the steps of: and controlling the unmanned aerial vehicle to hover and sending prompt information to the control equipment so as to remind the user to send out an instruction.
Wherein the processor, when executing the computer program, performs the steps of: receiving a return destination sent by the control equipment; and controlling the unmanned aerial vehicle to return to the received return destination.
The application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling a drone as described in any one of the preceding claims. For detailed descriptions of related contents, please refer to the related content section, and detailed descriptions thereof are omitted.
The computer readable storage medium may be an internal storage unit of the unmanned aerial vehicle, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, etc.
It is to be understood that the terminology used in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit and scope of the application as defined by the appended claims. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (43)

  1. A method of controlling a drone, the drone being communicatively connected to a control device operable by an operator to control the drone, the method comprising:
    Determining whether a following target of the unmanned aerial vehicle is the operator;
    if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point;
    and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point.
  2. The method of claim 1, wherein the determining whether the following target of the drone is the operator comprises:
    acquiring the distance between the unmanned aerial vehicle and the control equipment;
    and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment.
  3. The method of claim 2, wherein the distance between the drone and the control device is determined based on positioning data acquired by a positioning module.
  4. A method according to claim 3, wherein the control device comprises a remote control provided with a GPS positioning module, the distance between the drone and the control device being obtained based on positioning data obtained by the GPS positioning module of the drone and positioning data obtained by the GPS positioning module of the remote control.
  5. A method according to claim 3, characterized in that the control device comprises a remote control and a user device, the user device being provided with a GPS positioning module, the remote control being able to acquire positioning data acquired by the GPS positioning module of the user device, the distance between the unmanned aerial vehicle and the control device being obtained on the basis of positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and positioning data acquired by the GPS positioning module of the user device.
  6. A method according to claim 3, wherein the control device comprises a portable GPS positioning device capable of transmitting positioning data acquired by the portable GPS positioning device to the unmanned aerial vehicle by means of wireless communication, the distance between the unmanned aerial vehicle and the control device being obtained based on the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the portable GPS positioning device.
  7. The method of claim 2, wherein the distance between the drone and the control device is obtained based on a communication latency between the drone and the control device.
  8. The method of claim 2, wherein the distance between the drone and the control device is based on a fusion of:
    a first distance determined based on the positioning data acquired by the positioning module;
    and determining a second distance based on the communication time delay between the unmanned aerial vehicle and the control equipment.
  9. The method of claim 8, wherein the method further comprises:
    determining a first weight of the first distance according to the positioning accuracy of the positioning module;
    determining a second weight of the second distance according to the communication quality between the unmanned aerial vehicle and the control equipment;
    the distance between the unmanned aerial vehicle and the control equipment is obtained based on the first distance and the second distance, and the first weight and the second weight.
  10. The method of claim 2, wherein the determining whether the following target of the drone is the operator based on the distance between the drone and the control device, comprises:
    and determining whether the following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the measurement error and a distance threshold between the following target and the unmanned aerial vehicle.
  11. The method of claim 10, wherein the determining whether the following target of the drone is the operator based on a distance between the drone and the control device, a measurement error, and a distance threshold between the drone and the following target, comprises:
    determining the distance between the unmanned aerial vehicle and the control equipment according to the measurement position of the unmanned aerial vehicle and the measurement position of the control equipment;
    and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the respective measurement errors of the unmanned aerial vehicle and the control equipment and the distance threshold.
  12. The method of claim 1, wherein the determining whether the following target of the drone is the operator comprises:
    acquiring an image shot by the unmanned aerial vehicle;
    and determining whether a following target of the unmanned aerial vehicle is the operator according to the image shot by the unmanned aerial vehicle.
  13. The method of claim 12, wherein the determining whether the following target of the drone is the operator based on the image captured by the drone, comprises:
    If an image area corresponding to the control equipment is detected in the tracking frame of the image, determining that a following target of the unmanned aerial vehicle is the operator;
    and if the image area corresponding to the control equipment is not detected in the tracking frame of the image, determining that the following target of the unmanned aerial vehicle is not the operator.
  14. The method of claim 1, wherein the determining whether the following target of the drone is the operator comprises:
    and determining whether a following target of the unmanned aerial vehicle is the operator according to user setting information sent by the control equipment, wherein the user setting information is generated based on the operation of the control equipment by the operator.
  15. The method of claim 1, wherein the return condition comprises the drone receiving a return instruction sent by the control device, a remaining power of the drone being less than a power threshold, a wind speed being greater than or equal to a wind speed threshold, or a communication connection of the drone with the control device being interrupted.
  16. The method of claim 15, wherein the charge threshold is a first charge threshold when the following target is the operator, and wherein the charge threshold is a second charge threshold when the following target is not the operator, the second charge threshold being greater than the first charge threshold.
  17. The method of claim 1, wherein the first return point is proximate to a location of the control device.
  18. The method of claim 1, wherein the second return point is a departure point.
  19. The method of claim 1, wherein controlling the drone to hover or navigate back to a first point of return upon a return condition trigger if the following target of the drone is the operator, comprises:
    and if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover when the residual electric quantity of the unmanned aerial vehicle is smaller than a first electric quantity threshold value so as to wait for the user to send out an instruction.
  20. The method of claim 19, wherein the controlling the drone to hover to await the indication from the user comprises:
    and controlling the unmanned aerial vehicle to hover and sending prompt information to the control equipment so as to remind the user to send out an instruction.
  21. The method according to claim 19 or 20, characterized in that the method further comprises:
    receiving a return destination sent by the control equipment;
    and controlling the unmanned aerial vehicle to return to the received return destination.
  22. A drone, the drone being in communication with a control device operable by an operator to control the drone, the drone comprising: a memory and a processor;
    the memory is used for storing a computer program;
    the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
    determining whether a following target of the unmanned aerial vehicle is the operator;
    if the following target of the unmanned aerial vehicle is the operator, when a return condition is triggered, controlling the unmanned aerial vehicle to hover or return to a first return point;
    and if the following target of the unmanned aerial vehicle is not the operator, controlling the unmanned aerial vehicle to return to a second return point when a return condition is triggered, wherein the second return point is different from the first return point.
  23. The drone of claim 22, wherein the processor, when executing the computer program, performs the steps of:
    acquiring the distance between the unmanned aerial vehicle and the control equipment;
    and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment.
  24. The unmanned aerial vehicle of claim 23, wherein the distance between the unmanned aerial vehicle and the control device is determined based on positioning data acquired by a positioning module.
  25. The unmanned aerial vehicle of claim 24, wherein the control device comprises a remote control provided with a GPS positioning module, and wherein the distance between the unmanned aerial vehicle and the control device is obtained based on positioning data obtained by the unmanned aerial vehicle's GPS positioning module and positioning data obtained by the remote control's GPS positioning module.
  26. The unmanned aerial vehicle of claim 24, wherein the control device comprises a remote control and a user device, the user device is provided with a GPS positioning module, the remote control is capable of acquiring positioning data acquired by the GPS positioning module of the user device, and the distance between the unmanned aerial vehicle and the control device is acquired based on the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the GPS positioning module of the user device.
  27. The unmanned aerial vehicle of claim 24, wherein the control device comprises a portable GPS positioning device capable of transmitting positioning data acquired by the portable GPS positioning device to the unmanned aerial vehicle by way of wireless communication, and wherein the distance between the unmanned aerial vehicle and the control device is obtained based on the positioning data acquired by the GPS positioning module of the unmanned aerial vehicle and the positioning data acquired by the portable GPS positioning device.
  28. The drone of claim 23, wherein a distance between the drone and the control device is obtained based on a communication latency between the drone and the control device.
  29. The unmanned aerial vehicle of claim 23, wherein the distance between the unmanned aerial vehicle and the control device is based on a fusion of:
    a first distance determined based on the positioning data acquired by the positioning module;
    and determining a second distance based on the communication time delay between the unmanned aerial vehicle and the control equipment.
  30. The drone of claim 29, wherein the processor, when executing the computer program, performs the steps of:
    determining a first weight of the first distance according to the positioning accuracy of the positioning module;
    determining a second weight of the second distance according to the communication quality between the unmanned aerial vehicle and the control equipment;
    the distance between the unmanned aerial vehicle and the control equipment is obtained based on the first distance and the second distance, and the first weight and the second weight.
  31. The drone of claim 23, wherein the processor, when executing the computer program, performs the steps of:
    And determining whether the following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the measurement error and a distance threshold between the following target and the unmanned aerial vehicle.
  32. The drone of claim 31, wherein the processor, when executing the computer program, performs the steps of:
    determining the distance between the unmanned aerial vehicle and the control equipment according to the measurement position of the unmanned aerial vehicle and the measurement position of the control equipment;
    and determining whether a following target of the unmanned aerial vehicle is the operator according to the distance between the unmanned aerial vehicle and the control equipment, the respective measurement errors of the unmanned aerial vehicle and the control equipment and the distance threshold.
  33. The drone of claim 22, wherein the processor, when executing the computer program, performs the steps of:
    acquiring an image shot by the unmanned aerial vehicle;
    and determining whether a following target of the unmanned aerial vehicle is the operator according to the image shot by the unmanned aerial vehicle.
  34. The drone of claim 33, wherein the processor, when executing the computer program, performs the steps of:
    If an image area corresponding to the control equipment is detected in the tracking frame of the image, determining that a following target of the unmanned aerial vehicle is the operator;
    and if the image area corresponding to the control equipment is not detected in the tracking frame of the image, determining that the following target of the unmanned aerial vehicle is not the operator.
  35. The drone of claim 22, wherein the processor, when executing the computer program, performs the steps of:
    and determining whether a following target of the unmanned aerial vehicle is the operator according to user setting information sent by the control equipment, wherein the user setting information is generated based on the operation of the control equipment by the operator.
  36. The unmanned aerial vehicle of claim 22, wherein the return conditions comprise the unmanned aerial vehicle receiving a return instruction sent by the control device, the unmanned aerial vehicle remaining power being less than a power threshold, a wind speed being greater than or equal to a wind speed threshold, or a communication connection of the unmanned aerial vehicle with the control device being interrupted.
  37. The drone of claim 36, wherein the power threshold is a first power threshold when the following target is the operator, the power threshold is a second power threshold when the following target is not the operator, the second power threshold being greater than the first power threshold.
  38. The drone of claim 22, wherein the first return point is proximate to a location of the control device.
  39. The unmanned aerial vehicle of claim 22, wherein the second return point is a departure point.
  40. The drone of claim 22, wherein the processor, when executing the computer program, performs the steps of:
    and if the following target of the unmanned aerial vehicle is the operator, controlling the unmanned aerial vehicle to hover when the residual electric quantity of the unmanned aerial vehicle is smaller than a first electric quantity threshold value so as to wait for the user to send out an instruction.
  41. The drone of claim 40, wherein the processor, when executing the computer program, performs the steps of:
    and controlling the unmanned aerial vehicle to hover and sending prompt information to the control equipment so as to remind the user to send out an instruction.
  42. The drone of claim 40 or 41, wherein the processor, when executing the computer program, performs the steps of:
    receiving a return destination sent by the control equipment;
    and controlling the unmanned aerial vehicle to return to the received return destination.
  43. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the method of controlling a drone according to any one of claims 1-21.
CN202180087703.0A 2021-03-31 2021-03-31 Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Pending CN116745723A (en)

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US20170233071A1 (en) * 2016-02-15 2017-08-17 Skyyfish, LLC System and Method for Return-Home Command in Manual Flight Control
WO2019113727A1 (en) * 2017-12-11 2019-06-20 深圳市道通智能航空技术有限公司 Unmanned aerial vehicle return method and device, storage medium, and unmanned aerial vehicle
CN109101041A (en) * 2018-10-22 2018-12-28 深圳市智璟科技有限公司 The dynamic following and dynamic of a kind of unmanned aerial vehicle make a return voyage method
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