WO2021212343A1

WO2021212343A1 - Unmanned aerial vehicle flight method, flight system, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2021212343A1
Application number: PCT/CN2020/085994
Authority: WO
Inventors: 刘新俊; 黄筱莺; 李罗川; 杜圆森
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-10-28
Also published as: CN112823324A

Abstract

An unmanned aerial vehicle flight method, a flight system, an unmanned aerial vehicle, and a storage medium. The flight method comprises: determining location information of a movable platform where an unmanned aerial vehicle is currently located (S101); and according to the location information of the movable platform where the unmanned aerial vehicle is currently located, controlling the unmanned aerial vehicle to take off to enable the unmanned aerial vehicle to follow the movable platform in a taking-off process (S102).

Description

Unmanned aerial vehicle flight method, flight system, unmanned aerial vehicle and storage medium

Technical field

This application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle's flying method, flight system, unmanned aerial vehicle and storage medium.

Background technique

At present, the navigation and positioning of consumer-grade UAV mainly considers its absolute movement in the world coordinate system, and does not consider its movement relative to the platform on which it is located. In this case, the drone will not be actively reminded that it is on a moving platform.

When the drone takes off on a moving platform, if the special situation of the moving platform itself is not considered, the drone will crash or fail to take off, and the user's flying experience will be poor and it is dangerous.

Summary of the invention

Based on this, this application provides a flying method, a flying system, a drone, and a storage medium of an unmanned aerial vehicle.

In the first aspect, this application provides a flying method of a UAV, including:

Determine the location information of the platform where the drone is currently moving;

According to the position information of the mobile platform on which the drone is currently located, the drone is controlled to take off so that the drone follows the moving platform during the take-off process.

In the second aspect, this application provides a flight system suitable for drones and mobile platforms, the system includes: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

In a third aspect, this application provides a drone, the drone including: a memory and a processor;

The memory is used to store a computer program;

In a fourth aspect, the present application provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes the drone operation described above. Flight method.

The embodiments of the present application provide a flying method, a flight system, a drone, and a storage medium of a drone to determine the position information of the platform on which the drone is currently moving; The position information of the platform controls the take-off of the drone so that the drone follows the moving platform during the take-off process. Since the drone is controlled to take off according to the position information of the platform on which the drone is currently moving, the drone can follow the moving platform during takeoff. In this way, the drone can be The mobile platform that actively follows the moving platform during takeoff can actively protect the drone, avoid problems such as collision or takeoff failure during the takeoff of the drone, and improve the user's flying experience.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flowchart of an embodiment of a flying method of a drone according to the present application;

2 is a schematic flowchart of another embodiment of the flying method of the drone according to the present application;

FIG. 3 is a schematic flowchart of another embodiment of the flying method of the drone according to the present application;

FIG. 4 is a schematic flowchart of another embodiment of the flying method of the drone according to the present application;

FIG. 5 is a schematic flowchart of another embodiment of the flying method of the drone according to the present application;

FIG. 6 is a schematic flowchart of another embodiment of the flying method of the drone according to the present application;

FIG. 7 is a schematic structural diagram of an embodiment of the flight system of the present application;

Fig. 8 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

At present, consumer drones do not consider their movement relative to the platform on which they are located. When the drone takes off on a mobile platform, if the special situation of the mobile platform itself is not considered, the drone will crash or fail to take off, and the user's flying experience will be poor and dangerous.

The embodiment of the application determines the position information of the platform where the drone is currently moving; according to the position information of the platform where the drone is currently moving, the drone is controlled to take off so that the drone is in the take-off process Follow the mobile platform. Since the drone is controlled to take off according to the position information of the platform on which the drone is currently moving, the drone can follow the moving platform during takeoff. In this way, the drone can be The mobile platform that actively follows the moving platform during takeoff can actively protect the drone, avoid problems such as collision or takeoff failure during the takeoff of the drone, and improve the user's flying experience.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Referring to Fig. 1, Fig. 1 is a schematic flowchart of an embodiment of a drone flight method according to the present application, and the method includes:

Step S101: Determine the position information of the platform where the UAV currently moves.

Step S102: Control the drone to take off according to the position information of the platform on which the drone is currently moving, so that the drone follows the moving platform during the take-off process.

In this embodiment, the mobile platform may be a cruise ship, a vehicle, and so on. There are many ways to determine the location information of the platform on which the drone is currently moving, for example, through the navigation and positioning system of the drone; or through the navigation and positioning system of the mobile platform, and so on. Wherein, controlling the drone to take off may be controlling the drone to take off according to a control instruction. Specifically, the control instruction may be issued when the user triggers the one-key take-off on the drone or takes off through the remote control lever.

The drone is located on a moving platform before takeoff. Since the moving platform is moving and its position changes, if the position of the moving platform is not considered and take off according to the normal mode, the drone is prone to crash or takeoff failure. And other problems, determine the location information of the platform where the drone is currently moving, and control the drone to take off accordingly, so that the drone follows the moving platform during the take-off process, that is, the drone takes off Not only flying upwards, but also keeping flying in the direction of the moving platform, so that the UAV will follow the moving platform during take-off. In this way, the UAV can actively follow the moving platform when taking off. The mobile platform can actively protect the UAV, avoid problems such as collision or takeoff failure during the takeoff of the UAV, and improve the user's flying experience.

Referring to FIG. 2, in an embodiment, in step S102, according to the position information of the platform on which the drone is currently moving, the drone is controlled to take off so that the drone follows the movement during takeoff. The platform may specifically include: controlling the drone to take off according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, so that the drone will follow during takeoff The mobile platform described above.

In this embodiment, the initial target speed of the drone may refer to the target speed of the drone from the stationary state of the relatively moving platform to the desired target speed; further, it may also refer to the stationary state of the drone from the relatively moving platform. In the shortest time to reach the required target speed. The initial target speed of the drone may be preset. There is a requirement for the initial target speed of the drone, so that the drone can follow the moving platform as quickly as possible, so as to avoid collisions during takeoff.

Referring to FIG. 3, in one embodiment, in order to make the target speed of the drone quickly keep up with the moving platform, the current speed of the mobile platform is set as the initial target speed of the drone, that is, step S102 According to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the drone follows the moving vehicle during the take-off process. Before the platform, it may further include: step S103 and step S104.

Step S103: Obtain the current speed of the moving platform.

Step S104: Set the current speed of the mobile platform as the initial target speed of the drone.

In this embodiment, acquiring the current speed of the moving platform can be acquired by a device capable of detecting the movement state of an object on the moving platform, or can be acquired by a device capable of detecting the movement state of an object on the drone.

Wherein, before obtaining the current speed of the moving platform in step S103, the method may further include: step S105.

Step S105: Estimate the current speed of the moving platform before the drone takes off.

The current speed of the moving platform is estimated before the drone takes off, and the current speed of the moving platform can be quickly obtained when the drone takes off, and then the initial target of the drone can be quickly set speed.

4, in one embodiment, in step S102, according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the drone is The man-machine following the moving platform during the take-off process may further include: sub-step S1021, sub-step S1022, and sub-step S1023.

Sub-step S1021: Control the drone to take off according to the position information of the platform where the drone is currently moving and the initial target speed of the drone.

Sub-step S1022: During the take-off process, obtain the current speed of the drone relative to the moving platform.

Sub-step S1023: update the target speed of the drone according to the current speed of the drone relative to the moving platform, so that the drone follows the moving platform during takeoff.

In the embodiment of the present application, during the take-off process, the current speed of the drone relative to the moving platform is acquired in real time, and then the drone is updated according to the current speed of the drone relative to the moving platform The target speed of the UAV can make the UAV follow the moving platform during take-off. In this way, the UAV can follow the moving platform as quickly as possible during the take-off process to ensure that the UAV takes off. Process safety.

If the drone is not sure whether the platform the drone is currently on is a mobile platform or a stationary platform when the drone takes off, then the step S101 may further include: Step S106.

Step S106: Determine whether the platform where the UAV is currently located is the mobile platform.

In an embodiment, the drone autonomously recognizes whether the current platform is the mobile platform before taking off. That is, the step S106 determining whether the platform where the drone is currently located is the mobile platform may include: determining whether the platform where the drone is currently located through a device configured on the drone that can detect the movement state of the object Is the mobile platform. The device configured on the drone that can detect the motion state of an object includes, but is not limited to: a global positioning system GPS receiver, a vision sensor, an inertial measurement unit, a radar sensor, and so on. These devices are basically the necessary configuration of the drone. In this embodiment, the existing devices of the drone are used to identify whether the current platform is the mobile platform, without adding additional hardware costs.

These devices can be used alone or in combination. In order to ensure the accuracy of recognition and reduce the recognition error, usually more than two devices can be used for recognition, that is, the device configured on the drone that can detect the movement state of the drone determines the current state of the drone in step S106. Whether the platform where the drone is located is the mobile platform may include: determining whether the platform where the drone is currently located is the mobile platform through two or more devices configured on the drone.

Taking GPS receivers, vision sensors, and inertial measurement units as examples, there can be two implementations, and these two implementations can complement each other in practical applications to improve the recognition rate of the mobile platform.

In the first implementation manner, a GPS receiver and a vision sensor are combined, and in step S106, it is determined by two or more devices configured on the drone whether the platform where the drone is currently located is the mobile platform, It may include: determining whether the platform where the drone is currently located is the mobile platform through the global positioning system GPS receiver and front and rear vision sensors of the drone.

Referring to FIG. 5, in step S106, determining whether the current platform of the drone is the mobile platform through the global positioning system GPS receiver and front and rear vision sensors of the drone may include: sub-step S106a1 and sub-steps S106a2.

Sub-step S106a1: Obtain the absolute speed of the drone through the GPS receiver, and acquire the relative speed of the drone relative to the platform through the front and rear vision sensors.

Sub-step S106a2: If the absolute speed of the drone is greater than the first speed threshold at which the drone is in motion, and the relative speed of the drone with respect to the platform is less than that of the drone with respect to the platform If there is no second speed threshold for relative motion, it is determined that the platform where the drone is currently located is the moving platform.

There are objects in the front and back of the platform, and the front and rear vision sensors on the drone can use the objects in the front and back of the platform as reference objects for positioning. The speed detected by the front and rear binocular vision sensors on the drone is the relative speed of the drone relative to the platform. In theory, if the relative speed of the drone relative to the platform is zero, it means that the drone has no relative motion relative to the platform, that is, the drone is stationary on the platform. The speed provided by the GPS receiver on the drone is the absolute speed of the drone. In theory, if the absolute speed of the drone is greater than zero, it means the drone is moving. If the absolute speed of the drone is equal to zero, it means the drone is moving. still.

The absolute speed provided by the GPS receiver on the UAV and the movement speed detected by the front and rear binocular vision sensors on the UAV are used for consistency detection. The relative speed of the drone relative to the platform is zero, and the absolute speed of the drone provided by the GPS receiver is greater than zero, indicating that the drone has no relative motion relative to the platform, but the platform is moving, that is, the platform is a mobile platform.

Assume that the absolute speed of the drone detected by the GPS receiver is

The relative speed of the drone relative to the platform detected by the front and rear vision sensors is

On a mobile platform, it can be considered that there is no relative motion between the UAV and the object on the mobile platform. When it is satisfied:

Wherein, v _{thre_min_norm} is the second speed threshold at which the drone does not move relative to the platform when the front and rear vision sensors determine that the second speed threshold is determined according to the positioning accuracy of the binocular sensor. v _{thre_max_norm} is the first speed threshold at which the UAV is considered to be in motion when the GPS receiver detects it. The first speed threshold is determined by the measurement noise of the GPS receiver and the speed of the moving platform that can be detected. The selection of the two parameters, the first speed threshold and the second speed threshold, can be determined by testing to ensure the detection rate and reduce the false detection rate.

In the second implementation manner, the GPS receiver and the inertial measurement unit IMU are combined, and in step S106, it is determined by the two or more devices configured on the drone whether the platform where the drone is currently located is the mobile The platform may include: determining whether the current platform of the drone is the mobile platform through the GPS receiver of the drone and the inertial measurement unit IMU.

Referring to Fig. 6, the step S106 determining whether the current platform of the drone is the mobile platform through the GPS receiver of the drone and the inertial measurement unit IMU may include: sub-step S106b1 and sub-step S106b2.

Sub-step S106b1: Obtain the absolute speed of the drone through the GPS receiver, and acquire the absolute acceleration and absolute angular velocity modulus length of the drone through the IMU.

Sub-step S106b2: If the absolute speed of the drone is greater than the first speed threshold at which the drone is in motion, and the absolute acceleration and the absolute angular velocity of the drone have a modulus less than the relative speed of the drone. If there is no relative motion modulus threshold for the platform, it is determined that the platform where the UAV is currently located is the mobile platform.

The inertial measurement unit is a device that measures the absolute angular velocity and absolute acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal, and the gyroscope detects the angular velocity signal. In a normal scenario, the drone is placed at rest, the gyroscope and accelerometer in the IMU have no obvious fluctuations, and the modulus length is relatively small; for a moving platform that runs smoothly, this constraint is also satisfied, that is, the modulus of absolute acceleration and absolute angular velocity. The lengths are small, and considering the vibration of the moving platform, the threshold of the modulus length for the UAV to have no relative motion relative to the platform can be relaxed.

If the absolute speed of the drone is greater than the first speed threshold at which the drone is in motion, it indicates that the drone is in absolute motion; the absolute acceleration and absolute angular velocity of the drone have a smaller modulus than that of the drone. There is no modulus length threshold for the relative movement of the drone relative to the platform, indicating that the drone is stationary relative to the platform, so it can be determined that the platform is mobile, that is, the platform is a mobile platform.

In one embodiment, when it is determined that the platform is the moving platform, the user may be prompted to enter the take-off mode following the moving platform, that is, the method further includes: if it is determined that the platform where the drone is currently located is The mobile platform sends out a prompt message to remind the user that the drone is about to enter the take-off mode following the mobile platform.

Further, the method further includes: when the current speed of the moving platform cannot be obtained, estimating the degree of attenuation of the current speed of the moving platform; when it is estimated that the current speed of the moving platform attenuates to a threshold, A prompt message is issued to remind the user that the drone is about to exit the take-off mode of the platform following the movement.

When the current speed of the moving platform cannot be obtained, it may be that the drone is far away from the moving platform and has flew far away from the moving platform; it may also be that the moving platform is slowly stopping moving . When the current speed of the moving platform cannot be obtained, for the sake of safety, the degree of attenuation of the current speed of the moving platform can be estimated; when the current speed of the moving platform is estimated to attenuate to a threshold, a prompt message is issued, To remind the user that the drone is about to exit the take-off mode of the platform following the movement.

Refer to Figure 7, which is a schematic structural diagram of an embodiment of the flight system of the present application. The system is suitable for drones and mobile platforms. It should be noted that the system of this embodiment can implement the steps in the above method, and related content For detailed instructions, please refer to the above method section, which will not be repeated here.

The system 100 includes: a memory 1 and a processor 2; the memory 1 and the processor 2 are connected by a bus.

Among them, the processor 2 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.

Among them, the memory 1 can be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, etc.

The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and when the computer program is executed, the following steps are implemented:

Determine the position information of the platform on which the UAV is currently moving; control the UAV to take off according to the position information of the platform on which the UAV is currently moving; Mobile platform.

Wherein, when the processor executes the computer program, the following steps are implemented: control the drone to take off according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone The UAV is made to follow the moving platform during takeoff.

Wherein, the processor implements the following steps when executing the computer program: acquiring the current speed of the moving platform; setting the current speed of the moving platform as the initial target speed of the drone.

Wherein, when the processor executes the computer program, it implements the following steps: estimating the current speed of the moving platform before the drone takes off.

Wherein, when the processor executes the computer program, the following steps are implemented: control the drone to take off according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone During take-off, obtain the current speed of the drone relative to the moving platform; update the target speed of the drone according to the current speed of the drone relative to the moving platform, so that all The drone follows the moving platform during takeoff.

Wherein, the processor implements the following steps when executing the computer program: determining whether the platform where the drone is currently located is the mobile platform.

Wherein, when the processor executes the computer program, the following steps are implemented: a device configured on the drone that can detect the movement state of an object determines whether the platform where the drone is currently located is the mobile platform.

Wherein, when the processor executes the computer program, the following steps are implemented: determine whether the platform where the drone is currently located is the mobile platform through two or more of the devices configured on the drone.

Wherein, when the processor executes the computer program, the following steps are implemented: determine whether the platform where the drone is currently located is the mobile through the GPS receiver of the drone and the front and rear vision sensors. platform.

Wherein, when the processor executes the computer program, it implements the following steps: obtain the absolute speed of the drone through the GPS receiver, and obtain the relative speed of the drone relative to the platform through the front and rear vision sensors. The relative speed of the drone; if the absolute speed of the drone is greater than the first speed threshold for the drone to move, and the relative speed of the drone relative to the platform is less than the drone relative to the platform If there is no second speed threshold for relative motion, it is determined that the platform where the drone is currently located is the moving platform.

Wherein, when the processor executes the computer program, the following steps are implemented: through the GPS receiver of the drone and the inertial measurement unit IMU, it is determined whether the platform where the drone is currently located is the mobile platform.

Wherein, when the processor executes the computer program, it implements the following steps: obtain the absolute speed of the drone through the GPS receiver, and obtain the absolute acceleration and absolute angular velocity of the drone through the IMU If the absolute velocity of the drone is greater than the first velocity threshold for the movement of the drone, and the absolute acceleration and the absolute angular velocity of the drone are less than the relative velocity of the drone If there is no relative motion modulus threshold for the platform, it is determined that the platform where the UAV is currently located is the mobile platform.

Wherein, when the processor executes the computer program, the following steps are implemented: if it is determined that the platform where the drone is currently located is the mobile platform, a prompt message is issued to remind the user that the drone is about to enter Follow the takeoff mode of the moving platform.

Wherein, the processor implements the following steps when executing the computer program: when the current speed of the moving platform cannot be obtained, estimating the attenuation degree of the current speed of the moving platform; when estimating the movement When the current speed of the platform attenuates to a threshold, a prompt message is issued to remind the user that the drone is about to exit the take-off mode of the platform following the movement.

Referring to Figure 8, Figure 8 is a schematic structural diagram of an embodiment of the drone of the present application. It should be noted that the drone of this embodiment can implement the steps in the above method. For detailed descriptions of related content, please refer to the above method section. I won't repeat it here.

The UAV 200 includes: a memory 10 and a processor 20; the memory 10 and the processor 20 are connected by a bus.

Among them, the processor 20 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.

Among them, the memory 10 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, or a mobile hard disk, etc.

The memory 10 is used to store a computer program; the processor 20 is used to execute the computer program and, when the computer program is executed, implement the following steps:

Wherein, when the processor executes the computer program, the following steps are implemented: acquiring the current speed of the moving platform; setting the current speed of the moving platform as the initial target speed of the drone.

Wherein, when the processor executes the computer program, it implements the following steps: determine whether the current platform of the drone is the platform through the global positioning drone GPS receiver and the front and rear vision sensors of the drone. Mobile platform.

Wherein, when the processor executes the computer program, the following steps are implemented: determine whether the platform where the drone is currently located is the mobile platform through the drone GPS receiver and the inertial measurement unit IMU.

The present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the unmanned aerial vehicle described in any of the above Flight method. For a detailed description of the relevant content, please refer to the above method content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the aforementioned system or drone, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the aforementioned system or drone, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations.

The above are only specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A flying method of an unmanned aerial vehicle is characterized in that it comprises:

Determine the location information of the platform where the drone is currently moving;

According to the position information of the mobile platform on which the drone is currently located, the drone is controlled to take off so that the drone follows the moving platform during the take-off process.
The method according to claim 1, characterized in that, according to the position information of the platform on which the drone is currently moving, the drone is controlled to take off so that the drone follows the drone during the take-off process. Mobile platforms, including:

According to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the drone follows the moving platform during takeoff.
The method according to claim 2, characterized in that, according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the Before the drone follows the moving platform during takeoff, it includes:

Acquiring the current speed of the moving platform;

The current speed of the mobile platform is set as the initial target speed of the drone.
The method according to claim 3, wherein before the acquiring the current speed of the moving platform, the method comprises:

Estimate the current speed of the moving platform before the drone takes off.
The method according to claim 2, characterized in that, according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the During takeoff, the drone follows the above-mentioned moving platform, which also includes:

Controlling the drone to take off according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone;

During takeoff, acquiring the current speed of the drone relative to the moving platform;

According to the current speed of the drone relative to the moving platform, the target speed of the drone is updated so that the drone follows the moving platform during takeoff.
The method according to claim 1, wherein before determining the position information of the platform on which the drone currently moves, comprises:

It is determined whether the platform where the drone is currently located is the mobile platform.
The method according to claim 6, wherein the determining whether the platform where the drone is currently located is the mobile platform, comprising:

It is determined whether the platform where the drone is currently located is the mobile platform through a device configured on the drone that can detect the movement state of the object.
The method according to claim 7, wherein the determining whether the platform where the drone is currently located is the mobile platform through a device configured on the drone that can detect the movement state of an object, comprises:

It is determined by two or more devices configured on the drone whether the platform where the drone is currently located is the mobile platform.
The method according to claim 8, wherein the determining whether the platform where the drone is currently located is the mobile platform through two or more of the devices configured on the drone comprises:

It is determined whether the platform where the drone is currently located is the mobile platform through the global positioning system GPS receiver and front and rear vision sensors of the drone.
The method according to claim 9, wherein the determining whether the platform where the drone is currently located is the mobile platform through the global positioning system GPS receiver and front and rear vision sensors of the drone, comprising :

Acquiring the absolute speed of the drone through the GPS receiver, and acquiring the relative speed of the drone relative to the platform through the front and rear vision sensors;

If the absolute speed of the drone is greater than the first speed threshold at which the drone has motion, and the relative speed of the drone relative to the platform is less than the drone has no relative motion relative to the platform If the second speed threshold of the drone is determined, the platform where the drone is currently located is the mobile platform.
The method according to claim 8, wherein the determining whether the platform where the drone is currently located is the mobile platform through two or more of the devices configured on the drone comprises:

It is determined by the GPS receiver of the drone and the inertial measurement unit IMU whether the platform where the drone is currently located is the mobile platform.
The method according to claim 11, wherein the determining whether the current platform of the drone is the mobile platform through the GPS receiver of the drone and the inertial measurement unit IMU comprises:

Acquiring the absolute speed of the drone through the GPS receiver, and acquiring the absolute acceleration and the absolute angular velocity of the drone through the IMU;

If the absolute speed of the drone is greater than the first speed threshold for the drone to move, and the absolute acceleration and the absolute angular velocity of the drone are less than the drone relative to the platform. Based on the relative motion modulus length threshold, it is determined that the platform where the UAV is currently located is the mobile platform.
The method according to claim 6, wherein the method further comprises:

If it is determined that the platform where the drone is currently located is the mobile platform, a prompt message is issued to remind the user that the drone is about to enter a takeoff mode following the mobile platform.
The method according to claim 13, wherein the method further comprises:

When the current speed of the moving platform cannot be obtained, estimating the attenuation degree of the current speed of the moving platform;

When it is estimated that the current speed of the moving platform decays to a threshold value, a prompt message is issued to remind the user that the drone is about to exit the take-off mode of the moving platform.
A flight system, characterized in that it is adapted to a UAV and a mobile platform, the system comprising: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Determine the location information of the platform where the drone is currently moving;

According to the position information of the mobile platform on which the drone is currently located, the drone is controlled to take off so that the drone follows the moving platform during the take-off process.
The system according to claim 15, wherein the processor implements the following steps when executing the computer program:

According to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the drone follows the moving platform during takeoff.
The system according to claim 16, wherein the processor implements the following steps when executing the computer program:

Acquiring the current speed of the moving platform;

The current speed of the mobile platform is set as the initial target speed of the drone.
The system according to claim 17, wherein the processor implements the following steps when executing the computer program:

Estimate the current speed of the moving platform before the drone takes off.
The system according to claim 16, wherein the processor implements the following steps when executing the computer program:

Controlling the drone to take off according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone;

During takeoff, acquiring the current speed of the drone relative to the moving platform;

According to the current speed of the drone relative to the moving platform, the target speed of the drone is updated so that the drone follows the moving platform during takeoff.
The system according to claim 15, wherein the processor implements the following steps when executing the computer program:

It is determined whether the platform where the drone is currently located is the mobile platform.
The system according to claim 20, wherein the processor implements the following steps when executing the computer program:

It is determined whether the platform where the drone is currently located is the mobile platform through a device configured on the drone that can detect the movement state of the object.
The system according to claim 21, wherein the processor implements the following steps when executing the computer program:

It is determined by two or more devices configured on the drone whether the platform where the drone is currently located is the mobile platform.
The system according to claim 22, wherein the processor implements the following steps when executing the computer program:

It is determined whether the platform where the drone is currently located is the mobile platform through the global positioning system GPS receiver and front and rear vision sensors of the drone.
The system according to claim 23, wherein the processor implements the following steps when executing the computer program:

Acquiring the absolute speed of the drone through the GPS receiver, and acquiring the relative speed of the drone relative to the platform through the front and rear vision sensors;

If the absolute speed of the drone is greater than the first speed threshold at which the drone has motion, and the relative speed of the drone relative to the platform is less than the drone has no relative motion relative to the platform If the second speed threshold of the drone is determined, the platform where the drone is currently located is the mobile platform.
The system according to claim 22, wherein the processor implements the following steps when executing the computer program:

It is determined by the GPS receiver of the drone and the inertial measurement unit IMU whether the platform where the drone is currently located is the mobile platform.
The system according to claim 25, wherein the processor implements the following steps when executing the computer program:

Acquiring the absolute speed of the drone through the GPS receiver, and acquiring the absolute acceleration and the absolute angular velocity of the drone through the IMU;

If the absolute speed of the drone is greater than the first speed threshold for the drone to move, and the absolute acceleration and the absolute angular velocity of the drone are less than the drone relative to the platform. Based on the relative motion modulus length threshold, it is determined that the platform where the UAV is currently located is the mobile platform.
The system according to claim 20, wherein the processor implements the following steps when executing the computer program:

If it is determined that the platform where the drone is currently located is the mobile platform, a prompt message is issued to remind the user that the drone is about to enter a takeoff mode following the mobile platform.
The system according to claim 27, wherein the processor implements the following steps when executing the computer program:

When the current speed of the moving platform cannot be obtained, estimating the attenuation degree of the current speed of the moving platform;

When it is estimated that the current speed of the moving platform decays to a threshold value, a prompt message is issued to remind the user that the drone is about to exit the take-off mode of the moving platform.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle includes: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Determine the location information of the platform where the drone is currently moving;

According to the position information of the mobile platform on which the drone is currently located, the drone is controlled to take off so that the drone follows the moving platform during the take-off process.
The drone of claim 29, wherein the processor implements the following steps when executing the computer program:

According to the position information of the platform on which the drone is currently moving and the initial target speed of the drone, the drone is controlled to take off so that the drone follows the moving platform during takeoff.
The drone of claim 30, wherein the processor implements the following steps when executing the computer program:

Acquiring the current speed of the moving platform;

The current speed of the mobile platform is set as the initial target speed of the drone.
The drone of claim 31, wherein the processor implements the following steps when executing the computer program:

Estimate the current speed of the moving platform before the drone takes off.
The drone of claim 30, wherein the processor implements the following steps when executing the computer program:

Controlling the drone to take off according to the position information of the platform on which the drone is currently moving and the initial target speed of the drone;

During takeoff, acquiring the current speed of the drone relative to the moving platform;

According to the current speed of the drone relative to the moving platform, the target speed of the drone is updated so that the drone follows the moving platform during takeoff.
The drone of claim 29, wherein the processor implements the following steps when executing the computer program:

It is determined whether the platform where the drone is currently located is the mobile platform.
The drone of claim 34, wherein the processor implements the following steps when executing the computer program:

It is determined whether the platform where the drone is currently located is the mobile platform through a device configured on the drone that can detect the movement state of the object.
The drone of claim 35, wherein the processor implements the following steps when executing the computer program:

It is determined by two or more devices configured on the drone whether the platform where the drone is currently located is the mobile platform.
The drone of claim 36, wherein the processor implements the following steps when executing the computer program:

Through the global positioning drone GPS receiver and front and rear vision sensors of the drone, it is determined whether the platform where the drone is currently located is the mobile platform.
The drone of claim 37, wherein the processor implements the following steps when executing the computer program:

Acquiring the absolute speed of the drone through the GPS receiver, and acquiring the relative speed of the drone relative to the platform through the front and rear vision sensors;

If the absolute speed of the drone is greater than the first speed threshold at which the drone has motion, and the relative speed of the drone relative to the platform is less than the drone has no relative motion relative to the platform If the second speed threshold of the drone is determined, the platform where the drone is currently located is the mobile platform.
The drone of claim 36, wherein the processor implements the following steps when executing the computer program:

It is determined by the GPS receiver of the drone and the inertial measurement unit IMU whether the platform where the drone is currently located is the mobile platform.
The drone of claim 39, wherein the processor implements the following steps when executing the computer program:

Acquiring the absolute speed of the drone through the GPS receiver, and acquiring the absolute acceleration and the absolute angular velocity of the drone through the IMU;

If the absolute speed of the drone is greater than the first speed threshold for the drone to move, and the absolute acceleration and the absolute angular velocity of the drone are less than the drone relative to the platform. Based on the relative motion modulus length threshold, it is determined that the platform where the UAV is currently located is the mobile platform.
The drone of claim 34, wherein the processor implements the following steps when executing the computer program:

If it is determined that the platform where the drone is currently located is the mobile platform, a prompt message is issued to remind the user that the drone is about to enter a takeoff mode following the mobile platform.
The drone of claim 41, wherein the processor implements the following steps when executing the computer program:

When the current speed of the moving platform cannot be obtained, estimating the attenuation degree of the current speed of the moving platform;

When it is estimated that the current speed of the moving platform decays to a threshold value, a prompt message is issued to remind the user that the drone is about to exit the take-off mode of the moving platform.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any one of claims 1-14. Of flying drones.