CN109857135A - A kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and storage medium - Google Patents
A kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and storage medium Download PDFInfo
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- CN109857135A CN109857135A CN201711243286.6A CN201711243286A CN109857135A CN 109857135 A CN109857135 A CN 109857135A CN 201711243286 A CN201711243286 A CN 201711243286A CN 109857135 A CN109857135 A CN 109857135A
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Abstract
The application is suitable for field of intelligent control technology, provide a kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and storage medium, the unmanned aerial vehicle (UAV) control method includes: that controlling terminal is provided with positioning system, unmanned plane is stored with unmanned plane takeoff point position, after getting the solicited message of making a return voyage, the specified position of making a return voyage of controlling terminal is determined according to the positioning system；The waypoint location that returns of unmanned plane is determined with unmanned plane takeoff point position according to the specified position of making a return voyage of the controlling terminal, the point of making a return voyage is set in controlling terminal specified make a return voyage position and unmanned plane takeoff point position apart from the closer position in unmanned plane current location；The waypoint location that returns is informed into unmanned plane, so that the unmanned plane returns waypoint location according to and makes a return voyage.Compared with the prior art, the application can reduce the technical problem for causing unmanned plane safety low due to making a return voyage distance farther out.
Description
Technical field
The application belong to field of intelligent control technology more particularly to a kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and
Storage medium.
Background technique
Unmanned plane has become burning hot industry fast-developing in recent years, has huge growing space in professional domain, such as
The industrial application in the fields such as electric power, agricultural, water conservancy, fire-fighting, land resources, e-commerce has a extensive future, and unmanned plane is gradually
Instead of highly difficult, high risk manual work.
Currently, need when unmanned plane makes a return voyage back to takeoff point, if unmanned plane in case of emergency makes a return voyage, such as
Electricity declines suddenly or when damage of components, can be due to causing unmanned plane that can not return to farther out apart from takeoff point distance
Flying spot causes unmanned plane safety low to air crash accident occur.
Summary of the invention
It is situated between in view of this, the embodiment of the present application provides a kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and storage
Matter can solve the technical problem that unmanned plane safety is low in the prior art.
The application first aspect provides a kind of unmanned aerial vehicle (UAV) control method, and controlling terminal is provided with positioning system, unmanned plane
It is stored with unmanned plane takeoff point position, comprising:
After getting the solicited message of making a return voyage, the specified position of making a return voyage of controlling terminal is determined according to the positioning system,
The specified position of making a return voyage of the controlling terminal is being specified within distance controlling terminal current location first threshold by controlling terminal
The position of making a return voyage of unmanned plane；
Making a return voyage a little for unmanned plane is determined with unmanned plane takeoff point position according to the specified position of making a return voyage of the controlling terminal
Position, the point of making a return voyage are set in controlling terminal specified make a return voyage position and unmanned plane takeoff point position apart from unmanned plane present bit
Set closer position；
The waypoint location that returns is informed into unmanned plane, so that the unmanned plane returns waypoint location according to and makes a return voyage.
The application second aspect provides a kind of unmanned aerial vehicle (UAV) control device, and controlling terminal is provided with positioning system, unmanned plane
With storage unit, for storing unmanned plane takeoff point position, comprising:
It makes a return voyage position specifying unit, for being determined according to the positioning system after getting the solicited message of making a return voyage
The specified position of making a return voyage of controlling terminal, the specified position of making a return voyage of the controlling terminal be distance controlling terminal current location first threshold it
The position of making a return voyage of the interior unmanned plane specified by controlling terminal；
Waypoint location determination unit is returned, for according to specified position and the unmanned plane takeoff point of making a return voyage of the controlling terminal
Position determines the waypoint location that returns of unmanned plane, and the point of making a return voyage is set to specified position and the unmanned plane takeoff point of making a return voyage of controlling terminal
Apart from the closer position in unmanned plane current location in position；
It makes a return voyage an informing unit, for the waypoint location that returns to be informed unmanned plane, so that the unmanned plane is according to
Waypoint location is returned to make a return voyage.
The application third aspect provides a kind of terminal device, including memory, processor and is stored in the memory
In and the computer program that can run on the processor, the processor realize institute as above when executing the computer program
The step of method stated.
The application fourth aspect provides a kind of computer readable storage medium, and the computer-readable recording medium storage has
The step of computer program, the computer program realizes method as described above when being executed by processor.
Compared with the prior art, due to being provided with positioning system in controlling terminal, it is asked when getting unmanned plane and making a return voyage
, can be according to the specified position of making a return voyage of the determined controlling terminal of positioning system when seeking information, and position of making a return voyage is specified according to controlling terminal
It sets and unmanned plane takeoff point position generates and returns waypoint location, the point of making a return voyage is set to controlling terminal specified make a return voyage position and nothing
Apart from the closer position in unmanned plane current location in man-machine takeoff point position, unmanned plane returns waypoint location according to and makes a return voyage, when
Unmanned plane apart from takeoff point position it is specified compared to distance controlling terminal make a return voyage position remote from when, can control unmanned plane and return
It returns at the specified position of making a return voyage of controlling terminal, when unmanned plane specifies position of making a return voyage compared to distance controlling terminal apart from takeoff point position
When setting closer, can control unmanned plane back to takeoff point position, therefore, the application can guarantee unmanned plane make a return voyage distance compared with
It is short, reduce the technical problem low due to the safety of unmanned plane caused by making a return voyage distance farther out, and returning due to unmanned plane
Boat distance is shorter, therefore without making a return voyage in the case where electricity is more the operating efficiency of unmanned plane can be improved, furthermore in unmanned plane
In this application, waypoint location can be returned with intelligent set unmanned plane, middle unmanned plane can only be returned to and be taken off compared with the prior art
Point position has stronger flexibility.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of unmanned aerial vehicle (UAV) control method implementation process schematic diagram that the embodiment of the present application one provides；
Fig. 2 is the specific implementation flow signal for the specified position of making a return voyage of determination controlling terminal that the embodiment of the present application one provides
Figure；
Fig. 3 is that the pre-set co-ordinate of selection one that the embodiment of the present application one provides is determined as controlling terminal and makes a return voyage the tool of position
Body implementation process schematic diagram；
Fig. 4 is that the determination that the embodiment of the present application one provides is maked a return voyage the specific implementation flow schematic diagram of a position；
Fig. 5 is a kind of unmanned aerial vehicle (UAV) control apparatus structure schematic diagram that the embodiment of the present application two provides；
Fig. 6 is the position specifying unit structural schematic diagram that makes a return voyage that the embodiment of the present application two provides；
Fig. 7 be the embodiment of the present application two provide return waypoint location determination unit structural schematic diagram；
Fig. 8 is the structural schematic diagram for the terminal device that the embodiment of the present application three provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
Unmanned aerial vehicle (UAV) control method and device provided by the embodiments of the present application can be adapted for unmanned plane, or can be adapted for
Controlling terminal, or it is readily applicable to third-party server, following embodiment is illustrated for being suitable for controlling terminal.Its
In, controlling terminal is provided with positioning system, and unmanned plane is stored with unmanned plane takeoff point position, and the controlling terminal includes but unlimited
In: smart phone, tablet computer, ground station control platform etc..
Embodiment one
A kind of unmanned aerial vehicle (UAV) control method provided below the embodiment of the present application one is described, and please refers to attached drawing 1, this Shen
Please the unmanned aerial vehicle (UAV) control method in embodiment one include step S101-S103.
Step S101: getting after making a return voyage solicited message, determines the specified position of making a return voyage of controlling terminal according to the positioning system
It sets, the specified position of making a return voyage of the controlling terminal is being specified within distance controlling terminal current location first threshold by controlling terminal
Unmanned plane position of making a return voyage；
In this embodiment, the solicited message of making a return voyage can be controlling terminal and be sent to the unmanned plane, for example, working as
When controlling terminal needs unmanned plane to make a return voyage, solicited message of making a return voyage can be sent to unmanned plane；Or it is also possible to unmanned plane and is reaching
Triggering generates after to predetermined condition, for example, unmanned plane is less than preset second threshold in battery capacity or components are unexpected
Situations such as when damage, can trigger generation and make a return voyage solicited message.Regardless of the solicited message of making a return voyage is that controlling terminal is sent to nobody
Machine or unmanned plane triggering generate after be sent to controlling terminal, controlling terminal can obtain the solicited message of making a return voyage, so as to
It is subsequently generated and returns waypoint location, allow unmanned plane to return waypoint location according to this and make a return voyage.
It, can be according to positioning system set in controlling terminal after solicited message of making a return voyage described in being got when controlling terminal
Determine that the specified position of making a return voyage of controlling terminal, the specified position of making a return voyage of the controlling terminal are making a return voyage for the unmanned plane that controlling terminal is specified
Position, is the position within distance controlling terminal current location first threshold, the first threshold be it is preset, such as two
Kilometer or three kilometers etc..
Attached drawing 2 is the specific implementation flow signal for the specified position of making a return voyage of determination controlling terminal that the embodiment of the present application one provides
Figure, including step S1011-S1017.
S1011: according to the positioning system, controlling terminal current location is obtained；
S1012: obtaining pre-set co-ordinate and unmanned plane during flying distance, and the pre-set co-ordinate can be used to make to be pre-stored
The position of unmanned plane landing, the unmanned plane during flying distance are obtained by unmanned plane machine condition；
S1013: judge in the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying distance
Interior to whether there is pre-set co-ordinate, pre-set co-ordinate, then execute S1014 if it exists, otherwise, then executes S1015；
S1014: one pre-set co-ordinate of selection is determined as the specified position of making a return voyage of controlling terminal；
S1015: the pre-determined distance is increased into a pre-determined distance unit；
S1016: judging whether the pre-determined distance is less than first threshold, S1013 is executed if so, returning, if it is not, then holding
Row S1017；
S1017: controlling terminal current location is determined as the specified position of making a return voyage of controlling terminal.
Due to being provided with positioning system in controlling terminal, controlling terminal can be obtained according to the positioning system and be controlled
The current location of terminal processed, in addition, being also previously stored with pre-set co-ordinate and pre-determined distance, the pre-set co-ordinate is used to refer to nothing
Man-machine which position that can be dropped in map, the pre-determined distance can be set in advance as 100 meters or 200 meters etc.,
The pre-set co-ordinate and pre-determined distance can store on unmanned plane, also can store in controlling terminal, or can also deposit
Storage is herein not construed as limiting this in the database of third-party server.
Unmanned plane during flying distance is calculated according to the machine condition of unmanned plane, such as according to the current residual of unmanned plane electricity
Amount, current battery capacity fall off rate, and/or be to be calculated current fatigue life of unmanned plane components etc., can be pre-
First in actually debugging, unmanned plane during flying distance and unmanned plane remaining capacity, battery capacity decrease speed and zero are measured
The corresponding relationship of part fatigue life simultaneously stores the corresponding relationship, and the corresponding relationship can store on unmanned plane, can also deposit
Storage is in controlling terminal, or also can store in the database of third-party server, is not construed as limiting herein to this, according to preparatory
The current residual electricity of the corresponding relationship of storage and unmanned plane, current battery capacity fall off rate, and/or be unmanned plane zero
Unmanned plane during flying distance is calculated in current fatigue life of component etc..
Controlling terminal in the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying distance in,
Pre-stored pre-set co-ordinate is judged whether there is, if it exists pre-set co-ordinate, then selects a pre-set co-ordinate to be determined as controlling
The specified position of making a return voyage of terminal can arbitrarily select when there are multiple pre-set co-ordinates in multiple pre-set co-ordinates, or can also be with
It is selected according to certain algorithm optimization, provides a kind of method of optimum choice pre-set co-ordinate as shown in Figure 3.
If pre-stored pre-set co-ordinate is not present in controlling terminal judgement, pre-determined distance can be increased one it is default away from
From unit, the pre-determined distance unit can be 20 meters or 50 meters, if increase after a pre-determined distance unit it is default away from
From first threshold is less than, then returns and execute S1013, it, then can be by controlling terminal current location if more than or equal to first threshold
It is determined as the specified position of making a return voyage of controlling terminal, can guarantees that the specified position of making a return voyage of controlling terminal is current positioned at controlling terminal in this way
Position near position, convenient for after unmanned plane landing, controlling terminal can find unmanned plane in a relatively short period of time.
S102 determines that unmanned plane makes a return voyage with unmanned plane takeoff point position according to the specified position of making a return voyage of the controlling terminal
Point position, the point of making a return voyage be set to controlling terminal it is specified make a return voyage position with it is current apart from unmanned plane in unmanned plane takeoff point position
The closer position in position；
In step s101, the specified position of making a return voyage of the available controlling terminal of controlling terminal, unmanned plane can also be worked as
Preceding position and pre-stored unmanned plane takeoff point position are sent to controlling terminal, controlling terminal can by calculating,
Judge that closer apart from unmanned plane current location is unmanned plane takeoff point position or the specified position of making a return voyage of controlling terminal, by distance
The closer position in unmanned plane current location is set as returning waypoint location, so that unmanned plane makes a return voyage according to the position of making a return voyage, attached drawing 4
Show the calculating step for returning waypoint location, including step S1021-S1026.
S1021 obtains unmanned plane current location and unmanned plane takeoff point position；
S1022 determines that unmanned plane current location is arrived according to unmanned plane current location and the specified position of making a return voyage of controlling terminal
The first distance of the specified position of making a return voyage of controlling terminal.
S1023, according to unmanned plane current location and unmanned plane takeoff point position determine unmanned plane current location to nobody
The second distance of machine takeoff point position.
S1024, judges whether first distance is greater than second distance；
S1025 is determined as unmanned plane takeoff point position to return waypoint location if first distance is greater than second distance；
The specified position of making a return voyage of controlling terminal is determined as making a return voyage by S1026 if first distance is less than or equal to second distance
Point position.
In the embodiment of the present application, unmanned plane according to unmanned plane carry positioning system by current location and its in advance protect
The takeoff point position deposited is sent to controlling terminal, and controlling terminal receives unmanned plane current location and unmanned plane takeoff point position,
It is current with unmanned plane to calculate the specified position of making a return voyage of controlling terminal and according to the specified position of making a return voyage of the controlling terminal obtained in S101
The distance of the distance of position and unmanned plane current location and unmanned plane takeoff point position, the distance can be straight line away from
From, be also possible to curve distance, this be not construed as limiting herein, by comparing the size of first distance and second distance, selection away from
From the closer position in unmanned plane current location as waypoint location is returned, a little make a return voyage so that unmanned plane makes a return voyage according to this.
The waypoint location that returns is informed unmanned plane, so that unmanned plane returns waypoint location according to and makes a return voyage by S103.
Controlling terminal calculates point of making a return voyage in step s 102 and postpones, this is returned waypoint location and is sent to unmanned plane, nothing
Man-machine basis this return waypoint location and make a return voyage.
Attached drawing 3 provide selection one pre-set co-ordinate be determined as controlling terminal make a return voyage position specific implementation flow signal
Figure is provided when there are multiple in the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying apart from interior
When pre-set co-ordinate, a preferable pre-set co-ordinate how is selected.As shown in figure 3, including step S10141-S10146.
S10141 obtains the current battery capacity of unmanned plane；
In the embodiment of the present application, current battery capacity can be sent to intelligent terminal by unmanned plane, and intelligent terminal connects
Receive the unmanned plane current battery charge.
S10142 is obtained within the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying distance
In the range of all pre-set co-ordinates included in all charging pile battery capacity；
The battery capacity of all charging piles is compared by S10143 with unmanned plane current electric quantity；
It in the embodiment of the present application, can be by the battery electricity of all charging piles in pre-stored all pre-set co-ordinates
Amount is counted and is saved, and can be stored in the storage unit of unmanned plane, or can be stored in depositing for controlling terminal
In storage unit, or it is also possible to be stored in the database of third-party server, this is not construed as limiting herein.
Controlling terminal obtains within controlling terminal current location pre-determined distance described in the distance pre-saved and without departing from nothing
The battery capacity of all charging piles included in all pre-set co-ordinates in the range of man-machine flying distance, and with nobody
The current electric quantity of machine is compared.
S10144 judges whether that the battery capacity of all charging piles is respectively less than unmanned plane current electric quantity, if so, executing
Otherwise step S10145 thens follow the steps S10146；
Controlling terminal current location is determined as the specified position of making a return voyage of controlling terminal by S10145；
S10146, will be determined as that controlling terminal is specified to make a return voyage comprising the pre-set co-ordinate where the most charging pile of battery capacity
Position.
If the battery capacity of all charging piles is respectively less than unmanned plane electricity, unmanned plane is just not necessarily to again return to pre-
It sets in coordinate, therefore, controlling terminal current location can be determined as to the specified position of making a return voyage of controlling terminal, if it exists charging pile
Battery capacity is not less than unmanned plane electricity, then can choose and determine comprising the pre-set co-ordinate where the most charging pile of battery capacity
For the specified position of making a return voyage of controlling terminal.
In the embodiment of the present application, due to being provided with positioning system in controlling terminal, it makes a return voyage when getting unmanned plane
When solicited message, it can make a return voyage according to the specified position of making a return voyage of the determined controlling terminal of positioning system, and according to controlling terminal is specified
Position and unmanned plane takeoff point position, which generate, returns waypoint location, the point of making a return voyage be set to controlling terminal it is specified make a return voyage position with
Apart from the closer position in unmanned plane current location in unmanned plane takeoff point position, unmanned plane returns waypoint location according to and makes a return voyage,
When unmanned plane apart from takeoff point position it is specified compared to distance controlling terminal make a return voyage position remote from when, can control unmanned plane
Back at the specified position of making a return voyage of controlling terminal, specifies and make a return voyage compared to distance controlling terminal apart from takeoff point position when unmanned plane
When position is closer, unmanned plane can control back to takeoff point position, therefore, the application can guarantee the distance of making a return voyage of unmanned plane
It is shorter, the technical problem low due to the safety of unmanned plane caused by making a return voyage distance farther out is reduced, and due to unmanned plane
Distance of making a return voyage is shorter, therefore unmanned plane is not necessarily to make a return voyage in the case where electricity is more, and the operating efficiency of unmanned plane can be improved, this
Outside in this application, waypoint location can be returned with intelligent set unmanned plane, middle unmanned plane can only return to compared with the prior art
Flying spot position has stronger flexibility.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
Embodiment two
A kind of unmanned aerial vehicle (UAV) control device provided below the embodiment of the present application two is described, for ease of description, only
Part relevant to the application is shown.
Attached drawing 5 is please referred to, the unmanned aerial vehicle (UAV) control device 200 in the embodiment of the present application two includes unit 201-203.
Position specifying unit of making a return voyage 201, it is true according to the positioning system for after getting the solicited message of making a return voyage
Determine the specified position of making a return voyage of controlling terminal, the specified position of making a return voyage of the controlling terminal is distance controlling terminal current location first threshold
Within the unmanned plane specified by controlling terminal position of making a return voyage；
Waypoint location determination unit 202 is returned, for according to specified position and the unmanned plane of making a return voyage of the controlling terminal
Flying spot position determines the waypoint location that returns of unmanned plane, and the point of making a return voyage is set to specified position and the unmanned plane of making a return voyage of controlling terminal
Apart from the closer position in unmanned plane current location in flying spot position；
It makes a return voyage an informing unit 203, for the waypoint location that returns to be informed unmanned plane, so that the unmanned plane is according to institute
It states and returns waypoint location and make a return voyage.
Attached drawing 6 is the position specifying unit structural schematic diagram that makes a return voyage that the embodiment of the present application two provides, and position of making a return voyage is specified single
Member 201 includes subelement 2011-2016.
Controlling terminal current location determines subelement 2011, for it is current to obtain controlling terminal according to the positioning system
Position；
Pre-set co-ordinate and flying distance obtain subelement 2012, for obtaining pre-set co-ordinate and unmanned plane during flying distance,
The pre-set co-ordinate is the pre-stored position that can be used to that unmanned plane is made to land, and the unmanned plane during flying distance is by unmanned plane machine
Condition obtains；
Pre-set co-ordinate judgment sub-unit 2013, for judging in the pre-determined distance of the controlling terminal current location and
It whether there is pre-set co-ordinate in the range of without departing from unmanned plane during flying；
Making a return voyage specified first subelement 2014 in position then will be apart from the controlling terminal for pre-set co-ordinate if it exists
It is determined as controlling in the pre-determined distance of current location and without departing from the pre-set co-ordinate of selection one in the range of unmanned plane during flying distance
The specified position of making a return voyage of terminal processed；
Subelement 2015 is returned, for pre-set co-ordinate if it does not exist, then the pre-determined distance is increased into a pre-determined distance list
Position returns to pre-set co-ordinate judgment sub-unit when pre-determined distance is less than first threshold；
Making a return voyage specified second subelement 2016 in position will be described if being greater than or equal to first threshold for pre-determined distance
Controlling terminal current location is determined as the specified position of making a return voyage of controlling terminal.
Wherein, specified first subelement 2014 in position that makes a return voyage includes junior unit 20141-20145.
Unmanned plane electricity obtains junior unit 20141, for obtaining the current battery capacity of unmanned plane；
Charging pile electricity obtain junior unit 20142, for obtain apart from controlling terminal current location pre-determined distance it
Battery interior and without departing from charging pile all included in all pre-set co-ordinates in the range of unmanned plane during flying distance
Electricity；
Comparision of quantity of electricity junior unit 20143, for by the battery capacity of all charging piles and unmanned plane current electric quantity
It is compared；
Make a return voyage specified first junior unit 20144 in position, if the battery capacity for all charging piles is respectively less than nothing
Controlling terminal current location is then determined as the specified position of making a return voyage of controlling terminal by man-machine current electric quantity；
Make a return voyage specified second junior unit 20145 in position, if not being respectively less than nothing for all charging pile battery capacities
Man-machine current electric quantity, then will be determined as that controlling terminal is specified to make a return voyage comprising the pre-set co-ordinate where the most charging pile of battery capacity
Position.
Attached drawing 7 is the structural schematic diagram for returning waypoint location determination unit that the embodiment of the present application two provides, and returns waypoint location
Determination unit 202 includes subelement 2021-2025.
Unmanned plane position acquisition subelement 2021, for obtaining unmanned plane current location and the unmanned plane takes off point
It sets；
First distance determines subelement 2022, for according to unmanned plane current location and the specified position of making a return voyage of controlling terminal
Determine that unmanned plane current location specifies the first distance for position of making a return voyage to controlling terminal；
Second distance determines subelement 2023, for being determined according to unmanned plane current location and unmanned plane takeoff point position
Second distance of the unmanned plane current location to unmanned plane takeoff point position；
It returns waypoint location first and determines subelement 2024, it, will if being greater than the second distance for the first distance
Unmanned plane takeoff point position is determined as returning waypoint location；
Return waypoint location second determine subelement 2025, if for the first distance be less than or equal to described second away from
From then being determined as the specified position of making a return voyage of the controlling terminal to return waypoint location.
In addition, can also include solicited message acquiring unit of making a return voyage, for obtaining the request letter that makes a return voyage in this embodiment
Breath, triggering position specifying unit of making a return voyage according to positioning system determine that controlling terminal is maked a return voyage position, wherein the solicited message of making a return voyage
Be the controlling terminal be sent to the unmanned plane or the unmanned plane triggered after reaching predetermined condition generate.
It should be noted that the contents such as information exchange, implementation procedure between each module/unit of above-mentioned apparatus, due to
Embodiment of the present invention method is based on same design, concrete function and bring technical effect, and for details, reference can be made to embodiments of the method
Part, details are not described herein again.
Embodiment three
Fig. 8 is the structural schematic diagram for the terminal device that the embodiment of the present application three provides.As shown in figure 8, the end of the embodiment
End equipment 3 includes: processor 30, memory 31 and is stored in the memory 31 and can run on the processor 30
Computer program 32.The processor 30 realizes the step in embodiment of the method as described above when executing the computer program 32
Such as step S101 to S103 shown in FIG. 1 suddenly,.Alternatively, the processor 30 is realized when executing the computer program 32
State the function of each module/unit in each Installation practice, such as the function of module 201 to 203 shown in Fig. 5.
The terminal device 3 can be ground station control platform, unmanned plane, server, smart phone etc. and calculate equipment.It is described
Terminal device may include, but be not limited only to, processor 30, memory 31.It will be understood by those skilled in the art that Fig. 8 is only
The example of terminal device 3 does not constitute the restriction to terminal device 3, may include components more more or fewer than diagram, or
Certain components or different components are combined, such as the terminal device 3 can also include input-output equipment, network insertion
Equipment, bus etc..
Alleged processor 30 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 31 can be the internal storage unit of the terminal device 3, such as the hard disk or interior of terminal device 3
It deposits.The memory 31 is also possible to the External memory equipment of the terminal device 3, such as be equipped on the terminal device 3
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 31 can also both include the storage inside list of the terminal device 3
Member also includes External memory equipment.The memory 31 is for storing needed for the computer program and the terminal device 3
Other programs and data.The memory 31 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that controlling terminal is provided with positioning system, and unmanned plane is stored with unmanned plane
Takeoff point position, the unmanned aerial vehicle (UAV) control method include:
After getting the solicited message of making a return voyage, the specified position of making a return voyage of controlling terminal is determined according to the positioning system, it is described
The specified position of making a return voyage of controlling terminal be within distance controlling terminal current location first threshold specified by controlling terminal nobody
The position of making a return voyage of machine；
Position is maked a return voyage and what unmanned plane takeoff point position determined unmanned plane returns waypoint location according to the controlling terminal is specified,
The point of making a return voyage be set in controlling terminal specified make a return voyage position and unmanned plane takeoff point position apart from unmanned plane current location compared with
Close position；
The waypoint location that returns is informed into unmanned plane, so that the unmanned plane returns waypoint location according to and makes a return voyage.
2. unmanned aerial vehicle (UAV) control method as described in claim 1, which is characterized in that described to make a return voyage according to the controlling terminal is specified
Position and unmanned plane takeoff point position determine that the waypoint location that returns of unmanned plane includes:
Obtain unmanned plane current location and unmanned plane takeoff point position；
Determine that unmanned plane current location refers to controlling terminal according to unmanned plane current location and the specified position of making a return voyage of controlling terminal
Surely it makes a return voyage the first distance of position；
Determine that unmanned plane current location is taken off point to unmanned plane according to unmanned plane current location and unmanned plane takeoff point position
The second distance set；
If the first distance is greater than the second distance, it is determined as unmanned plane takeoff point position to return waypoint location；
If the first distance is less than or equal to the second distance, the specified position of making a return voyage of the controlling terminal is determined as returning
Waypoint location.
3. unmanned aerial vehicle (UAV) control method as described in claim 1, which is characterized in that the control determined according to the positioning system
The specified position of making a return voyage of terminal processed includes:
According to the positioning system, controlling terminal current location is obtained；
Pre-set co-ordinate and unmanned plane during flying distance are obtained, the pre-set co-ordinate to be pre-stored can be used to that unmanned plane is made to land
Position, the unmanned plane during flying distance obtains by unmanned plane machine condition, the unmanned plane machine condition include unmanned plane remaining capacity,
And/or the fatigue life of unmanned plane battery capacity fall off rate, and/or unmanned plane components；
Judge in the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying distance in the range of be
It is no that there are pre-set co-ordinates；
Pre-set co-ordinate if it exists, then will be in the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying
One pre-set co-ordinate of selection is determined as the specified position of making a return voyage of controlling terminal in the range of distance；
The pre-determined distance is then increased a pre-determined distance unit, if pre-determined distance is less than the first threshold by pre-set co-ordinate if it does not exist
When value, returns to execution and judge in the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying distance
The step of whether there is pre-set co-ordinate in range；
If more than or equal to first threshold, the controlling terminal current location is determined as pre-determined distance, controlling terminal is specified to be returned
Boat position.
4. unmanned aerial vehicle (UAV) control method as claimed in claim 3, which is characterized in that it is described, it will work as apart from the controlling terminal
It is determined as controlling in the pre-determined distance of front position and without departing from the pre-set co-ordinate of selection one in the range of unmanned plane during flying distance
The specified position of making a return voyage of terminal includes:
Obtain the current battery capacity of unmanned plane；
It obtains within the pre-determined distance of the controlling terminal current location and without departing from unmanned plane during flying in the range of
The battery capacity of all charging piles included in all pre-set co-ordinates；
The battery capacity of all charging piles is compared with unmanned plane current electric quantity；
If the battery capacity of all charging piles is respectively less than unmanned plane current electric quantity, controlling terminal current location is determined
For the specified position of making a return voyage of controlling terminal；
If all charging pile battery capacities are not respectively less than unmanned plane current electric quantity, will fill comprising battery capacity is most
Pre-set co-ordinate where electric stake is determined as the specified position of making a return voyage of controlling terminal.
5. unmanned aerial vehicle (UAV) control method according to any one of claims 1 to 4, which is characterized in that described according to the positioning
Before the specified position of making a return voyage of the controlling terminal that system determines, further includes:
Acquisition is maked a return voyage solicited message, and the solicited message of making a return voyage is that the controlling terminal is sent to the unmanned plane, Huo Zhesuo
It states unmanned plane and triggers generation after reaching predetermined condition.
6. a kind of unmanned aerial vehicle (UAV) control device, which is characterized in that controlling terminal is provided with positioning system, and unmanned plane has storage single
Member, for storing unmanned plane takeoff point position, the unmanned aerial vehicle (UAV) control device includes:
It makes a return voyage position specifying unit, for being determined and being controlled according to the positioning system after getting the solicited message of making a return voyage
The specified position of making a return voyage of terminal, the specified position of making a return voyage of the controlling terminal is within distance controlling terminal current location first threshold
The position of making a return voyage for the unmanned plane specified by controlling terminal；
Waypoint location determination unit is returned, for according to specified position and the unmanned plane takeoff point position of making a return voyage of the controlling terminal
Determine the waypoint location that returns of unmanned plane, the point of making a return voyage is set to specified position and the unmanned plane takeoff point position of making a return voyage of controlling terminal
It is middle apart from the closer position in unmanned plane current location；
It makes a return voyage an informing unit, for the waypoint location that returns to be informed unmanned plane, so that the unmanned plane makes a return voyage according to
It makes a return voyage point position.
7. unmanned aerial vehicle (UAV) control device as claimed in claim 6, which is characterized in that the waypoint location determination unit of returning includes:
Unmanned plane position acquisition subelement, for obtaining unmanned plane current location and unmanned plane takeoff point position；
First distance determines subelement, for determining nobody according to unmanned plane current location and the specified position of making a return voyage of controlling terminal
First distance of the machine current location to the specified position of making a return voyage of controlling terminal；
Second distance determines subelement, for determining that unmanned plane is worked as according to unmanned plane current location and unmanned plane takeoff point position
Second distance of the front position to unmanned plane takeoff point position；
Return waypoint location first determine subelement, if for the first distance be greater than the second distance, by it is described nobody
Machine takeoff point position is determined as returning waypoint location；
It returns waypoint location second and determines subelement, if being less than or equal to the second distance for the first distance, by institute
The specified position of making a return voyage of controlling terminal is stated to be determined as returning waypoint location.
8. unmanned aerial vehicle (UAV) control device as claimed in claim 6, which is characterized in that position specifying unit of making a return voyage includes:
Controlling terminal current location determines subelement, for obtaining controlling terminal current location according to the positioning system；
Pre-set co-ordinate and flying distance obtain subelement, described preset for obtaining pre-set co-ordinate and unmanned plane during flying distance
Coordinate is the pre-stored position that can be used to that unmanned plane is made to land, and the unmanned plane during flying distance is obtained by unmanned plane machine condition,
The unmanned plane machine condition includes the remaining capacity and/or unmanned plane battery capacity fall off rate and/or unmanned plane zero of unmanned plane
The fatigue life of component；
Pre-set co-ordinate judgment sub-unit, for judging in the pre-determined distance of the controlling terminal current location and without departing from nothing
It whether there is pre-set co-ordinate in the range of man-machine flying distance；
Making a return voyage specified first subelement in position then will be apart from the controlling terminal current location for pre-set co-ordinate if it exists
It is specified to be determined as controlling terminal in pre-determined distance and without departing from one pre-set co-ordinate of selection in the range of unmanned plane during flying distance
It makes a return voyage position；
Subelement is returned, for pre-set co-ordinate if it does not exist, then the pre-determined distance is increased into a pre-determined distance unit, when default
When distance is less than first threshold, pre-set co-ordinate judgment sub-unit is returned；
If position of making a return voyage specifies the second subelement to be greater than or equal to first threshold for the pre-determined distance, eventually by the control
End current location is determined as the specified position of making a return voyage of controlling terminal.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711243286.6A CN109857135A (en) | 2017-11-30 | 2017-11-30 | A kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and storage medium |
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| CN201711243286.6A CN109857135A (en) | 2017-11-30 | 2017-11-30 | A kind of unmanned aerial vehicle (UAV) control method, apparatus, terminal device and storage medium |
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