CN113625759A - Unmanned aerial vehicle forced landing control method and device, remote control device and storage medium - Google Patents
Unmanned aerial vehicle forced landing control method and device, remote control device and storage medium Download PDFInfo
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- CN113625759A CN113625759A CN202110984094.0A CN202110984094A CN113625759A CN 113625759 A CN113625759 A CN 113625759A CN 202110984094 A CN202110984094 A CN 202110984094A CN 113625759 A CN113625759 A CN 113625759A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle forced landing control method and device, a remote control device and a storage medium. The method comprises the following steps: when the unmanned aerial vehicle meets forced landing conditions, determining a forced landing mode, wherein the forced landing mode comprises landing from the current position and/or landing from a forced landing point; and acquiring a forced landing instruction based on the forced landing mode, wherein the forced landing instruction is used for indicating the forced landing of the unmanned aerial vehicle. The unmanned aerial vehicle forced landing control method and device, the remote control device and the storage medium provide various forced landing modes including landing from the current position and landing from a forced landing point, so that a user can select a proper forced landing mode to control forced landing of the unmanned aerial vehicle according to the operation condition and the environment condition of the unmanned aerial vehicle, therefore, the flight safety of the unmanned aerial vehicle can be improved, and the accident rate of the unmanned aerial vehicle is reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle forced landing control method and device, a remote control device and a storage medium.
Background
Unmanned aerial vehicle is at the flight in-process, probably runs into flight trouble or environmental barrier and can not continue the flight, needs to carry out the forced landing this moment to reduce the harm to unmanned aerial vehicle.
At present, the unmanned aerial vehicle judges self faults or environmental obstacles by itself, and the unmanned aerial vehicle is forced to land by self handling of flight control. This kind of forced landing mode can't be faced the complicated situation that unmanned aerial vehicle met, and the accident incidence is still higher.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle forced landing control method and device, a remote control device and a storage medium, provides multiple forced landing modes, and can improve the flight safety of the unmanned aerial vehicle and reduce the incidence rate of accidents.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle forced landing control method, where the method includes:
when the unmanned aerial vehicle meets forced landing conditions, determining a forced landing mode, wherein the forced landing mode comprises landing from the current position and/or landing from a forced landing point;
and acquiring a forced landing instruction based on the forced landing mode, wherein the forced landing instruction is used for indicating the forced landing of the unmanned aerial vehicle.
In some embodiments, the landing from the force landing point includes landing from a preset force landing point and/or landing from a designated force landing point, wherein the preset force landing point is a preset force landing point, and the designated force landing point is a user-designated force landing point.
In some embodiments, if the forced landing manner is landing from a preset forced landing point, the forced landing instruction includes a target forced landing point, and the target forced landing point is used for forced landing of the unmanned aerial vehicle from the target forced landing point;
the method further comprises the following steps:
acquiring at least one preset forced landing point based on the current flight path of the unmanned aerial vehicle;
and selecting the target forced landing point from the at least one preset forced landing point.
In some embodiments, if the forced landing manner is landing from a preset forced landing point, the forced landing instruction includes the preset forced landing point;
the method further comprises the following steps:
acquiring at least one preset forced landing point based on the current flight path of the unmanned aerial vehicle;
the at least one preset forced landing point is used for the unmanned aerial vehicle to select a target forced landing point from the at least one preset forced landing point.
In some embodiments, if the forced landing manner is landing from a specified forced landing point, the forced landing instruction includes a target forced landing point, and the target forced landing point is used for forced landing of the unmanned aerial vehicle from the target forced landing point;
the method further comprises the following steps:
responding to a first input operation of a user, and acquiring the target forced landing point based on the first input operation.
In some embodiments, the target forced landing point is a forced landing point closest to the current position of the unmanned aerial vehicle among preset forced landing points.
In some embodiments, the determining a forced landing manner when the unmanned aerial vehicle meets a forced landing condition includes:
when the unmanned aerial vehicle meets the forced landing condition, responding to a second input operation of a user, and determining the forced landing mode based on the second input operation.
In some embodiments, the forced landing further comprises:
the unmanned aerial vehicle is forced to land by oneself.
In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle forced landing control device, including:
the forced landing mode determining module is used for determining a forced landing mode when the unmanned aerial vehicle meets the forced landing condition, wherein the forced landing mode comprises landing from the current position and/or landing from a forced landing point; and the forced landing instruction generation module is used for acquiring a forced landing instruction based on the forced landing mode, and the forced landing instruction is used for indicating the forced landing of the unmanned aerial vehicle.
In a third aspect, an embodiment of the present application further provides a remote control device, where the remote control device includes:
at least one processor, and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of forced drone landing control described above
In a fourth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a machine, the machine is caused to execute the above-mentioned method for controlling forced landing of an unmanned aerial vehicle.
Compared with the prior art, the application has the following beneficial effects at least: the unmanned aerial vehicle forced landing control method and device, the remote control device and the storage medium provide various forced landing modes including landing from the current position and landing from a forced landing point, so that a user can select a proper forced landing mode to control forced landing of the unmanned aerial vehicle according to the operation condition and the environment condition of the unmanned aerial vehicle, therefore, the flight safety of the unmanned aerial vehicle can be improved, and the accident rate of the unmanned aerial vehicle is reduced.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic view of an application scenario of an unmanned aerial vehicle forced landing control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a hardware configuration of a remote control device according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a forced landing control method for an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a method for triggering manual forced landing and displaying forced landing in the forced landing control method of the unmanned aerial vehicle according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a preset forced landing point in the forced landing control method of the unmanned aerial vehicle according to the embodiment of the application;
FIG. 6 is a schematic diagram of a designated forced landing point in the forced landing control method for an unmanned aerial vehicle according to the embodiment of the present application;
FIG. 7 is a flow chart of an embodiment of the forced landing control method of the unmanned aerial vehicle of the present invention;
fig. 8 is a schematic structural block diagram of an embodiment of the forced landing control device for an unmanned aerial vehicle according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method for controlling forced landing of the unmanned aerial vehicle can be applied to an application scene shown in fig. 1, wherein the application scene shown in fig. 1 comprises a remote control device 100 and an unmanned aerial vehicle 200, and the remote control device 200 is used for controlling the flight or operation of the unmanned aerial vehicle 100. The remote control device 100 and the drone 200 may establish a communication connection through wireless communication modules (such as a signal receiver, a signal transmitter, etc.) respectively arranged inside the remote control device and the drone, and upload or issue data/commands.
Drone 200 may be any suitable unmanned aerial vehicle, including a fixed wing unmanned aerial vehicle or a rotary wing unmanned aerial vehicle, such as a helicopter, a quad-rotor, and an aircraft having other numbers of rotors and/or rotor configurations. The drone 100 may also be other movable objects such as manned vehicles, aeromodelling, unmanned airships, unmanned hot air balloons, and the like.
The remote control device 100 may be a drone remote control, or may be other electronic devices with control functions, such as a smart phone/cell phone, a tablet, a Personal Digital Assistant (PDA), a laptop computer, a desktop computer, a wearable device (e.g., watch, glasses, etc.), a media content player, etc.
The drone 200 generally includes a fuselage, a horn connected to the fuselage, a power system, a control system, and the like. The power system is used for providing power for the flight of the drone 200, such as thrust, lift force, and the like, and may include a motor, an electric governor, a paddle, or a battery, and the like.
The control system is the central nerve of the drone 200, including one or more controllers, and a plurality of sensors. The plurality of sensors are used for sensing the space orientation, speed, acceleration, angular acceleration, attitude, position, etc. of the unmanned aerial vehicle, and comprise a GPS sensor, a motion sensor, an inertial sensor, a proximity sensor, an image sensor, etc. The multiple sensors may also collect environmental data about the drone, such as weather conditions (e.g., rain, wind direction), nearby obstacle conditions, and the like.
The remote control device 100 may include a display screen for displaying images and data transmitted back by the drone, and in other embodiments, the remote control device 100 may not include a display screen, and may display images and data transmitted back by the drone by connecting to other display devices.
The remote control device 100 may further include an input device for inputting a manipulation instruction of an operator to realize human-computer interaction. The input device is, for example, a touch screen, a button, a mouse, or the like.
The remote control device 100 may further include at least two joysticks, and the operator may actuate one of the at least two joysticks to control the operation of the drone 200.
Fig. 2 schematically shows the hardware configuration of the remote control device 100, and as shown in fig. 2, the remote control device 100 includes a memory 21 and a processor 22.
Further, the memory 21 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 21 may optionally include memory located remotely from the processor 22, which may be connected to the terminal over a network.
Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor 22 is connected to various parts of the entire remote control device 100 by various interfaces and lines, and executes various functions of the remote control device 100 and processes data by running or executing software programs stored in the memory 21 and calling data stored in the memory 21, for example, implementing the method for forced landing control of the drone according to any of the embodiments of the present application.
The processor 22 may be one or more, and one processor 22 is illustrated in fig. 2. The processor 22 and the memory 21 may be connected by a bus or other means, such as the bus connection in fig. 2.
The processor 22 may include a Central Processing Unit (CPU), Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) device, or the like. The processor 22 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
Those skilled in the art can understand that the above is only an illustration of the hardware structure of the remote control device 100 and the drone 200, and in practical applications, more components may be provided for the remote control device 100 and the drone 200 according to the actual functional requirements, and of course, one or more components may be omitted according to the functional requirements.
Unmanned aerial vehicle has the self-checking function, can detect unmanned aerial vehicle's multiple operational aspect and environmental condition by oneself, for example current gesture, battery temperature, battery power, current wind speed, current position whether are no flight zone, cloud platform operational aspect and picture pass operational aspect etc..
When the unmanned aerial vehicle detects that the self running state breaks down or the environmental condition is not suitable for flying, the unmanned aerial vehicle can be automatically treated by the flight control to carry out forced landing. However, this kind of treatment mode is too single, can't deal with the multiple complex situation that unmanned aerial vehicle met, therefore, the accident rate is still higher.
The embodiment of the application provides including descending from the current position and descending from the point of compelling to land multiple compelling to land the mode including, makes the user can select suitable compelling to land the mode and control unmanned aerial vehicle compelling to land according to unmanned aerial vehicle operational aspect and environmental conditions, consequently, can improve the security that unmanned aerial vehicle flies, reduces unmanned aerial vehicle accident incidence.
Fig. 3 is a schematic flowchart of a method for controlling forced landing of an unmanned aerial vehicle according to an embodiment of the present application, where the method is executed by the remote control device 100 (e.g., a controller in the remote control device 100), as shown in fig. 3, and the method includes:
101: when the unmanned aerial vehicle meets the forced landing condition, determining a forced landing mode, wherein the forced landing mode comprises landing from the current position and/or landing from a forced landing point.
Wherein, the condition of forcing to land includes the multiple condition that is unfavorable for unmanned aerial vehicle safe flight, can be different according to unmanned aerial vehicle model and the performance of difference, specifically can set up according to the actual application condition. For example, the battery temperature exceeds a preset temperature threshold, the battery power is lower than a preset power threshold, the inclination angle of the unmanned aerial vehicle exceeds a preset angle threshold, the current wind speed exceeds a preset wind speed threshold, the current position is located in a certain range of a no-fly area, the operation of a cradle head is abnormal, the operation of a picture transmission is abnormal, and the like.
The embodiment of the application provides various forced landing modes, for example, landing from the current position or landing from a forced landing point. And (4) landing from the current position, namely, taking the current position of the unmanned aerial vehicle as a forced landing starting point to start forced landing. And (4) descending from the forced landing point, namely starting forced landing by taking a certain forced landing point as a forced landing starting point.
The forced landing point can be a preset forced landing point or a designated forced landing point. The preset forced landing point is a preset forced landing point, the preset forced landing point can be one or multiple, and when the preset forced landing point is multiple, the unmanned aerial vehicle can select one forced landing point as a forced landing initial point. And (4) specifying a forced landing point, namely the forced landing point specified by the user.
The mode that provides from the forced landing point and descend, when the user selection from the mode that the forced landing point was forced to descend, even unmanned aerial vehicle is not in user's safe visual within range, also can select the correct forced landing point to carry out the forced landing, can reduce the risk that unmanned aerial vehicle descends to uneven ground or waters.
When the unmanned aerial vehicle accords with the forced landing condition, a forced landing mode needs to be selected.
In one of them embodiment, unmanned aerial vehicle sends remote control unit with the current flight condition (for example unmanned aerial vehicle behavior and environmental conditions etc.), and remote control unit shows the current flight condition of unmanned aerial vehicle on its display screen or its coupled display screen, and the user can learn unmanned aerial vehicle's flight condition through this display screen to judge whether unmanned aerial vehicle can normally fly, when judging that unmanned aerial vehicle can not normally fly, then manual trigger unmanned aerial vehicle compels to land.
Unmanned aerial vehicle also can directly judge unmanned aerial vehicle's the flight condition, when judging that unmanned aerial vehicle accords with the forced landing condition, will report an emergency and ask for help or increased vigilance information transmission to remote control unit, after the user looks over this warning information on the display screen, can manually trigger unmanned aerial vehicle forced landing.
Specifically, in some embodiments, when the user determines that the drone will not fly normally, the manual forced landing may be triggered by triggering an input device of the remote control device (e.g., triggering a touch button on the touch screen, the triggering including clicking, long-pressing, etc.).
The display screen of the remote control device or the display screen coupled with the remote control device displays each forced landing mode, and the user can select one of the forced landing modes by performing a second input operation on the remote control device (for example, performing a touch operation on a corresponding forced landing mode option, where the touch operation includes a click operation, a long press operation, and the like).
Fig. 4 shows a form of determining the forced landing mode, in the embodiment shown in fig. 4, when the user determines that the unmanned aerial vehicle meets the forced landing condition by observing the flight condition of the unmanned aerial vehicle, the forced landing button on the touch screen is manually triggered, at this moment, a forced landing mode selection menu is popped up, and the user can select the forced landing mode by clicking the menu.
In the embodiment shown in fig. 4, the forced landing modes include three forced landing modes, i.e., landing from the current position, landing from the preset forced landing point and landing from the designated forced landing point, and in other embodiments, more or fewer forced landing modes can be included.
In the above embodiment, the forced landing mode is triggered and displayed by the user on the remote control device, and the forced landing mode is selected by the user inputting a second input operation to the remote control device. In other embodiments, whether the unmanned aerial vehicle meets the forced landing condition or not can be judged automatically by the remote control device according to the flight condition of the unmanned aerial vehicle, when the forced landing condition is met, the forced landing mode is displayed, and the forced landing mode of the unmanned aerial vehicle is selected by a user.
102: and acquiring a forced landing instruction based on the forced landing mode, wherein the forced landing instruction is used for indicating the forced landing of the unmanned aerial vehicle.
If the forced landing mode is landing from the current position, the forced landing instruction is used for indicating the unmanned aerial vehicle to land from the current position, and at the moment, the forced landing instruction can comprise a forced landing mode of 'landing from the current position'.
If the forced landing mode is landing from the forced landing point, the position of the forced landing point is required to be obtained, and a forced landing instruction is formed based on the position of the forced landing point. Then, will this forced landing instruction send to unmanned aerial vehicle, unmanned aerial vehicle can obtain forced landing point position according to the forced landing instruction to carry out forced landing based on forced landing point position.
If the forced landing mode includes landing from a preset forced landing point, at least one corresponding preset forced landing point can be preset for each flight path. When descending from presetting forced landing point and being selected, remote control unit can obtain corresponding at least one and predetermine forced landing point based on unmanned aerial vehicle current flight path. And one forced landing point is selected as a target forced landing point of the unmanned aerial vehicle.
Specifically, in some embodiments, the approach point closest to the current position of the unmanned aerial vehicle may be selected from at least one preset approach point as the target approach point.
In other embodiments, at least one forced landing point may also be carried in the forced landing instruction by the remote control device, and after the unmanned aerial vehicle obtains at least one forced landing point in the forced landing instruction, one of the forced landing points is selected as a target forced landing point (for example, one forced landing point closest to its own position is selected), and forced landing is performed according to the target forced landing point.
As shown in fig. 5, when the forced landing mode is forced landing from a preset forced landing point, three preset forced landing points 1, 2, and 3 corresponding to the flight path are obtained based on the flight path of the unmanned aerial vehicle, and finally the preset forced landing point 3 is confirmed as a target forced landing point, and the position information of the target forced landing point can also be displayed on the right side of the figure, so that the user can know the position of the target forced landing point.
If the forced landing mode is forced landing from the designated forced landing point, at least one forced landing point needs to be designated by the user, and the user can temporarily designate one forced landing point as a target forced landing point of the unmanned aerial vehicle according to the flight path of the unmanned aerial vehicle and by considering various factors such as destinations and the like.
In one embodiment, the user may specify the target force-to-land point by performing a first input operation on the remote control device. For example, on the unmanned aerial vehicle flight route displayed on the display screen of the remote control device, by performing touch operation (for example, clicking operation) on any point in the flight route, the point is the target forced landing point specified by the user.
As shown in fig. 6, it is shown that when the forced landing manner is the designated forced landing point, the user designates the forced landing point 1 as the target forced landing point based on the flight path and the flight destination of the unmanned aerial vehicle.
In other embodiments, the forced landing mode may further include a self-forced landing mode of the unmanned aerial vehicle. When the unmanned aerial vehicle encounters serious faults, if the unmanned aerial vehicle waits for the forced landing instruction of the remote control device, the best forced landing opportunity can be missed, and accidents are caused. Therefore, when the unmanned aerial vehicle encounters serious faults, the self-forced landing strategy can be executed in advance.
For example, when the unmanned aerial vehicle breaks down or is not suitable for other conditions of flying in the flying process, whether the conditions are serious or not is judged firstly, if so, forced landing operation is executed by itself without waiting for forced landing instructions of the remote control device. If not, sending alarm information to the remote control device, and manually operating the remote control device by a user to execute manual forced landing. After the unmanned aerial vehicle receives the forced landing instruction of the remote control device, forced landing is carried out according to the forced landing instruction. If the unmanned aerial vehicle does not receive the forced landing instruction of the remote control device within a preset time period (for example, five minutes), it indicates that the user wants the unmanned aerial vehicle to be forced to land by oneself, and then the unmanned aerial vehicle is forced to land by oneself at this moment.
Fig. 7 shows a specific embodiment of the forced landing control method for the unmanned aerial vehicle. When the unmanned aerial vehicle breaks down or is not suitable for flying in the flying process, forced landing needs to be performed. The unmanned aerial vehicle can judge the severity of the current situation, and if the unmanned aerial vehicle has serious faults, for example, the battery temperature is higher than a highest temperature threshold value, the battery electric quantity is lower than a lowest electric quantity threshold value, the current wind speed is higher than a maximum wind speed threshold value, the current position of the unmanned aerial vehicle is very close to a no-fly area, the inclination angle of the unmanned aerial vehicle exceeds a maximum inclination angle threshold value, and the like, the unmanned aerial vehicle can automatically execute a forced landing strategy.
If the fault is not a serious fault, for example, the battery temperature only exceeds an alarm temperature threshold, and the highest temperature threshold is not reached, no one can send an alarm message to the remote control device, and the remote control device displays the alarm message on the display screen or the display screen coupled with the remote control device. The user can decide whether to manually perform the forced landing according to the alarm information.
In this embodiment, the manual forced landing includes three forced landing modes, namely forced landing from the current position, forced landing from a preset forced landing point and forced landing from a specified forced landing point. If the forced landing mode is forced landing from a preset forced landing point, the remote control device obtains at least one preset forced landing point corresponding to the flight path based on the current flight path of the unmanned aerial vehicle. If the forced landing mode is to designate a forced landing point for forced landing, a forced landing point is designated by the user as a target forced landing point.
The remote control device generates a forced landing instruction, and if the forced landing mode is forced landing from the current position, the forced landing instruction at least comprises the forced landing mode. If the forced landing mode is forced landing from a preset forced landing point, the forced landing instruction can comprise the forced landing mode and at least one preset forced landing point. If the forced landing mode is forced landing from a specified forced landing point, the forced landing instruction may include the forced landing mode and a target forced landing point specified by the user.
After the unmanned aerial vehicle receives the forced landing instruction sent by the remote control device, forced landing is carried out according to the forced landing instruction. And if the forced landing command comprises a forced landing mode of 'forced landing from the current position', the unmanned aerial vehicle is forced to land from the current position. If the forced landing instruction comprises a forced landing mode of 'forced landing from a preset forced landing point' and at least one preset forced landing point, the unmanned aerial vehicle selects one forced landing point closest to the position of the unmanned aerial vehicle from the at least one preset forced landing point as a target forced landing point, and forced landing is carried out from the target forced landing point.
And if the forced landing instruction comprises a forced landing mode of 'forced landing from a specified forced landing point' and a target forced landing point specified by a user, the unmanned aerial vehicle is forced to land from the target forced landing point specified by the user.
In some embodiments, if the unmanned aerial vehicle does not receive the forced landing instruction of the remote control device after sending the warning message to the remote control device for a period of time, the unmanned aerial vehicle selects to carry out forced landing.
This application embodiment still provides by the multiple forced landing mode of user manual control forced landing outside unmanned aerial vehicle forced landing mode, by automatic forced landing mode and the combination of multiple manual forced landing mode, improves the security that the aircraft lands, reduces accident rate.
The embodiment of the application is suitable for various types of unmanned aerial vehicles, such as rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles and the like, and fig. 4 to 6 are all described by taking the fixed-wing unmanned aerial vehicles as examples. In the occasion of the fixed-wing unmanned aerial vehicle, when the unmanned aerial vehicle is forced to land from the forced landing point, the hovering point is calculated according to the current position and the forced landing point, and the unmanned aerial vehicle is hovered and descended around the hovering point.
Correspondingly, an embodiment of the present invention further provides an apparatus for controlling forced landing of an unmanned aerial vehicle, which can be applied to a remote control apparatus, as shown in fig. 8, the apparatus 800 for controlling forced landing of an unmanned aerial vehicle includes:
and the forced landing mode determining module 801 is configured to determine a forced landing mode when the unmanned aerial vehicle meets the forced landing condition, where the forced landing mode includes landing from a current position and/or landing from a forced landing point.
A forced landing instruction generating module 802, configured to obtain a forced landing instruction based on the forced landing manner, where the forced landing instruction is used to instruct the unmanned aerial vehicle to force landing.
The utility model provides an unmanned aerial vehicle forced landing controlling means provides including descending from the current position and from the multiple forced landing mode including the descending of forced landing point, makes the user can select suitable forced landing mode to control unmanned aerial vehicle forced landing according to aircraft behavior and environmental conditions, consequently, can improve the security of unmanned aerial vehicle flight, reduces unmanned aerial vehicle accident incidence.
In some embodiments, landing from a force landing point comprises landing from a preset force landing point, which is a preset force landing point, and/or landing from a designated force landing point, which is a user-designated force landing point.
In some embodiments, if the forced landing manner is landing from preset forced landing points, the forced landing instruction generation module 802 is configured to obtain at least one preset forced landing point based on the current flight path of the unmanned aerial vehicle, and select a target forced landing point from the at least one preset forced landing point. And then carrying a target forced landing point in a forced landing instruction, wherein the target forced landing point is used for the forced landing of the unmanned aerial vehicle from the target forced landing point.
In other embodiments, if the forced landing manner is landing from a preset forced landing point, the forced landing instruction generation module 802 is configured to obtain at least one preset forced landing point based on the current flight path of the unmanned aerial vehicle, and then carry each preset forced landing point in a forced landing instruction, where the at least one preset forced landing point is used for the unmanned aerial vehicle to select a target forced landing point from the at least one preset forced landing point.
In some embodiments, if the forced landing manner is landing from a specified forced landing point, the forced landing instruction generation module 802 is configured to respond to a first input operation of a user, obtain the target forced landing point based on the first input operation, and then carry the target forced landing point in the forced landing instruction.
In some embodiments, the target forced landing point is a forced landing point closest to the current position of the unmanned aerial vehicle among preset forced landing points.
In some embodiments, the forced landing manner determining module 801 is configured to determine the forced landing manner based on a second input operation of a user in response to the second input operation when the unmanned aerial vehicle meets the forced landing condition.
In some embodiments, the forced landing manner further comprises self-forced landing by the unmanned aerial vehicle.
It should be noted that the above-mentioned apparatus can execute the method provided by the embodiments of the present application, and has corresponding functional modules and beneficial effects for executing the method. For technical details which are not described in detail in the device embodiments, reference is made to the methods provided in the embodiments of the present application.
Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, such as one processor 22 in fig. 2, and enable the one or more processors to perform the method for forced landing control of a drone in any of the method embodiments described above, such as performing method steps 301 to 302 in fig. 3 described above.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a machine, cause the machine to perform the above-mentioned method for forced landing control of a drone, for example, to perform the above-described method steps 301 to 302 in fig. 3.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. An unmanned aerial vehicle forced landing control method is characterized by comprising the following steps:
when the unmanned aerial vehicle meets forced landing conditions, determining a forced landing mode, wherein the forced landing mode comprises landing from the current position and/or landing from a forced landing point;
and acquiring a forced landing instruction based on the forced landing mode, wherein the forced landing instruction is used for indicating the forced landing of the unmanned aerial vehicle.
2. The unmanned aerial vehicle forced landing control method according to claim 1, wherein the landing from the forced landing point comprises landing from a preset forced landing point and/or landing from a specified forced landing point, wherein the preset forced landing point is a preset forced landing point, and the specified forced landing point is a forced landing point temporarily specified by a user.
3. The forced landing control method for unmanned aerial vehicle according to claim 2, wherein if the forced landing manner is landing from a preset forced landing point, the forced landing instruction comprises a target forced landing point, and the target forced landing point is used for forced landing of the unmanned aerial vehicle from the target forced landing point;
the method further comprises the following steps:
acquiring at least one preset forced landing point based on the current flight path of the unmanned aerial vehicle;
and selecting the target forced landing point from the at least one preset forced landing point.
4. The forced landing control method for unmanned aerial vehicle according to claim 2, wherein if the forced landing mode is landing from a preset forced landing point, the forced landing command comprises the preset forced landing point;
the method further comprises the following steps:
acquiring at least one preset forced landing point based on the current flight path of the unmanned aerial vehicle;
the at least one preset forced landing point is used for the unmanned aerial vehicle to select a target forced landing point from the at least one preset forced landing point, and the target forced landing point is used for the unmanned aerial vehicle to be forced to land from the target forced landing point.
5. The forced landing control method for unmanned aerial vehicle according to claim 2, wherein if the forced landing manner is landing from a designated forced landing point, the forced landing instruction comprises a target forced landing point, and the target forced landing point is used for forced landing of the unmanned aerial vehicle from the target forced landing point;
the method further comprises the following steps:
responding to a first input operation of a user, and acquiring the target forced landing point based on the first input operation.
6. The forced landing control method for unmanned aerial vehicle according to claim 3, wherein the target forced landing point is a forced landing point closest to the current position of the unmanned aerial vehicle among preset forced landing points.
7. The method for controlling forced landing of an unmanned aerial vehicle according to claim 1, wherein when the unmanned aerial vehicle meets the forced landing condition, determining the forced landing mode comprises:
when the unmanned aerial vehicle meets the forced landing condition, responding to a second input operation of a user, and determining the forced landing mode based on the second input operation.
8. The method for controlling forced landing of an unmanned aerial vehicle according to any one of claims 1 to 7, wherein the forced landing manner further comprises:
the unmanned aerial vehicle is forced to land by oneself.
9. An unmanned aerial vehicle forced landing control device, its characterized in that includes:
the forced landing mode determining module is used for determining a forced landing mode when the unmanned aerial vehicle meets the forced landing condition, wherein the forced landing mode comprises landing from the current position and/or landing from a forced landing point;
and the forced landing instruction generation module is used for acquiring a forced landing instruction based on the forced landing mode, and the forced landing instruction is used for indicating the forced landing of the unmanned aerial vehicle.
10. A remote control apparatus, characterized in that the remote control apparatus comprises:
at least one processor, and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-8.
11. A computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by a machine, cause the machine to perform the method of any one of claims 1-8.
Priority Applications (2)
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| CN202110984094.0A CN113625759A (en) | 2021-08-25 | 2021-08-25 | Unmanned aerial vehicle forced landing control method and device, remote control device and storage medium |
| PCT/CN2022/114558 WO2023025200A1 (en) | 2021-08-25 | 2022-08-24 | Control method and apparatus for forced landing of unmanned aerial vehicle, remote control apparatus, and storage medium |
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| CN202110984094.0A CN113625759A (en) | 2021-08-25 | 2021-08-25 | Unmanned aerial vehicle forced landing control method and device, remote control device and storage medium |
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| TWI813085B (en) * | 2021-12-02 | 2023-08-21 | 中光電智能機器人股份有限公司 | Unmanned aerial vehicle and landing method for unmanned aerial vehicle |
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