CN113835445B

CN113835445B - Unmanned aerial vehicle return route planning method, unmanned aerial vehicle and electronic equipment

Info

Publication number: CN113835445B
Application number: CN202111192857.4A
Authority: CN
Inventors: 叶明�; 杨霖; 谭炜
Original assignee: Beijing Yuandu Internet Technology Co ltd
Current assignee: Beijing Yuandu Internet Technology Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2023-11-14
Anticipated expiration: 2041-07-27
Also published as: CN113835445A; CN113296544B; CN113296544A

Abstract

The application discloses an unmanned aerial vehicle return route planning method, an unmanned aerial vehicle and electronic equipment, which are used for solving the technical problem of low intelligent degree of unmanned aerial vehicle return route planning. According to the unmanned aerial vehicle return route planning scheme, the position information of the task route starting point is converted by receiving an operation instruction aiming at the task route starting point in a map application program. According to the position information of the starting point of the mission route and the position relation between the starting point of the mission route and the return point, the middle point and the stop point, the return point, the middle point and the stop point are determined, so that the initialization return route is rapidly determined, and the operation is greatly simplified. By recording the proportional relation of the distances among the return points, the intermediate points and the stop points, the return path with unchanged inter-waypoint distance proportion can be rapidly generated, and the degree of intellectualization is improved.

Description

Unmanned aerial vehicle return route planning method, unmanned aerial vehicle and electronic equipment

The application relates to a method for planning a return route of an unmanned aerial vehicle, electronic equipment and a computer-readable storage medium, which are applied for the application of the unmanned aerial vehicle, wherein the application of the unmanned aerial vehicle is 2021, 07, 27 and the application of the application number of the unmanned aerial vehicle is CN 202110852204.8.

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle return route planning method, an unmanned aerial vehicle, electronic equipment and a computer readable storage medium.

Background

Unmanned aerial vehicles are emerging high-end technical products in recent years, and have been widely applied in a plurality of different fields, such as aerial mapping, disaster search and rescue, precise agriculture, pipeline inspection and the like. When the unmanned aerial vehicle completes the task, the unmanned aerial vehicle needs to fly to a stop station for landing and adjustment. And planning of the unmanned aerial vehicle return route is crucial to unmanned aerial vehicle return.

In implementing the prior art, the inventors found that:

most unmanned aerial vehicles repeatedly set waypoints on the planning of the return route by an operator to generate the return route of the unmanned aerial vehicle. When the unmanned aerial vehicle return route changes, the operator is required to reset each navigation point again so as to recover the normal flight of the unmanned aerial vehicle in the return route as much as possible. The unmanned aerial vehicle return route planning scheme is low in intelligent degree, high in requirement on user operation accuracy and poor in user experience.

Therefore, a new unmanned aerial vehicle return route planning scheme is needed to be provided, so that the technical problem of low intelligent degree of unmanned aerial vehicle return route planning is solved.

Disclosure of Invention

The embodiment of the application provides an unmanned aerial vehicle return route planning scheme, which is used for solving the technical problem of low intelligent degree of unmanned aerial vehicle return route planning.

Specifically, the unmanned aerial vehicle return route planning method comprises the following steps:

receiving a first operation instruction aiming at a task route starting point in a map application program;

determining a task route starting point according to the position information in the first operation instruction;

determining the position information of a return point which keeps a first preset distance from the starting point of the mission route according to the position information in the first operation instruction;

determining a return point according to the position information of the return point;

determining the position information of an intermediate point which keeps a second preset distance with the starting point of the mission route according to the position information in the first operation instruction;

determining an intermediate point according to the position information of the intermediate point;

determining the position information of a stop point which keeps a third preset distance from the starting point of the mission route according to the position information in the first operation instruction;

determining a stop point according to the position information of the stop point;

and the return point, the middle point and the stop point define a return path of the unmanned aerial vehicle.

Further, the return points, the intermediate points and the stop points are distributed on the same straight line.

Further, the intermediate point is located in a position intermediate the space of both the return point and the stop point.

Further, the method further comprises:

receiving a second operation instruction aiming at a return point in the map application program;

determining the return point again correspondingly according to the position information in the second operation instruction;

and determining the intermediate point again, so that the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point is kept unchanged relative to the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point before receiving the second operation instruction.

Further, the method further comprises:

receiving a third operation instruction aiming at a stop point in the map application program by a user;

correspondingly determining a shutdown point again according to the position information in the third operation instruction;

and determining the intermediate point again, so that the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point is kept unchanged relative to the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point before receiving a third operation instruction.

Further, the method further comprises:

receiving a fourth operation instruction aiming at the middle point in the map application program;

and determining an intermediate point according to the position information in the fourth operation instruction.

Further, the intermediate point is located on a straight line formed by both the return point and the stop point.

Further, the method further comprises:

recording the ratio of the first section of distance between the return point and the middle point to the second section of distance between the middle point and the stopping point after receiving a fourth operation instruction;

receiving a fifth operation instruction aiming at a return point in the map application program;

determining the return point again correspondingly according to the position information in the fifth operation instruction;

and determining the intermediate point again, so that after receiving a fifth operation instruction, the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point is kept unchanged relative to the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point after receiving a fourth operation instruction.

Further, the method further comprises:

receiving a sixth operation instruction aiming at a stop point in the map application program;

correspondingly determining a shutdown point again according to the position information in the sixth operation instruction;

and determining the intermediate point again, so that after receiving a sixth operation instruction, the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point is kept unchanged relative to the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point after receiving a fourth operation instruction.

The embodiment of the application also provides the unmanned aerial vehicle.

Specifically, an unmanned aerial vehicle includes:

a receiving module for:

a processing module for:

Further, the receiving module is further configured to:

the processing module is further configured to:

Further, the receiving module is further configured to:

the processing module is further configured to:

Further, the receiving module is further configured to:

the processing module is further configured to:

Further, the unmanned aerial vehicle further includes:

the recording module is used for recording the ratio of the first section of distance between the return point and the middle point to the second section of distance between the middle point and the stop point after receiving a fourth operation instruction;

The receiving module is further configured to:

the processing module is further configured to:

Further, the unmanned aerial vehicle further includes:

the receiving module is further configured to:

the processing module is further configured to:

The embodiment of the application also provides electronic equipment.

Specifically, an electronic device is characterized in that the electronic device includes:

a memory for storing a computer program;

a processor for executing the computer program stored on the memory;

and when the processor executes the computer program stored in the memory, executing any implementation mode of the unmanned aerial vehicle return route planning method.

The embodiment of the application also provides a computer readable storage medium.

The method comprises the following steps of executing any one implementation mode of the unmanned aerial vehicle return route planning method when the computer program is called.

The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

And converting the position information of the task route starting point by receiving an operation instruction aiming at the task route starting point in the map application program by a user. According to the position information of the starting point of the mission route and the position relation between the starting point of the mission route and the return point, the middle point and the stop point, the return point, the middle point and the stop point are determined, so that the initialization return route is rapidly determined, and the operation is greatly simplified. By recording the proportional relation of the distances among the return points, the intermediate points and the stop points, the return path with unchanged inter-waypoint distance proportion can be rapidly generated, and the degree of intellectualization is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

fig. 1 is a flowchart of a method for planning a return route of an unmanned aerial vehicle according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.

100. Unmanned plane

11. Receiving module

12. Processing module

13. Recording module

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, the application discloses a method for planning a return route of an unmanned aerial vehicle, which comprises the following steps:

s110: a first operation instruction of a user for a task route starting point in a map application program is received.

S120: and determining a starting point of the mission route according to the position information in the first operation instruction.

It will be appreciated that the mission course starting point is the starting point of the unmanned mission path. And the unmanned aerial vehicle starts to execute the task route after reaching the starting point of the task route.

The location information in the first operation instruction may be understood as actual geographical location information of the mission course starting point on the earth. Further, the location information in the first operation instruction at least includes longitude information, latitude information, or longitude information, latitude information, and altitude information of the starting point of the mission route. And when the unmanned aerial vehicle flies to the geographic position of the starting point of the mission route, starting to execute the mission route.

The receiving of the first operation instruction for the task route starting point may be receiving an operation instruction for the task route starting point by a user in a man-machine interaction interface of the map application program, or receiving position information set by the user for the task route starting point.

In one embodiment of the present application, the receiving the first operation instruction for the task route start point in the map application is receiving the operation instruction for the task route start point in the man-machine interaction interface of the map application. Specifically, the control point of the map application is used as the starting point of the mission route. And converting the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position into the actual geographic position of the starting point of the mission route. The user only needs to determine the control point in the man-machine interaction interface of the map application program, the map application program can quickly obtain the position information of the starting point of the current task route, the operation is simplified, and the intelligent degree is improved. The specific way to determine the control point may be to click a mouse, cursor or other location identifier at a location in the man-machine interaction interface of the map application, or may be to cause the mouse, cursor or other location identifier to stay at a location.

In another embodiment of the present application, the receiving the first operation instruction for the task route start point in the map application program is receiving the task route start point position information parameter input by the user. When the position information of the starting point of the mission route is set through the input parameters, the set position information of the starting point of the mission route is more accurate.

S130: and determining the position information of a return point which keeps a first preset distance from the starting point of the mission route according to the position information in the first operation instruction.

S140: and determining the return point according to the position information of the return point.

It will be appreciated that in one embodiment provided by the present application, the drone has a mission path and a return path.

Further, the unmanned aerial vehicle return route is defined by return point, intermediate point, stop point.

The setting of unmanned aerial vehicle return trip point is in order to be convenient for judge unmanned aerial vehicle's state. And the unmanned aerial vehicle is in a task path and in a task progress state. And the unmanned aerial vehicle breaks away from the task path and does not fly to the return point, so that the unmanned aerial vehicle fails. And the unmanned aerial vehicle is separated from the task path and flies to the return point, so that the unmanned aerial vehicle is in a return state after the task is completed. In a preferred embodiment of the present application, the return path does not overlap with the mission path.

It will be appreciated that the return point is the start of the unmanned aircraft return path. And the unmanned aerial vehicle starts to return after reaching the return point. The location information of the return point may be understood as the actual geographical location information of the return point on the earth.

And the return point and the task route starting point default have a first preset distance so that the return path and the task path are not overlapped. The first preset distance is represented by the difference value between the position information of the return point and the position information of the starting point of the mission route.

Specifically, according to the position information in the first operation instruction, determining the position information of a return point which keeps a first preset distance from the starting point of the mission route; and determining the return point according to the position information of the return point.

S150: and determining the position information of the middle point which keeps a second preset distance with the starting point of the mission route according to the position information in the first operation instruction.

S160: and determining the intermediate point according to the position information of the intermediate point.

The intermediate point can be understood as the position of the unmanned aerial vehicle for adjusting the landing strategy and is positioned on the return path of the unmanned aerial vehicle.

And the middle point and the starting point of the mission route default have a second preset distance so that the return route and the mission route are not overlapped. The second preset distance is represented by the difference value between the position information of the middle point and the position information of the starting point of the mission route.

Specifically, according to the position information in the first operation instruction, determining the position information of a middle point which keeps a second preset distance from the starting point of the mission route; and determining the intermediate point according to the position information of the intermediate point.

In one embodiment of the present application, the drone adjusts the landing strategy when the drone reaches the geographic location of the intermediate point. It will be appreciated that the unmanned aerial vehicle's own energy consumption, height and width of the obstacle, wind speed, etc. need to be considered in the unmanned aerial vehicle's path from the return trip point to the stop point. The landing strategy has at least two different landing modes. And executing a first landing strategy on a return path from the return point to the middle point of the unmanned aerial vehicle.

Further, in a preferred embodiment provided by the application, the unmanned aerial vehicle is an unmanned aerial vehicle with both a horizontal wing and a vertical wing; the first landing strategy is a landing mode in which the unmanned aerial vehicle with the vertical wings not working is reduced in speed and height. Thus, the energy consumption of the unmanned aerial vehicle can be reduced, and the first motion state of high-efficiency flight can be realized. In a specific embodiment provided by the application, the unmanned aerial vehicle is a compound wing unmanned aerial vehicle. Generally, unmanned aerial vehicles have a high moving speed and have a certain flying height when completing a task. In path planning, it is desirable to reduce the energy supply to the horizontal wing of the unmanned aerial vehicle, naturally realizing a speed reduction and elevation, approaching the middle point of the return path. Executing the first landing strategy is beneficial to energy conservation of the unmanned aerial vehicle.

Further, in a preferred embodiment provided by the application, the drone performs a second landing strategy between the intermediate point and the stop point.

Specifically, the unmanned aerial vehicle performs the first landing strategy between the return point and the middle point, so that the unmanned aerial vehicle is reduced in speed and height. When the horizontal speed of the unmanned aerial vehicle reaches the middle point, the horizontal speed of the unmanned aerial vehicle is very small, and no matter the horizontal wing and the vertical wing are used for horizontal movement at the same time, or the vertical wing is used for horizontal movement independently, on one hand, the vertical wing cannot be damaged due to the fact that the vertical wing is matched with the horizontal wing, on the other hand, the energy consumption of the vertical wing is greatly reduced due to the fact that the horizontal speed is greatly reduced, and the distance between the middle point and the shutdown point is small.

S170: and determining the position information of a stop point which keeps a third preset distance from the starting point of the mission route according to the position information in the first operation instruction.

S180: and determining the stop point according to the position information of the stop point.

It will be appreciated that the stop point is the end point of the return path of the unmanned aerial vehicle. After reaching the stop point, the unmanned aerial vehicle can be regarded as the return journey of the unmanned aerial vehicle.

And the stopping point and the task route starting point default have a third preset distance so that the return route and the task route are not overlapped. The third preset distance is represented by the difference value between the position information of the stop point and the position information of the starting point of the mission route.

Specifically, according to the position information in the first operation instruction, position information of a stop point which keeps a third preset distance from the starting point of the mission route can be determined; and determining the stop point according to the position information of the stop point.

In one embodiment of the application, the return strategy is completed when the unmanned aerial vehicle flies to the geographic location of the stop point. Completion of the return maneuver means that the most preferred motion state is stationary when the drone returns to reach the stop point. However, considering the complexity of the flight condition of the unmanned aerial vehicle, when the unmanned aerial vehicle returns to reach the stop point, the optimal motion state should be that the horizontal flight speed of the unmanned aerial vehicle approaches zero, and the unmanned aerial vehicle is in a hovering state.

It should be noted that the return point, the intermediate point and the stop point define a return path of the unmanned aerial vehicle. In one specific embodiment provided by the application, a first operation instruction aiming at a task route starting point in a map application program is received by a user; according to the position information in the first operation instruction, a preset return point, a middle point and a stop point can be determined, and then a preset unmanned aerial vehicle return path can be determined.

The following describes a specific implementation process of the unmanned aerial vehicle return route planning method:

The user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to generate a first operation instruction. Can be converted into a task route starting point S according to the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position ₁ Is determined by the actual geographic location of (a). The user can quickly obtain the starting point S of the mission route by only determining the control point in the man-machine interaction interface of the map application program ₁ To determine the starting point S of the mission course ₁ 。

At the determination of the mission course starting point S ₁ Thereafter, the starting point S of the mission route can be used ₁ Converting the return point E which is at a first preset distance from the starting point of the mission route ₁ To further determine the return point E ₁ . Or according to the starting point S of the mission route ₁ Converting the position information of the mission route to a second preset distance from the starting point of the mission routeIntermediate point E of distance ₂ To determine the intermediate point E ₂ . Can also be based on the starting point S of the mission route ₁ Is converted into a stop point E which is at a third preset distance from the starting point of the mission route ₃ To determine the stop point E ₃ 。

It should be further noted that, in a specific embodiment provided by the present application, the return point, the intermediate point and the stop point are distributed on the same straight line. The planned return route avoids the occurrence of potential safety hazards such as turning and floating in the return process of the unmanned aerial vehicle, reduces the risk of the return process of the unmanned aerial vehicle, and ensures that the unmanned aerial vehicle has the lowest return energy consumption according to the return route.

Specifically, the return point, the intermediate point and the stop point are distributed in the same straight line, which means that the intermediate point is located in the straight line of the space between the return point and the stop point. Or the return point is in the extension line of the space of the intermediate point and the stopping point. Or the stop point is in the extension line of the space of the return point and the intermediate point.

And under the condition that the return points, the intermediate points and the stopping points are distributed on the same straight line, the position information of the return points, the intermediate points and the stopping points have a correlation relationship. For example, in the case of determining the return point and the intermediate point, a stop point at a fourth preset distance from the intermediate point may be determined according to the position information of the intermediate point. And determining a return point at a fifth preset distance from the middle point according to the position information of the middle point under the condition of determining the middle point and the stop point. And under the condition of determining the return point and the stop point, determining the intermediate point according to the preset ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point.

It should also be noted that in yet another embodiment provided by the present application, the intermediate point is located at a position spatially intermediate to both the return point and the stop point. And taking the return point, the intermediate point and the stopping point into consideration that the return point, the intermediate point and the stopping point are distributed on the same straight line, wherein the default intermediate point is positioned at the middle point between the return point and the stopping point. Therefore, the unmanned aerial vehicle has enough time and space for state adjustment in the descending, decelerating, hovering and obstacle avoidance of the return route, thereby ensuring the fault tolerance and saving the energy consumption.

And under the condition that the middle point is positioned at the middle position of the space of the return point and the stopping point, the preset ratio R between the first section of distance between the return point and the middle point and the second section of distance between the middle point and the stopping point is 1.

When determining the starting point S of the mission route ₁ Thereafter, the starting point S of the mission route can be used ₁ Converting the return point E which is at a first preset distance from the starting point of the mission route ₁ To further determine the return point E ₁ . Or according to the starting point S of the mission route ₁ Converting a stopping point E which is a second preset distance away from the starting point of the mission route ₃ To determine the stop point E ₃ 。

When determining the return point E ₁ Stop point E ₃ After that, the intermediate point E may be determined according to a preset ratio r=1 between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point ₂ . I.e. determining return voyagePoint E ₁ Stop point E ₃ The 1/2 position of the space connecting straight line distance between the two is the middle point E ₂ . Thereby forming the return point E ₁ Intermediate point E ₂ And a stop point E ₃ And initializing a return path of the unmanned aerial vehicle.

It should be noted that when an operation instruction of a user for initializing a return point, an intermediate point or a stop point in the unmanned aerial vehicle return path in the map application program is received, the return point, the intermediate point and the stop point need to be determined again, and a new unmanned aerial vehicle return path needs to be determined again.

For example, in still another specific embodiment provided by the present application, the unmanned aerial vehicle return route planning method further includes:

s190: and receiving a second operation instruction of the user for the return point in the map application program.

S200: and correspondingly determining the return point again according to the position information in the second operation instruction.

S210: and determining the intermediate point again, so that the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point is kept unchanged relative to the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point before receiving the second operation instruction.

Wherein the return points, the intermediate points and the stop points are distributed on the same straight line.

It can be understood that the second operation instruction for the return point is an operation instruction for the user to adjust the return point again in the man-machine interaction interface of the map application program after determining the initial return point. Or the user adjusts the geographic position parameters of the return points again. A new return point will thus occur. At this time, the intermediate point needs to be determined again so as to update the unmanned aerial vehicle return path.

In a preferred embodiment of the present application, in order to quickly determine the intermediate point, the ratio R between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point may be defaulted to 1. After receiving the second operation instruction, correspondingly determining a new return point again according to the position information in the second operation instruction. And then, a new intermediate point can be quickly determined by setting the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point to be 1, so that a new unmanned aerial vehicle return path is determined.

the user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to generate a first operation instruction. Can be converted into a task route starting point S according to the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position ₁ Is determined by the actual geographic location of (a). According to the starting point S of the mission route ₁ Determining a mission course starting point S ₁ 。

When determining the return point E ₁ Stop point E ₃ After that, the intermediate point E may be determined according to a preset ratio r=1 between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point ₂ . I.e. determining return point E ₁ Stop point E ₃ The 1/2 position of the space connecting straight line distance between the two is the middle point E ₂ . Thereby forming the return point E ₁ Intermediate point E ₂ And a stop point E ₃ And initializing a return path of the unmanned aerial vehicle.

The user then points at the return point E in the map application ₁ Dragging is carried out, and a second operation instruction is generated. Based on the position information in the second operating command, a new return point E can be correspondingly determined again ₁₁ . Stop point E ₃ Is unchanged. Then it can be based on the return point E ₁₁ And a stop point E ₃ The distance between the two points, and a preset ratio R=1 between the first section distance between the return points and the middle point and the second section distance between the middle point and the stop point, and determining a middle point E meeting the preset ratio relation of the return path of the unmanned aerial vehicle ₂₁ Thereby determining a new return path.

For another example, in another specific embodiment provided by the present application, the method for planning a return path of an unmanned aerial vehicle further includes:

s220: and receiving a third operation instruction aiming at the stop point in the map application program.

S240: and correspondingly determining the shutdown point again according to the position information in the third operation instruction.

S250: and determining the intermediate point again, so that the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point is kept unchanged relative to the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point before receiving a third operation instruction.

It can be understood that the third operation instruction for the stop point is an operation instruction for the user to adjust the stop point again in the man-machine interaction interface of the map application program after the initial stop point is determined. Or the user adjusts the geographical position parameters of the stopping point again. A new stop point will occur. At this time, the intermediate point needs to be determined again so as to update the unmanned aerial vehicle return path.

In a preferred embodiment of the present application, in order to quickly determine the intermediate point, the ratio R between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point may be defaulted to 1. After receiving the third operation instruction, correspondingly and again determining a new stop point according to the position information in the third operation instruction. And then, a new intermediate point can be quickly determined by setting the ratio of the first section of distance between the return point and the intermediate point to the second section of distance between the intermediate point and the stop point to be 1, so that a new unmanned aerial vehicle return path is determined.

The user then points at stop E in the map application ₃ Dragging is carried out, and a third operation instruction is generated. Based on the position information in the third operating command, a new stop point E can be correspondingly determined again ₃₁ . Return trip point E ₁ Is unchanged. Can be based on the stop point E ₃₁ And return point E ₁ The distance between the two points, and a preset ratio R=1 between the first section distance between the return points and the middle point and the second section distance between the middle point and the stop point, and determining a middle point E meeting the preset ratio relation of the return path of the unmanned aerial vehicle ₂₁ Thereby determining a new return path.

s260: and receiving a fourth operation instruction aiming at the middle point in the map application program.

S270: and determining an intermediate point according to the position information in the fourth operation instruction.

It may be understood that the fourth operation instruction for the intermediate point is an operation instruction for the user to adjust for the intermediate point in the man-machine interaction interface of the map application program after determining the initial intermediate point. Or the user adjusts the geographic position parameters of the intermediate point again.

When the preset middle point is adjusted, it means that the preset position of the unmanned plane for adjusting the landing strategy is adjusted by the user, so that a new middle point can appear. At this time, the position of the unmanned aerial vehicle adjusting landing strategy changes, the ratio between the first section distance between the return point and the new intermediate point and the second section distance between the new intermediate point and the stopping point also changes, and the return path of the unmanned aerial vehicle needs to be updated.

s280: recording the ratio of the first section of distance between the return point and the middle point to the second section of distance between the middle point and the stopping point after receiving a fourth operation instruction;

s290: receiving a fifth operation instruction aiming at a return point in the map application program;

s300: determining the return point again correspondingly according to the position information in the fifth operation instruction;

s310: and determining the intermediate point again, so that after receiving a fifth operation instruction, the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point is kept unchanged relative to the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point after receiving a fourth operation instruction.

It will be appreciated that after receiving a fourth operation instruction for the intermediate point by the user in the map application, a new intermediate point is determined. At this time, the position of the unmanned aerial vehicle for adjusting the landing strategy is changed. The ratio between the first distance between the return point and the new intermediate point and the second distance between the new intermediate point and the stop point also changes. Therefore, the ratio of the first section distance between the return point and the middle point to the second section distance between the middle point and the stop point after receiving the fourth operation instruction is recorded, so that path planning can be facilitated, and the path planning efficiency is improved.

The fifth operation instruction for the return point is an operation instruction generated by operating the return point again in the man-machine interaction interface of the map application program by the user after the middle point is changed. Further, the control point of the map application program is taken as a return point. And converting the relative position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position into the actual geographic position of the return point, thereby determining the new return point. At this time, the position information of the return point is changed, the intermediate point needs to be determined again, and the return path of the unmanned aerial vehicle needs to be updated.

Specifically, after receiving the fifth operation instruction, determining a new return point correspondingly again according to the position information in the fifth operation instruction. And after receiving the fifth operation instruction, the ratio of the first section distance between the new return points and the new intermediate points to the second section distance between the new intermediate points and the original stopping points is kept unchanged relative to the ratio of the first section distance between the return points and the intermediate points to the second section distance between the intermediate points and the stopping points after receiving the fourth operation instruction, so that the new intermediate points can be determined, and a new unmanned plane return path can be determined.

the user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to generate a first operation instruction. According to the first operation instruction, converting the starting point S of the mission route ₁ Is determined by the actual geographic location of (a). Can be based on the starting point S of the mission route ₁ Converting an initial return point E which is a first preset distance from the starting point of the mission route ₁ To determine the initial return point E ₁ . Or according to the starting point S of the mission route ₁ Converting an initial intermediate point E of a second preset distance from the starting point of the mission course ₂ To determine the initial intermediate point E ₂ . Or according to the starting point S of the mission route ₁ Converting an initial stop point E which is a third preset distance from the starting point of the mission route ₃ To determine the initial stop point E ₃ 。

User to initial intermediate point E in map application program ₂ Dragging is carried out, and a fourth operation instruction is generated. From the position information in the fourth operating instruction, a new intermediate point E can correspondingly be determined again ₂₁ . Initial return voyagePoint E ₁ And an initial stop point E ₃ Is unchanged. Recording and receiving the fourth operation instruction, and returning to the navigation point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ 。

The user then sets the initial return point E in the map application ₁ And dragging to generate a fifth operation instruction. Based on the position information in the fifth operating command, a new return point E can be correspondingly determined again ₁₁ . Stop point E ₃ Is unchanged. Then according to the return trip point E ₁₁ And a stop point E ₃ Distance between each other and return point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ Determining an intermediate point E meeting preset ratio relation of return paths of unmanned aerial vehicle in the last state ₂₂ 。

s320: recording the ratio of the first section of distance between the return point and the middle point to the second section of distance between the middle point and the stopping point after receiving a fourth operation instruction;

s330: receiving a sixth operation instruction aiming at a stop point in the map application program;

S340: correspondingly determining a shutdown point again according to the position information in the sixth operation instruction;

s350: and determining the intermediate point again, so that after receiving a sixth operation instruction, the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point is kept unchanged relative to the ratio between the first section distance between the return point and the intermediate point and the second section distance between the intermediate point and the stopping point after receiving a fourth operation instruction.

The sixth operation instruction for the stop point is an operation instruction generated by operating the stop point again in the man-machine interaction interface of the map application program by the user after the intermediate point is changed. Further, the control point of the map application is taken as a stop point. And converting the relative position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position into the actual geographic position of the stop point, thereby determining the new stop point. At this time, the position information of the end point of the unmanned aerial vehicle return route is changed, the intermediate point needs to be determined again, and the unmanned aerial vehicle return route needs to be updated.

Specifically, after receiving the sixth operation instruction, a new stop point is correspondingly determined again according to the position information in the sixth operation instruction. And after receiving the sixth operation instruction, the ratio of the first section distance between the original return point and the new intermediate point to the second section distance between the new intermediate point and the new stop point is kept unchanged relative to the ratio of the first section distance between the return point and the intermediate point to the second section distance between the intermediate point and the stop point after receiving the fourth operation instruction, so that the new intermediate point can be determined, and a new unmanned plane return path can be determined.

the user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to the display area,a first operation instruction is generated. According to the first operation instruction, converting the starting point S of the mission route ₁ Is determined by the actual geographic location of (a). Can be based on the starting point S of the mission route ₁ Converting an initial return point E which is a first preset distance from the starting point of the mission route ₁ To determine the initial return point E ₁ . Or according to the starting point S of the mission route ₁ Converting an initial intermediate point E of a second preset distance from the starting point of the mission course ₂ To determine the initial intermediate point E ₂ . Or according to the starting point S of the mission route ₁ Converting an initial stop point E which is a third preset distance from the starting point of the mission route ₃ To determine the initial stop point E ₃ 。

User to initial intermediate point E in map application program ₂ Dragging is carried out, and a fourth operation instruction is generated. From the position information in the fourth operating instruction, a new intermediate point E can correspondingly be determined again ₂₁ . Initial return Point E ₁ And an initial stop point E ₃ Is unchanged. Recording and receiving the fourth operation instruction, and returning to the navigation point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ 。

The user then initiates a stop point E in the map application ₃ Dragging is performed, and a sixth operation instruction is generated. Based on the position information in the sixth operating command, a new stop point E can be correspondingly determined again ₃₁ . Return trip point E ₁ Is unchanged. Then according to the return trip point E ₁ And a stop point E ₃₁ Distance between each other and return point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ Determining an intermediate point E meeting preset ratio relation of return paths of unmanned aerial vehicle in the last state ₂₂ 。

In the specific implementation process of the unmanned aerial vehicle return route planning method, the return point, the middle point and the stop point are determined by receiving the operation instructions of a user aiming at the return point, the middle point or the stop point in the map application program, so that the initialization return route is rapidly determined, and the operation is greatly simplified. By recording the proportional relation of the distances among the return points, the intermediate points and the stop points, the return path with unchanged inter-waypoint distance proportion can be rapidly generated, and the degree of intellectualization is improved.

Referring to fig. 2, in order to support the unmanned aerial vehicle return route planning method, the present application further provides an unmanned aerial vehicle 100, including:

a receiving module 11 for:

a processing module 12 for:

and determining the stop point according to the position information of the stop point.

It will be appreciated that the mission course starting point is the starting point of the unmanned mission path. The drone 100 begins executing the mission route after reaching the mission route start point. The return point is the starting point of the unmanned aerial vehicle return path. The drone 100 begins the return trip after reaching the return trip point. The intermediate point may be understood as a position of the drone 100 to adjust the landing strategy, which is located on the return path of the drone 100. The stop point is the end point of the unmanned aerial vehicle return route. The drone 100 may be considered to be the end of the return journey of the drone 100 after reaching the stop point.

The setting of the return point of the unmanned aerial vehicle 100 is to facilitate the judgment of the state of the unmanned aerial vehicle 100. The unmanned plane 100 is in a task path and is in a task progress state. The unmanned aerial vehicle 100 breaks away from the mission path and does not fly to the return point, and the unmanned aerial vehicle 100 malfunctions. The unmanned aerial vehicle 100 is separated from the mission path and flies to the return point, and the unmanned aerial vehicle 100 is in a return state after the mission is completed. Thus, the unmanned aerial vehicle 100 return point is outside the mission path of the unmanned aerial vehicle 100.

It should be noted that, in a specific embodiment provided by the present application, the return point, the intermediate point and the stop point are distributed on the same straight line. The planned return route avoids the occurrence of potential safety hazards such as turning and floating in the return process of the unmanned aerial vehicle, reduces the risk of the return process of the unmanned aerial vehicle 100, and ensures that the unmanned aerial vehicle 100 has the lowest return energy consumption according to the return route.

The receiving module 11 receives a first operation instruction for the task route starting point, which may be an operation instruction for the task route starting point in a man-machine interaction interface of the map application program by a user, or may be receiving position information set by the user for the task route starting point. The processing module 12 may understand the actual geographical location information of the mission course starting point on the earth based on the location information in the first operation instruction. Further, the location information in the first operation instruction at least includes longitude information, latitude information, or longitude information, latitude information, and altitude information of the starting point of the mission route.

In a specific embodiment of the present application, the receiving module 11 receives a first operation instruction for a task route start point in a map application by a user, and receives an operation instruction for the task route start point in a man-machine interaction interface of the map application by the user. The processing module 12 uses the control point of the map application program as the starting point of the mission route, and converts the control point into the actual geographic position of the starting point of the mission route according to the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position. The receiving module 11 only needs to acquire the control point determined by the user in the man-machine interaction interface of the map application program, the processing module 12 can quickly acquire the position information of the current task route starting point and determine the task route starting point, so that the operation is simplified, and the intelligent degree is improved.

In another embodiment of the present application, the receiving module 11 receives a first operation instruction for a task route start point in the map application from a user, and the first operation instruction is a task route start point location information parameter input by the user. When the position information of the starting point of the mission route is set through the input parameters, the set position information of the starting point of the mission route is more accurate. The receiving module 11 receives the position information of the parameter setting task route starting point, which is beneficial for the processing module 12 to directly obtain the accurate parameter value of the task route starting point, so as to obtain the optimal task route starting point.

After determining the position information of the starting point of the mission route, the processing module 12 may determine, according to the position information in the first operation instruction, the position information of the return point that maintains a first preset distance with the starting point of the mission route; and determining the return point according to the position information of the return point.

The processing module 12 may also determine, according to the position information in the first operation instruction, position information of an intermediate point that maintains a second preset distance from the starting point of the mission route; and determining the intermediate point according to the position information of the intermediate point.

In one embodiment of the present application, the drone 100 adjusts the landing strategy when the drone 100 reaches the geographic location of the intermediate point. It will be appreciated that the unmanned aerial vehicle 100 needs to take into account the energy consumption of the unmanned aerial vehicle 100 itself, the height and width of the obstacle, the wind speed, etc. in the path from the return point to the stop point. The landing strategy has at least two different landing modes. The drone 100 performs a first descent strategy at a return path from a return point to an intermediate point.

Further, in a preferred embodiment of the present application, the unmanned aerial vehicle 100 is an unmanned aerial vehicle having both a horizontal wing and a vertical wing; the first landing strategy is a landing mode in which the unmanned aerial vehicle with the vertical wings not working is reduced in speed and height. Thus, the energy consumption can be reduced, and the first motion state of high-efficiency flight can be realized. In the specific embodiment provided by the present application, the unmanned aerial vehicle 100 is a compound wing unmanned aerial vehicle. In general, the unmanned aerial vehicle 100 has a high moving speed and a certain flying height when completing a task. In path planning, it is desirable to reduce the energy supply to the horizontal wing of the unmanned aerial vehicle, naturally realizing a speed reduction and elevation, approaching the middle point of the return path. Executing the first landing strategy is beneficial to energy conservation of the unmanned aerial vehicle.

Further, in a preferred embodiment provided by the present application, the drone 100 performs a second landing strategy between the intermediate point and the stop point.

Specifically, since the unmanned aerial vehicle 100 performs the first landing strategy between the return point and the intermediate point, the unmanned aerial vehicle 100 is decelerated and lowered. The horizontal speed of the unmanned aerial vehicle 100 is already very small when reaching the middle point, and no matter the horizontal wing and the vertical wing are used for horizontal movement at the same time or the vertical wing is used for horizontal movement alone, on one hand, the vertical wing cannot be damaged due to the cooperation with the horizontal wing, and on the other hand, the greatly reduced horizontal speed and the smaller distance between the middle point and the shutdown point can enable the energy consumption of the vertical wing to be greatly reduced.

The processing module 12 may also determine, according to the position information in the first operation instruction, position information of a stop point that maintains a third preset distance from the start point of the mission route; and determining the stop point according to the position information of the stop point.

In one embodiment provided by the present application, the return strategy is completed when the drone 100 flies to the geographic location of the stop point. Completion of the return maneuver means that the most preferred motion state is stationary when the drone 100 returns to reach the stop point. However, considering the complexity of the flight condition of the unmanned aerial vehicle 100, when the unmanned aerial vehicle 100 returns to reach the stop point, the preferred motion state should be that the horizontal flight speed of the unmanned aerial vehicle 100 approaches zero, and the unmanned aerial vehicle 100 is in a hovering state.

It should be noted that the return point, the intermediate point, and the stop point define a return path of the unmanned aerial vehicle 100. The receiving module 11 receives a first operation instruction for a task route start point in the map application program from a user. The processing module 12 can determine a preset return point, a middle point and a stop point according to the position information in the first operation instruction, and then can determine a preset unmanned aerial vehicle return path.

The following describes a specific implementation procedure of the unmanned aerial vehicle 100 provided by the present application:

the user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to generate a first operation instruction. The receiving module 11 receives the first operation instruction. The processing module 12 can convert the control point into a task route starting point S according to the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position ₁ Is determined by the actual geographic location of (a). The user can quickly obtain the starting point S of the mission route by only determining the control point in the man-machine interaction interface of the map application program ₁ To determine the starting point S of the mission course ₁ 。

When the processing module 12 determines a mission course starting point S ₁ Thereafter, the processing module 12 may determine the starting point S of the mission course ₁ Converting the return point E which is at a first preset distance from the starting point of the mission route ₁ To further determine the return point E ₁ . The processing module 12 may also be based on the mission course starting point S ₁ Converting the intermediate point E of the second preset distance from the starting point of the mission route ₂ To determine the intermediate point E ₂ . The processing module 12 may also be based on the mission course starting point S ₁ Is converted into a stop point E which is at a third preset distance from the starting point of the mission route ₃ To determine the stop point E ₃ 。

And under the condition that the return points, the intermediate points and the stopping points are distributed on the same straight line, the position information of the return points, the intermediate points and the stopping points have a correlation relationship. For example, the processing module 12 may determine, in the case of determining the return point and the intermediate point, a stop point at a fourth predetermined distance from the intermediate point according to the position information of the intermediate point. The processing module 12 may also determine a return point at a fifth preset distance from the intermediate point according to the position information of the intermediate point when determining the intermediate point and the stop point. The processing module 12 may also determine the intermediate point according to a preset ratio between a first distance between the return point and the intermediate point and a second distance between the intermediate point and the stop point in the case of determining the return point and the stop point.

When the processing module 12 determines a mission course starting point S ₁ Thereafter, the processing module 12 may determine the starting point S of the mission course ₁ Converting the return point E which is at a first preset distance from the starting point of the mission route ₁ To further determine the return point E ₁ . The processing module 12 may also be based on the mission course starting point S ₁ Converting a stopping point E which is a second preset distance away from the starting point of the mission route ₃ To determine the stop point E ₃ 。

When the processing module 12 determines the return point E ₁ Stop point E ₃ After that, the processing module 12 may determine the intermediate point E according to a preset ratio r=1 between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point ₂ . I.e. the processing module 12 determines the return point E ₁ Stop point E ₃ The 1/2 position of the space connecting straight line distance between the two is the middle point E ₂ . The processing module 12 then determines the return point E ₁ Intermediate point E ₂ And a stop point E ₃ DeterminedInitializing a return path of the unmanned aerial vehicle.

It should be noted that, when the receiving module 11 receives an operation instruction of the user for initializing a return point, an intermediate point or a stop point in the return path of the unmanned aerial vehicle in the map application program, the processing module 12 needs to redetermine the return point, the intermediate point or the stop point, and redetermine a new return path of the unmanned aerial vehicle.

For example, in another specific embodiment provided by the present application, the receiving module 11 is further configured to:

And receiving a second operation instruction of the user for the return point in the map application program.

The processing module 12 is further configured to:

It can be understood that the second operation instruction for the return point received by the receiving module 11 is an operation instruction that the processing module 12 adjusts the return point again in the man-machine interaction interface of the map application program after determining the initial return point. Or the user adjusts the geographic position parameters of the return points again. A new return point will thus occur. At this point the processing module 12 is required to determine again the intermediate point in order to update the drone return path.

In a preferred embodiment of the present application, in order for the processing module 12 to quickly determine the intermediate point, the processing module 12 may default to a ratio R of a first distance between the return point and the intermediate point to a second distance between the intermediate point and the stop point to be 1. After the receiving module 11 receives the second operation instruction, the processing module 12 correspondingly determines a new return point again according to the position information in the second operation instruction. The processing module 12 may then determine a new intermediate point quickly by setting a ratio between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point to 1, so as to determine a new return path of the unmanned aerial vehicle.

When the processing module 12 determines the return point E ₁ Stop point E ₃ After that, the processing module 12 may determine the intermediate point E according to a preset ratio r=1 between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point ₂ . I.e. the processing module 12 determines the return point E ₁ Stop point E ₃ The 1/2 position of the space connecting straight line distance between the two is the middle point E ₂ . The processing module 12 then determines the return point E ₁ Intermediate point E ₂ And a stop point E ₃ And initializing a return path of the unmanned aerial vehicle.

The user then points at the return point E in the map application ₁ Dragging is carried out, and a second operation instruction is generated. The receiving module 11 receives the second operation instruction. The processing module 12 can correspondingly determine the new return point E again according to the position information in the second operation instruction ₁₁ . Stop point E ₃ Is unchanged. The processing module 12 may be based on the return point E ₁₁ And a stop point E ₃ The distance between the two points, and a preset ratio R=1 between the first section distance between the return points and the middle point and the second section distance between the middle point and the stop point, and determining a middle point E meeting the preset ratio relation of the return path of the unmanned aerial vehicle ₂₁ So that the processing module 12 can determine a new return path.

For another example, in another specific embodiment provided by the present application, the receiving module 11 is further configured to:

the processing module 12 is further configured to:

It may be understood that the third operation instruction for the stop point received by the receiving module 11 is an operation instruction that the processing module 12 adjusts the stop point again in the man-machine interaction interface of the map application program after determining the initial stop point. Or the user adjusts the geographical position parameters of the stopping point again. A new stop point will occur. At this point the processing module 12 is required to determine again the intermediate point in order to update the drone return path.

In a preferred embodiment of the present application, in order for the processing module 12 to quickly determine the intermediate point, the processing module 12 may default to a ratio R of a first distance between the return point and the intermediate point to a second distance between the intermediate point and the stop point to be 1. After the receiving module 11 receives the third operation instruction, the processing module 12 correspondingly determines a new stop point again according to the position information in the third operation instruction. The processing module 12 may then determine a new intermediate point quickly by setting a ratio between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point to 1, so as to determine a new return path of the unmanned aerial vehicle.

When processing the mouldBlock 12 determines the return point E ₁ Stop point E ₃ After that, the processing module 12 may determine the intermediate point E according to a preset ratio r=1 between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point ₂ . I.e. the processing module 12 determines the return point E ₁ Stop point E ₃ The 1/2 position of the space connecting straight line distance between the two is the middle point E ₂ . The processing module 12 then determines the return point E ₁ Intermediate point E ₂ And a stop point E ₃ And initializing a return path of the unmanned aerial vehicle.

The user then points at stop E in the map application ₃ Dragging is carried out, and a third operation instruction is generated. The receiving module 11 receives the third operation instruction. The processing module 12 can correspondingly determine the new stop point E again according to the position information in the third operation instruction ₃₁ . Return trip point E ₁ Is unchanged. The processing module 12 may be based on the shutdown point E ₃₁ And return point E ₁ The distance between the two points, and a preset ratio R=1 between the first section distance between the return points and the middle point and the second section distance between the middle point and the stop point, and determining a middle point E meeting the preset ratio relation of the return path of the unmanned aerial vehicle ₂₁ So that the processing module 12 can determine a new return path.

the processing module 12 is further configured to:

It can be understood that the fourth operation instruction for the intermediate point received by the receiving module 11 is an operation instruction that the processing module 12 adjusts the intermediate point again in the man-machine interaction interface of the map application program after determining the initial intermediate point. Or the user adjusts the geographic position parameters of the intermediate point again. When the preset middle point is adjusted, it means that the preset position of the unmanned plane for adjusting the landing strategy is adjusted by the user, so that a new middle point can appear. At this time, the position of the unmanned aerial vehicle for adjusting the landing strategy is changed, and the ratio between the first section distance between the return point and the new intermediate point and the second section distance between the new intermediate point and the stopping point is also changed, so that the processing module 12 is required to update the return path of the unmanned aerial vehicle.

For another example, in still another embodiment provided by the present application, the unmanned aerial vehicle 100 further includes:

a recording module 13, configured to record a ratio between a first distance between the return point and the intermediate point and a second distance between the intermediate point and the stop point after receiving a fourth operation instruction;

the receiving module 11 is further configured to:

the processing module 12 is further configured to:

It will be appreciated that after the receiving module 11 receives the fourth operation instruction for the intermediate point from the user in the map application, the processing module 12 determines a new intermediate point. At this time, the position of the unmanned aerial vehicle for adjusting the landing strategy is changed. The ratio between the first distance between the return point and the new intermediate point and the second distance between the new intermediate point and the stop point also changes. The required recording module 13 records the ratio of the first section distance between the return point and the middle point to the second section distance between the middle point and the stop point after receiving the fourth operation instruction, so that the path planning can be facilitated, and the path planning efficiency can be improved.

The fifth operation instruction for the return point, which is received by the receiving module 11, is an operation instruction that the processing module 12 determines the intermediate point according to the position information in the fourth operation instruction, and then the user adjusts the return point again in the man-machine interaction interface of the map application program. So that a new return point occurs. At this time, the position information of the return point is changed, the intermediate point needs to be determined again, and the return path of the unmanned aerial vehicle needs to be updated.

Specifically, after the receiving module 11 receives the fifth operation instruction, the processing module 12 correspondingly determines the new return point again according to the position information in the fifth operation instruction. The processing module 12 then makes the ratio between the first distance between the new return points and the new intermediate points and the second distance between the new intermediate points and the original stop points relatively unchanged with respect to the ratio between the first distance between the return points and the intermediate points and the second distance between the intermediate points and the stop points after receiving the fourth operation instruction, so that the new intermediate points can be determined, and thus, the new unmanned aerial vehicle return path can be determined.

The user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to generate a first operation instruction. The receiving module 11 receives the first operation instruction. The processing module 12 may be based on the mission course starting point S ₁ Converting the return point E which is at a first preset distance from the starting point of the mission route ₁ To further determine the return point E ₁ . The processing module 12 may also be based on the mission course starting point S ₁ Converting the intermediate point E of the second preset distance from the starting point of the mission route ₂ To determine the intermediate point E ₂ . The processing module 12 may also be based on the mission course starting point S ₁ Is converted into a stop point E which is at a third preset distance from the starting point of the mission route ₃ To determine the stopPoint E ₃ 。

User to initial intermediate point E in map application program ₂ Dragging is carried out, and a fourth operation instruction is generated. The receiving module 11 receives the fourth operation instruction. The processing module 12 can correspondingly determine the new intermediate point E again according to the position information in the fourth operation instruction ₂₁ . Return trip point E ₁ And a stop point E ₃ Is unchanged. After the fourth operation instruction is received, the recording module 13 records the return point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ 。

The user then sets the initial return point E in the map application ₁ And dragging to generate a fifth operation instruction. The receiving module 11 receives the fifth operation instruction. The processing module 12 can correspondingly determine the new return point E again according to the position information in the fifth operation instruction ₁₁ . Stop point E ₃ Is unchanged. The processing module 12 then proceeds to the return point E ₁₁ And a stop point E ₃ Distance between each other and return point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ Determining an intermediate point E meeting preset ratio relation of return paths of unmanned aerial vehicle in the last state ₂₂ The processing module 12 thus determines the return path for the current state.

the receiving module 11 is further configured to:

the processing module 12 is further configured to:

The sixth operation instruction for the stop point received by the receiving module 11 is an operation instruction that the processing module 12 determines the intermediate point according to the position information in the fourth operation instruction, and then the user adjusts the stop point again in the man-machine interaction interface of the map application program. So that a new stop point occurs. At this time, the position information of the stop point is changed, the intermediate point needs to be determined again, and the return path of the unmanned aerial vehicle needs to be updated.

Specifically, after the receiving module 11 receives the sixth operation instruction, the processing module 12 correspondingly determines a new stop point again according to the position information in the sixth operation instruction. The processing module 12 then makes the ratio between the first distance between the original return point and the new intermediate point and the second distance between the new intermediate point and the new stop point relatively unchanged with respect to the ratio between the first distance between the return point and the intermediate point and the second distance between the intermediate point and the stop point after receiving the fourth operation instruction, so that the new intermediate point can be determined, and thus, the new unmanned aerial vehicle return path is determined.

The user takes the control point as a task route starting point S in the map application program ₁ Dragging the control point to generate a first operation instruction. The receiving module 11 receives the first operation instruction. The processing module 12 may be based on the mission course starting point S ₁ Converting the return point E which is at a first preset distance from the starting point of the mission route ₁ To further determine the return point E ₁ . The processing module 12 may also be based on the mission course starting point S ₁ Converting the intermediate point E of the second preset distance from the starting point of the mission route ₂ To determine the intermediate point E ₂ . The processing module 12 may also be based on the mission course starting point S ₁ Is converted into a stop point E which is at a third preset distance from the starting point of the mission route ₃ To determine the stop point E ₃ 。

The user then initiates a stop point E in the map application ₃ Dragging is performed, and a sixth operation instruction is generated. The receiving module 11 receives the sixth operation instruction. The processing module 12 can correspondingly determine the new stop point E again according to the position information in the sixth operation instruction ₃₁ . Return trip point E ₁ Is unchanged. The processing module 12 then proceeds to the return point E ₁ And a stop point E ₃₁ Distance between each other and return point E ₁ Intermediate point E ₂₁ A first distance from the middle point E ₂₁ Stop point E ₃ Ratio R between the second distances ₁ Determining an intermediate point E meeting preset ratio relation of return paths of unmanned aerial vehicle in the last state ₂₂ The processing module 12 thus determines the return path for the current state.

In the specific implementation process of the unmanned aerial vehicle 100, the receiving module 11 receives an operation instruction of a user aiming at a return point, a middle point or a stop point in a map application program, and the processing module 12 determines the return point, the middle point and the stop point, so that an initialized return path is determined quickly, and the operation is greatly simplified. The recording module 13 records the proportional relation of the distances among the return points, the middle points and the stop points, so that the processing module 12 can quickly generate a return path with unchanged inter-waypoint distance proportion, and the degree of intellectualization is improved.

The embodiment of the application also provides electronic equipment. The electronic device includes:

a memory for storing a computer program;

and the processor is used for executing the computer program stored on the memory.

When the processor executes the computer program stored on the memory, the following steps are implemented: first, a first operation instruction of a user for a task route starting point in a map application program is received. And then, determining the starting point of the mission route according to the position information in the first operation instruction. Determining the position information of a return point which keeps a first preset distance from the starting point of the mission route according to the position information in the first operation instruction; and determining the return point according to the position information of the return point. Determining the position information of an intermediate point which keeps a second preset distance with the starting point of the mission route according to the position information in the first operation instruction; and determining the intermediate point according to the position information of the intermediate point. Determining the position information of a stop point which keeps a third preset distance from the starting point of the mission route according to the position information in the first operation instruction; and determining the stop point according to the position information of the stop point.

In one embodiment of the present application, a processor runs the computer program to implement the following steps: and acquiring the actual geographic position of a control point of a man-machine interaction interface of a map application program of the terminal, and obtaining the position information of the starting point of the mission route. Specifically, the control point is used as a starting point of a mission route, and the actual geographic position of the control point is converted according to the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position. And determining the starting point of the mission route according to the position information of the starting point of the mission route. And respectively determining a return point which keeps a first preset distance with the mission route starting point, a middle point which is a second preset distance from the mission route starting point and a stop point which is a third preset distance from the mission route starting point according to the position information of the mission route starting point. The map application program can quickly obtain the position information of the starting point of the current task route only by determining the control point in the man-machine interaction interface of the map application program of the terminal, so that the position information of the return point, the middle point or the stop point is determined, the operation is simplified, and the intelligent degree is improved.

In a preferred embodiment of the present application, the electronic device is loaded by a drone. When the processor runs the computer program, the following steps are implemented: and determining a corresponding intermediate point at the middle point between the return point and the stop point according to the default position relation of the return point, the intermediate point and the stop point. Specifically, the return path is divided into two sections according to the center point. Wherein the return point and the intermediate point define a first segment of the return path. The intermediate point and the stop point define a second segment of the return path. Based on the ratio of the first segment to the second segment of the return path, a corresponding intermediate point at the midpoint between the return point and the stop point may be determined. In this way, when the processor executes the computer program, the unmanned aerial vehicle has enough time and space for lowering, decelerating, hovering and avoiding the obstacle in the return route to perform state adjustment. The intermediate points generated according to the intermediate point recommendation strategy ensure that the unmanned aerial vehicle not only ensures the fault tolerance rate but also saves the energy consumption when executing the computer program.

In still another specific embodiment provided by the application, the return point, the intermediate point and the stop point are distributed on the same straight line.

That is, the processor executes the computer program, so that the situation that the unmanned aerial vehicle turns, floats and the like in the return process and has potential safety hazards is avoided, the risk of the return process of the unmanned aerial vehicle is reduced, and the return energy consumption of the unmanned aerial vehicle according to the return path is minimum.

It should be noted that when receiving an operation instruction of a user in a map application program for initializing a return point, an initialization intermediate point or an initialization stop point in a return path of the unmanned aerial vehicle, the return point, the intermediate point and the stop point need to be determined again, and a new return path of the unmanned aerial vehicle needs to be determined again.

In yet another embodiment provided by the present application, a processor runs the computer program to implement the steps of: receiving a second operation instruction aiming at a return point in the map application program;

In yet another embodiment provided by the present application, a processor runs the computer program to implement the steps of: receiving a third operation instruction aiming at a stop point in the map application program by a user;

In yet another embodiment provided by the present application, a processor runs the computer program to implement the steps of: receiving a fourth operation instruction aiming at the middle point in the map application program;

In yet another embodiment of the present application, the computer program may be configured to record a ratio between a first distance between the return point and the intermediate point and a second distance between the intermediate point and the stop point after receiving a fourth operation instruction;

In yet another embodiment provided by the present application, a processor runs the computer program to implement the steps of: recording the ratio of the first section of distance between the return point and the middle point to the second section of distance between the middle point and the stopping point after receiving a fourth operation instruction;

Specifically, when the processor executes the computer program stored in the memory, the ratio of the first distance between the return point and the intermediate point to the second distance between the intermediate point and the stop point may be recorded.

A processor runs the computer program to implement the steps of: and determining the position information of the middle point of the current path plan according to the position information of the given return point and the position information of the stop point and the ratio between the recorded first section and the second section of the path plan, namely the ratio between the return point of the path plan and the first section of the return path defined by the middle point and the second section of the return path defined by the middle point of the return path and the stop point. It will be appreciated that the storage of the ratio of the first segment of the return path to the second segment of the return path by the processor may facilitate path planning and provide path planning efficiency.

The embodiment of the application also provides a computer readable storage medium. The computer readable storage medium stores a computer program which, when called, can perform the steps of:

receiving a first operation instruction aiming at a task route starting point in a map application program; determining a task route starting point according to the position information in the first operation instruction; determining the position information of a return point which keeps a first preset distance from the starting point of the mission route according to the position information in the first operation instruction; determining a return point according to the position information of the return point; determining the position information of an intermediate point which keeps a second preset distance with the starting point of the mission route according to the position information in the first operation instruction; determining an intermediate point according to the position information of the intermediate point; determining the position information of a stop point which keeps a third preset distance from the starting point of the mission route according to the position information in the first operation instruction; and determining the stop point according to the position information of the stop point.

The embodiment of the application also provides an operation terminal. The operation terminal can perform information processing and program running. In general, the operation terminal may have a wireless transceiving function, or a networking function. In a specific implementation form, the operation terminal may be a terminal device with information processing, such as a computer, a smart phone, a palm computer, and a mobile internet device.

In a specific embodiment of the present application, the operation terminal is installed with a map application program. The operation terminal supports the user to set the position information of the return point, the middle point and the stop point in a parameter setting mode. The operation terminal supports the user to set the position information of the return point, the middle point and the stop point by means of the control point of the man-machine interaction interface of the map application program of the operation terminal. Specifically, the control point is used as a return point, an intermediate point or a stop point by the operation terminal. And the operation terminal converts the position of the control point relative to the man-machine interaction interface of the map application program and the corresponding relation between the map application program and the actual position into the actual geographic position of the control point. The user can quickly obtain the position information of the current return point, the middle point or the stop point only by determining the control point in the man-machine interaction interface of the map application program of the operation terminal. The specific way of determining the control point by the operation terminal may be to click a mouse, a cursor or other location identifier at a certain position in the man-machine interaction interface of the map application program, or may also be to cause the mouse, the cursor or other location identifier to stay at a certain position. The operation terminal can send the actual geographic position of the control point to a processor of intelligent equipment such as an unmanned plane, a computer and the like. The method is convenient for intelligent equipment such as unmanned aerial vehicles, computers and the like to acquire the position information of the return points, the intermediate points and the stop points, so that the return path of the unmanned aerial vehicle is planned.

It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the statement "comprises" or "comprising" an element defined by … … does not exclude the presence of other identical elements in a process, method, article or apparatus that comprises the element.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media. Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims

1. The unmanned aerial vehicle return route planning method is characterized by comprising the following steps of:

wherein, the return point, the intermediate point and the stop point define a return path of the unmanned aerial vehicle;

the return points, the intermediate points and the stopping points are distributed on the same straight line, and the intermediate points are positioned between the return points and the stopping points;

the method further comprises the steps of:

2. The method of claim 1, wherein the intermediate point is located in a spatial intermediate position between the return point and the shutdown point.

3. The method of claim 1, wherein the method further comprises:

4. A method as claimed in claim 3, wherein the intermediate point is located on a line formed by both the return point and the stop point.

5. The method of claim 4, wherein the method further comprises:

6. The method of claim 4, wherein the method further comprises:

7. An unmanned aerial vehicle, comprising:

a receiving module for:

a processing module for:

the receiving module is further configured to:

the processing module is further configured to:

8. The drone of claim 7, wherein the intermediate point is located in a spatial intermediate position of both the return point and the shutdown point.

9. The drone of claim 7, wherein the receiving module is further to:

the processing module is further configured to:

10. The drone of claim 9, wherein the intermediate point is located on a line formed by both the return point and the shutdown point.

11. The unmanned aerial vehicle of claim 10, wherein the unmanned aerial vehicle further comprises:

the receiving module is further configured to:

the processing module is further configured to:

12. The unmanned aerial vehicle of claim 10, wherein the unmanned aerial vehicle further comprises:

the receiving module is further configured to:

the processing module is further configured to:

13. An electronic device, the electronic device comprising:

a memory for storing a computer program;

a processor for executing the computer program stored on the memory;

the method of any of claims 1-6 being implemented when a processor executes a computer program stored on said memory.

14. A computer readable storage medium, characterized in that a computer program is stored, which, when called, implements the method of any of claims 1-6.