CN116954245B

CN116954245B - Unmanned aerial vehicle control method and device, mobile machine nest and storage medium

Info

Publication number: CN116954245B
Application number: CN202311167463.2A
Authority: CN
Inventors: 王溪; 孙昊宇; 占娜; 白晨; 冯安瑾; 刘静娟; 李硕瑜; 王勤; 谢敬龙
Original assignee: Hubei Central China Technology Development Of Electric Power Co ltd
Current assignee: Hubei Central China Technology Development Of Electric Power Co ltd
Priority date: 2023-09-12
Filing date: 2023-09-12
Publication date: 2023-12-01
Anticipated expiration: 2043-09-12
Also published as: CN116954245A

Abstract

The invention discloses a control method and device of an unmanned aerial vehicle, a mobile machine nest and a storage medium, wherein the method is applied to the mobile machine nest, and the mobile machine nest is in communication connection with a first unmanned aerial vehicle to be landed, and comprises the following steps: under the condition that a landing request of a first unmanned aerial vehicle is received, acquiring environment information, equipment parameter information and first position information of an environment where the first unmanned aerial vehicle is located, determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to second position information and first position information of the mobile nest, determining a target moving route of the mobile nest according to the environment information and the equipment parameter information, correcting the first landing route based on the target moving route to obtain a second landing route of the first unmanned aerial vehicle to the mobile nest, and controlling the first unmanned aerial vehicle to land to the mobile nest according to the second landing route. By adopting the embodiment of the invention, the purpose that the unmanned aerial vehicle accurately drops onto the mobile machine nest can be realized.

Description

Unmanned aerial vehicle control method and device, mobile machine nest and storage medium

Technical Field

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control method and device of an unmanned aerial vehicle, a mobile machine nest and a storage medium.

Background

The unmanned aerial vehicle is an unmanned aerial vehicle which is operated by using a radio remote control device and a self-contained program control device. At present, unmanned aerial vehicles are widely applied to the electric power field, and the intelligent, reliability and convenience of unmanned aerial vehicle application are improved.

In the electric power field, electric power inspection is generally performed by an unmanned aerial vehicle, so as to reduce the cost of manual electric power inspection. After the unmanned aerial vehicle completes the electric power inspection task, the unmanned aerial vehicle needs to be controlled to fall into a designated machine nest to store, charge and the like maintenance operations on the unmanned aerial vehicle. In particular, the landing control of the unmanned aerial vehicle generally depends on a GPS positioning system or a real-time dynamic differential (RealTimeKinematic, RTK) positioning system, and the landing of the unmanned aerial vehicle is controlled through positioning information provided by the positioning system. However, positioning information provided by the GPS positioning system and the RTK positioning system is not accurate enough in positioning accuracy, so that the unmanned aerial vehicle cannot accurately land in a designated unmanned aerial vehicle nest, and further maintenance operations such as storage and charging cannot be performed on the unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention aims to provide a control method and device of an unmanned aerial vehicle, a mobile machine nest and a storage medium, so as to solve the technical problem that the unmanned aerial vehicle cannot accurately land at a designated position.

In a first aspect, an embodiment of the present invention provides a control method of an unmanned aerial vehicle, which is applied to a mobile nest, where the mobile nest is communicatively connected to a first unmanned aerial vehicle to be landed, and the method includes:

acquiring environment information of the environment where the first unmanned aerial vehicle is located, equipment parameter information of the first unmanned aerial vehicle and first position information under the condition that a landing request of the first unmanned aerial vehicle is received;

determining a first landing route of the first unmanned aerial vehicle to the mobile machine nest according to the second position information and the first position information of the mobile machine nest;

determining a target moving route of the mobile nest according to the environment information and the equipment parameter information, wherein the environment information comprises wind speed information, and the equipment parameter information comprises current residual course information of the first unmanned aerial vehicle;

based on the target moving route, correcting the first landing route to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile machine nest;

and controlling the first unmanned aerial vehicle to drop to the mobile nest according to the second drop route.

In some embodiments, a second unmanned aerial vehicle is disposed in the mobile nest, and the first location information includes altitude information;

The determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to the second position information and the first position information of the mobile nest comprises the following steps:

controlling the second unmanned aerial vehicle to fly to a target position corresponding to the height information according to a target flight track, wherein the target flight track comprises a flight track from a second position to the target position, and the second position is a position corresponding to the second position information;

controlling the first unmanned aerial vehicle to fly horizontally to a preset range of the target position;

shooting the first unmanned aerial vehicle and the second unmanned aerial vehicle through a camera shooting assembly in the mobile machine nest to obtain a first image containing the first unmanned aerial vehicle and the second unmanned aerial vehicle;

determining an actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to a first distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle in the first image;

and determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to the target flight track and the second distance.

In some embodiments, the determining the target movement route of the mobile nest according to the environment information and the device parameter information includes:

Determining actual remaining course information of the first unmanned aerial vehicle according to the wind speed information and the current remaining course information;

determining a target flight range of the first unmanned aerial vehicle according to the actual remaining range information and a first position, wherein the first position is a position corresponding to the first position information;

and determining a target moving route of the mobile phone nest according to a second position and the target flight range, wherein the second position is a position corresponding to the second position information.

In some embodiments, the determining the target flight range of the first unmanned aerial vehicle according to the actual remaining range information and the first position includes:

determining an initial flight range of the first unmanned aerial vehicle according to the actual remaining range information and the first position;

acquiring a second image shot by the first unmanned aerial vehicle, wherein the second image comprises an object in the initial flight range;

identifying and marking a first obstacle in the second image to obtain a first obstacle position, wherein the first obstacle is an air obstacle influencing the landing of the first unmanned aerial vehicle;

and removing the first obstacle position from the initial flight range to obtain a target flight range of the first unmanned aerial vehicle.

In some embodiments, prior to the step of determining the target travel route for the mobile nest based on the second location and the target flight range, the method further comprises:

acquiring a third image shot by the first unmanned aerial vehicle, wherein the third image comprises an object in the initial flight range and the mobile aircraft nest;

identifying and marking a second obstacle in the third image to obtain a second obstacle position, wherein the second obstacle is a ground obstacle influencing the movement of the mobile phone nest;

the determining the target moving route of the mobile machine nest according to the second position and the target flight range comprises the following steps:

determining a route from the second position to any position in the target flight range as an initial movement route of the mobile nest;

and adding the second obstacle position serving as an obstacle into the initial moving route to correct the initial moving route so as to obtain a target moving route of the mobile nest.

In some embodiments, the correcting the first landing route based on the target moving route to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest includes:

Determining a third distance between a starting position and an ending position of the target moving route;

and correcting the first landing route according to the first landing route and the third distance to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

In some embodiments, the correcting the first landing route according to the first landing route and the third distance to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest includes:

determining a first relative position of a second position relative to a first position in a preset coordinate system according to the first landing route, wherein the first position is a position corresponding to the first position information, and the second position is a position corresponding to the second position information;

determining a second relative position of the end position of the target moving route relative to the second position according to the third distance;

determining a relative distance and a relative angle between the first position and the end position of the target moving route according to a set relative distance calculation formula, a relative angle calculation formula, coordinates of the first position and coordinates of the second relative position;

And adjusting the first landing route according to the relative distance and the relative angle to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

In a second aspect, an embodiment of the present invention provides a control device of an unmanned aerial vehicle, which is applied to a mobile nest, and the mobile nest is communicatively connected with a first unmanned aerial vehicle to be landed, and includes:

the first acquisition module is used for acquiring environment information of the environment where the first unmanned aerial vehicle is located, equipment parameter information of the first unmanned aerial vehicle and first position information under the condition that a landing request of the first unmanned aerial vehicle is received;

the first determining module is used for determining a first landing route of the first unmanned aerial vehicle to the mobile machine nest according to the second position information and the first position information of the mobile machine nest;

the second determining module is used for determining a target moving route of the mobile aircraft nest according to the environment information and the equipment parameter information, wherein the environment information comprises wind speed information, and the equipment parameter information comprises current residual course information of the first unmanned aerial vehicle;

the correction module is used for correcting the first landing route based on the target moving route to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile machine nest;

And the control module is used for controlling the first unmanned aerial vehicle to drop to the mobile nest according to the second drop route.

the first determining module includes: a first control unit, a second control unit, a first shooting unit, a first determination unit, and a second determination unit;

the first control unit is used for controlling the second unmanned aerial vehicle to fly to a target position corresponding to the height information according to a target flight track, wherein the target flight track comprises a flight track from a second position to the target position, and the second position is a position corresponding to the second position information;

the second control unit is used for controlling the first unmanned aerial vehicle to fly horizontally to a preset range of the target position;

the first shooting unit is used for shooting the first unmanned aerial vehicle and the second unmanned aerial vehicle through a camera shooting assembly in the mobile machine nest to obtain a first image containing the first unmanned aerial vehicle and the second unmanned aerial vehicle;

the first determining unit is configured to determine an actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to a first distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle in the first image;

The second determining unit is used for determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to the target flight track and the second distance.

In some embodiments, the second determining module includes: a third determination unit, a fourth determination unit, and a fifth determination unit;

the third determining unit is used for determining actual remaining course information of the first unmanned aerial vehicle according to the wind speed information and the current remaining course information;

the fourth determining unit is configured to determine, according to the actual remaining range information and a first position, a target flight range of the first unmanned aerial vehicle, where the first position is a position corresponding to the first position information;

and the fifth determining unit is used for determining a target moving route of the mobile aircraft nest according to a second position and the target flight range, wherein the second position is a position corresponding to the second position information.

In some embodiments, the fourth determining unit is specifically configured to: determining an initial flight range of the first unmanned aerial vehicle according to the actual remaining range information and the first position; acquiring a second image shot by the first unmanned aerial vehicle, wherein the second image comprises an object in the initial flight range; identifying and marking a first obstacle in the second image to obtain a first obstacle position, wherein the first obstacle is an air obstacle influencing the landing of the first unmanned aerial vehicle; and removing the first obstacle position from the initial flight range to obtain a target flight range of the first unmanned aerial vehicle.

In some embodiments, the second determination module further comprises: an acquisition unit, an identification unit;

the acquisition unit is used for acquiring a third image shot by the first unmanned aerial vehicle, wherein the third image comprises an object in the initial flight range and the mobile aircraft nest;

the identifying unit is used for identifying and marking a second obstacle in the third image to obtain a second obstacle position, wherein the second obstacle is a ground obstacle influencing the movement of the mobile phone nest;

the fifth determining unit is specifically configured to: determining a route from the second position to any position in the target flight range as an initial movement route of the mobile nest; and adding the second obstacle position serving as an obstacle into the initial moving route to correct the initial moving route so as to obtain a target moving route of the mobile nest.

In some embodiments, the correction module includes: a sixth determination unit, a correction unit;

wherein the sixth determining unit is configured to determine a third distance between a start position and an end position of the target moving route;

And the correction unit is used for correcting the first landing route according to the first landing route and the third distance to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

In some embodiments, the correction unit is specifically configured to: determining a first relative position of a second position relative to a first position in a preset coordinate system according to the first landing route, wherein the first position is a position corresponding to the first position information, and the second position is a position corresponding to the second position information; determining a second relative position of the end position of the target moving route relative to the second position according to the third distance; determining a relative distance and a relative angle between the first position and the end position of the target moving route according to a set relative distance calculation formula, a relative angle calculation formula, coordinates of the first position and coordinates of the second relative position; and adjusting the first landing route according to the relative distance and the relative angle to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

In a third aspect, an embodiment of the present invention provides a mobile nest, where the mobile nest includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the control method of the unmanned aerial vehicle according to any one of the above when executing the computer program.

In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps in the method for controlling a drone of any one of the above.

The embodiment of the invention provides a control method, a control device, a mobile nest and a storage medium of a first unmanned aerial vehicle.

Drawings

Fig. 1 is an application scenario of unmanned aerial vehicle landing provided by an embodiment of the present invention;

Fig. 2 is a schematic flow chart of a control method of the unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of determining a first landing route of a first unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 4a is a schematic illustration of a first descent route provided by an embodiment of the present disclosure;

FIG. 4b is a schematic illustration of a first descent route provided by an embodiment of the present disclosure;

fig. 5 is a schematic diagram of a first unmanned aerial vehicle in the presence of a wind speed V according to an embodiment of the present invention ₁ Schematic diagram in the scene of (a);

FIG. 6a is a schematic diagram of obtaining a target flight range according to an embodiment of the present invention;

FIG. 6b is a schematic illustration of a third image provided by an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 8 is a schematic view of a structure of a mobile nest according to an embodiment of the present invention;

fig. 9 is a schematic diagram of another embodiment of a mobile nest according to the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.

In the electric power field, electric power inspection is generally performed by an unmanned aerial vehicle, so as to reduce the cost of manual electric power inspection. After the unmanned aerial vehicle completes the electric power inspection task, the unmanned aerial vehicle needs to be controlled to fall into a designated machine nest to store, charge and the like maintenance operations on the unmanned aerial vehicle. Specifically, the landing control of the unmanned aerial vehicle generally depends on a GPS positioning system or a real-time dynamic differential (RealTimeKinematic, RTK) positioning system, and the landing of the unmanned aerial vehicle is controlled by positioning information determined by the positioning system. However, positioning information provided by the GPS positioning system and the RTK positioning system is not accurate enough in positioning accuracy, so that the unmanned aerial vehicle cannot accurately land in a designated unmanned aerial vehicle nest, and further maintenance operations such as storage and charging cannot be performed on the unmanned aerial vehicle.

In order to solve the problem of the long-standing problem of the safe landing of the unmanned aerial vehicle in the related art, please refer to fig. 1, fig. 1 is an application scenario of the landing of the unmanned aerial vehicle provided by the embodiment of the present invention, where the application scenario includes an unmanned aerial vehicle 101 and a nest 102, where the nest 102 is configured to receive the landing unmanned aerial vehicle 101, it can be understood that the nest 102 may have different expression forms in different application scenarios, and the nest 102 may be a device for receiving the unmanned aerial vehicle in any one of the following application scenarios: mobile nests such as ship nests, car nests, train nests, etc., and the nests 102 may also be configured with power supply means such as: the nest 102 may be configured with a corresponding external power supply or solar power supply, etc. to enable adjustment of the location information of the nest 102.

Based on the above application scenario, the present embodiment provides a control method of an unmanned aerial vehicle, which is applied to a mobile nest, wherein the mobile nest is in communication connection with a first unmanned aerial vehicle to be landed, please refer to fig. 2, fig. 2 is a schematic flow chart of the control method of the unmanned aerial vehicle provided by the embodiment of the present invention, and the method includes steps 201 to 205;

step 201, acquiring environment information of an environment where the first unmanned aerial vehicle is located, and equipment parameter information and first position information of the first unmanned aerial vehicle under the condition that a landing request of the first unmanned aerial vehicle is received.

In this embodiment, the environmental information provided in this embodiment may be obtained by a sensor mounted on the first unmanned aerial vehicle, for example, a wind speed sensor, a wind direction sensor, an air pressure sensor, and the like. The environmental information of the current position can also be determined by acquiring weather broadcast information of the region where the first unmanned aerial vehicle and the mobile phone nest are located. It is to be understood that the environmental information provided in this embodiment may include environmental information such as wind speed, wind direction, air pressure, temperature and humidity, rainfall, illumination, and the like, which is not limited herein.

The device parameter information of the first unmanned aerial vehicle may include information such as flight parameter information and remaining range information of the first unmanned aerial vehicle, and the information may be stored in a storage space of the first unmanned aerial vehicle, so that when the acquired information of the mobile nest is received, the information may be directly transmitted to the mobile nest. The first position information may be obtained by a positioning device of the first unmanned aerial vehicle, and in particular, the positioning device is a GNSS receiver. The Global Navigation Satellite System (GNSS) is a satellite-based positioning technology, such as GPS in the united states, GLONASS in russia, beidou in china, and the like. By equipping the first drone with a GNSS receiver, it is possible to receive the signals transmitted by the plurality of satellites and to determine the first location information of the first drone by calculating the signal propagation time.

In this embodiment, a control chip is installed in the mobile nest provided in this embodiment, and the control chip can control not only the mobile nest but also the first unmanned aerial vehicle. Specifically, the control method of the unmanned aerial vehicle provided by the embodiment is mainly applied to the control chip, and the control chip is used for controlling the mobile nest to be in communication connection with the first unmanned aerial vehicle, so that any request information sent by the first unmanned aerial vehicle can be received in real time, and appointed data can be sent to the first unmanned aerial vehicle in real time, so that real-time communication between the mobile nest and the first unmanned aerial vehicle is realized.

The communication protocol adopted in the communication connection process of the embodiment may be a conventional Mqtt communication protocol, and the adoption of the Mqtt communication protocol can ensure real-time communication between the mobile nest and the first unmanned aerial vehicle. It should be noted that, the communication protocol provided in this embodiment is not limited to the Mqtt communication protocol, but may be any other communication protocol capable of implementing real-time communication between the mobile nest and the first unmanned aerial vehicle, which is not specifically limited herein.

After the mobile nest and the first unmanned aerial vehicle realize real-time communication, the mobile nest can send acquisition information to the first unmanned aerial vehicle as long as the mobile nest receives request information of a landing request sent by the first unmanned aerial vehicle so as to acquire environment information, equipment parameter information and first position information sent by the first unmanned aerial vehicle.

Step 202, determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to the second position information of the mobile nest and the first position information.

In this embodiment, the mobile nest provided in this embodiment may be provided with an RTK positioning system, so as to obtain the second position information of the mobile nest through the RTK positioning system. After the first position information sent by the first unmanned aerial vehicle is received, a first landing route for the first unmanned aerial vehicle to land to the mobile nest can be determined according to the second position information of the mobile nest and the first position information of the first unmanned aerial vehicle.

The first landing route provided in this embodiment may be a straight line route between the second position information and the position corresponding to the first position information, or may be an arc route, which is not limited herein specifically.

In some embodiments, in order to improve the accuracy of the first landing route from the first unmanned aerial vehicle to the mobile nest, the mobile nest provided in this embodiment is provided with the second unmanned aerial vehicle, where the first position information includes height information, where the height information may be determined by a height detection algorithm of the unmanned aerial vehicle, or may be obtained by detecting and obtaining the height information of the current position by a height detection device of the unmanned aerial vehicle, which is not limited herein. Specifically, referring to fig. 3, fig. 3 is a schematic flow chart of determining a first landing route of a first unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 3, the step of determining the first landing route of the first unmanned aerial vehicle to the mobile nest according to the second position information and the first position information of the mobile nest according to the embodiment of the present invention may include steps 301 to 305;

Step 301, controlling the second unmanned aerial vehicle to fly to a target position corresponding to the altitude information according to a target flight track.

The target flight trajectory comprises a flight trajectory from a second position to the target position, and the second position is a position corresponding to the second position information.

Wherein, can be provided with a plurality of holding warehouses in the mobile nest that this embodiment provided, every holding warehouses can all deposit an unmanned aerial vehicle. Therefore, after receiving the landing request of the first unmanned aerial vehicle, the mobile nest provided in this embodiment may detect whether there is a spare accommodation cabin, and if there is a spare accommodation cabin, execute the step of acquiring the environmental information of the environment where the first unmanned aerial vehicle is located, the device parameter information of the first unmanned aerial vehicle, and the first location information.

In this embodiment, the mobile nest provided in this embodiment includes a plurality of storage bins, and there are a storage bin in which the second unmanned aerial vehicle is stored and a free storage bin, so that the second unmanned aerial vehicle in the storage bin can be controlled to fly to a target position with the same height information as the first unmanned aerial vehicle according to the target flight trajectory.

It should be noted that, the target flight trajectory provided in this embodiment may be a vertical flight trajectory, that is, the target position where the second unmanned aerial vehicle is located is directly above the mobile nest; the target flight trajectory provided in this embodiment may also be a straight flight trajectory including an angle, or an arc-shaped flight trajectory, or a flight trajectory combining a straight line and an arc, so long as the height information of the target position where the second unmanned aerial vehicle is located is ensured to be the same as the height information of the first unmanned aerial vehicle, which is not particularly limited herein.

Step 302, controlling the first unmanned aerial vehicle to fly horizontally to a preset range of the target position.

In this embodiment, the preset range provided in this embodiment may be a range of 10 meters, 8 meters, or 5 meters, which is not specifically limited herein, as long as the range does not affect the normal operation of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

And 303, shooting the first unmanned aerial vehicle and the second unmanned aerial vehicle through a camera shooting assembly in the mobile phone nest to obtain a first image containing the first unmanned aerial vehicle and the second unmanned aerial vehicle.

In this embodiment, the shooting component of the mobile nest is facilitated by setting the preset range smaller, and the first unmanned aerial vehicle and the second unmanned aerial vehicle are shot to obtain a first image including the first unmanned aerial vehicle and the second unmanned aerial vehicle.

Step 304, determining an actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the first distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle in the first image.

In this embodiment, after obtaining the first image including the first unmanned aerial vehicle and the second unmanned aerial vehicle, the present embodiment may determine the actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the actual size of the second unmanned aerial vehicle and the first distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle in the first image. Specifically, in this embodiment, the second unmanned aerial vehicle is used as a reference object, a dimensional relationship between an actual size of the second unmanned aerial vehicle and a size of the second unmanned aerial vehicle in the first image is calculated, and an actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle can be determined according to the calculated dimensional relationship and the first distance in the first image.

Step 305, determining a first landing route for the first unmanned aerial vehicle to land to the mobile nest according to the target flight track and the second distance.

After the actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is calculated, a first landing route from the first unmanned aerial vehicle to the mobile nest can be determined according to the target flight track and the second distance of the second unmanned aerial vehicle.

In some embodiments, referring to fig. 4a, fig. 4a is a schematic diagram of a first landing route provided by an embodiment of the present invention, and as shown in fig. 4a, the first landing route provided by the embodiment may include a first route from a first unmanned aerial vehicle to a second unmanned aerial vehicle at a second distance, and a second route from the second location to a target location. Specifically, because the first route determined according to the actual second distance is more accurate relative to the route determined according to the positioning information, and the target flight track (i.e., the second route) flown by the second unmanned aerial vehicle can also be recorded in real time, so that the accuracy of the second route can be ensured. Therefore, the first unmanned aerial vehicle can land according to the first landing route, namely, the first unmanned aerial vehicle flies according to the first route and then flies according to the second route, and can accurately land on the mobile nest.

In other embodiments, referring to fig. 4b, fig. 4b is a schematic diagram of a first landing route provided by the embodiment of the present invention, as shown in fig. 4b, the first landing route provided by the embodiment may also be a first route that forms a triangle with a second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and a second route that the second unmanned aerial vehicle flies from the second location to the target location, that is, a third side of the triangle formed with the first route and the second route in fig. 4 b. Specifically, according to the embodiment, the third side of the triangle, that is, the flight direction and the distance of the first landing route provided by the embodiment, can be accurately calculated according to the angle between the first route and the second route and the length (distance) of the first route and the second route, so that the first unmanned aerial vehicle can accurately land on the mobile nest according to the first landing route.

In this embodiment, since the landing route of the unmanned aerial vehicle is determined by the positioning system in the related art, the accuracy of the positioning information provided by the positioning system is not accurate enough. Therefore, the first landing route of the first unmanned aerial vehicle is not determined by adopting the positioning information, but the calculated actual distance is used as the first landing route of the first unmanned aerial vehicle, so that the accuracy of landing of the first unmanned aerial vehicle to the mobile nest is effectively improved.

And step 203, determining a target moving route of the mobile machine nest according to the environment information and the equipment parameter information.

The environment information comprises wind speed information, and the equipment parameter information comprises current residual range information of the first unmanned aerial vehicle.

In some embodiments, the step of determining the target moving route of the mobile nest according to the environmental information and the device parameter information provided in this embodiment may include: determining actual remaining course information of the first unmanned aerial vehicle according to the wind speed information and the current remaining course information; determining a target flight range of the first unmanned aerial vehicle according to the actual remaining range information and a first position, wherein the first position is a position corresponding to the first position information; and determining a target moving route of the mobile phone nest according to a second position and the target flight range, wherein the second position is a position corresponding to the second position information.

In this embodiment, the actual remaining range information of the first unmanned aerial vehicle is obtained through calculation according to a preset actual remaining range calculation formula. Specifically, the actual remaining range calculation formula provided in this embodiment may be:

Wherein S is ₁ Is the actual remaining range information of the first unmanned aerial vehicle, S ₀ For the current remaining range information of the first unmanned aerial vehicle, V ₁ As the wind speed information,and influencing the interference coefficient of the first unmanned aerial vehicle flight for the preset wind speed.

Referring to fig. 5, fig. 5 is a schematic diagram of a first unmanned aerial vehicle with a wind speed V according to an embodiment of the present invention ₁ The first unmanned aerial vehicle can be determined through the actual remaining course calculation formula, the current remaining course information and the wind speed information of the first unmanned aerial vehicle provided by the embodimentIs provided for the actual remaining voyage information of the vehicle. Specifically, when the calculated actual remaining range information of the first unmanned aerial vehicle is a positive number, the current wind speed is smaller, and the actual remaining range is the distance that the first unmanned aerial vehicle can fly; when the calculated actual remaining range information of the first unmanned aerial vehicle is 0, the current wind speed is large, and the first unmanned aerial vehicle can only resist wind hovering and cannot fly; when the calculated actual remaining range information of the first unmanned aerial vehicle is negative, the current wind speed is excessively large, the first unmanned aerial vehicle cannot keep the state of the first unmanned aerial vehicle, and the flight safety of the unmanned aerial vehicle is affected by the blowing and turning.

In this embodiment, after determining the actual remaining range information of the first unmanned aerial vehicle, the target flight range that the first unmanned aerial vehicle can reach may be determined according to the current first position of the first unmanned aerial vehicle and the distance of the actual remaining range information, that is, the position of the first unmanned aerial vehicle corresponding to the ground in fig. 5, and the distance of the actual remaining range information may be added, so as to obtain the target flight range that the first unmanned aerial vehicle can reach on the ground.

As an alternative embodiment, after determining the target flight range, the present embodiment may determine, as the target movement route of the mobile nest, a route from the second location where the mobile nest is located to any point on the ground corresponding to the target flight range of the first unmanned aerial vehicle.

In some embodiments, in order to improve the accuracy of the first unmanned aerial vehicle landing to the mobile nest, the step of determining the target flight range of the first unmanned aerial vehicle according to the actual remaining range information and the first position provided in this embodiment may include: determining an initial flight range of the first unmanned aerial vehicle according to the actual remaining range information and the first position; acquiring a second image shot by the first unmanned aerial vehicle, wherein the second image comprises an object in the initial flight range; identifying and marking a first obstacle in the second image to obtain a first obstacle position, wherein the first obstacle is an air obstacle influencing the landing of the first unmanned aerial vehicle; and removing the first obstacle position from the initial flight range to obtain a target flight range of the first unmanned aerial vehicle.

Referring to fig. 6a, fig. 6a is a schematic diagram of obtaining a target flight range according to an embodiment of the present invention, as shown in fig. 6a, in this embodiment, a first unmanned aerial vehicle photographs the initial flight range, and sends a second image obtained by photographing to a mobile nest for the mobile nest to identify and mark a first obstacle in the second image, where the first obstacle may be an aerial obstacle affecting the first unmanned aerial vehicle to fly in the air, such as a tree, a high-voltage tower, etc. shown in fig. 6 a. After the mobile aircraft nest identifies and marks the first obstacle in the initial flight range, the first obstacle position is removed from the initial flight range to obtain a target flight range shown on the right side of fig. 6a, and no air obstacle influencing the first unmanned aerial vehicle to fly in the air exists in the target flight range, so that the landing safety and the landing accuracy of the first unmanned aerial vehicle are effectively ensured.

It should be noted that, the target flight range provided in this embodiment is a range in which the first unmanned aerial vehicle can safely fly, and is not a range in which the first unmanned aerial vehicle can safely land, where the ground range corresponding to the target flight range may include other ground obstacles, but does not affect the flight of the first unmanned aerial vehicle.

The first obstacle in the second image is identified by adopting a pre-trained first target detection model, and the pre-trained first target detection model can detect an air obstacle affecting the first unmanned aerial vehicle to fly in the air in the second image. Thus, the first obstacle in the initial flight range can be quickly determined.

In other embodiments, in order to further improve the accuracy of the first unmanned aerial vehicle landing to the mobile nest, the control method of the unmanned aerial vehicle provided in this embodiment may further include, before the step of determining the target movement route of the mobile nest according to the second position and the target flight range: acquiring a third image shot by the first unmanned aerial vehicle, wherein the third image comprises an object in the initial flight range and the mobile aircraft nest; and identifying and marking a second obstacle in the third image to obtain a second obstacle position, wherein the second obstacle is a ground obstacle influencing the movement of the mobile phone nest.

Referring to fig. 6b, fig. 6b is a schematic diagram of a third image provided by the embodiment of the present invention, where, as shown in fig. 6b, the third image includes the second image, and the third image includes not only an air obstacle (first obstacle) affecting the flight of the first unmanned aerial vehicle, but also a ground obstacle (second obstacle) affecting the movement of the mobile nest, such as a house, a tree, a river, a hillside, a high-voltage tower, and other ground obstacles shown in fig. 6 b. Specifically, the embodiment may detect the third image by using a pre-trained second target detection model, where the pre-trained second target detection model can detect a ground obstacle in the third image that affects the movement of the mobile nest on the ground. Thus, the second obstacle in the third image can be rapidly determined.

In this embodiment, after identifying and identifying the second obstacle in the third image, the step of determining the target moving route of the mobile nest according to the second position and the target flight range provided in this embodiment may include: determining a route from the second position to any position in the target flight range as an initial movement route of the mobile nest; and adding the second obstacle position serving as an obstacle into the initial moving route to correct the initial moving route so as to obtain a target moving route of the mobile nest.

Through adding the second barrier position as the barrier to the initial travel route in, not only can guarantee the security of mobile machine nest, can also guarantee that first unmanned aerial vehicle can drop in the position of safety, further improved the precision that first unmanned aerial vehicle dropped to mobile machine nest.

And 204, correcting the first landing route based on the target moving route to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

In this embodiment, since the first unmanned aerial vehicle may not only have an influence on the first unmanned aerial vehicle due to the wind speed in the flight process, but also have the air and ground obstacles mentioned in the above embodiment to influence the safe landing of the first unmanned aerial vehicle, the first landing route of the first unmanned aerial vehicle needs to be corrected, so as to avoid the influence on the landing of the first unmanned aerial vehicle due to the wind speed, the air obstacle and the ground obstacle, thereby improving the landing accuracy of the first unmanned aerial vehicle. Specifically, the step of correcting the first landing route based on the target moving route to obtain the second landing route for the first unmanned aerial vehicle to land to the mobile nest according to the present embodiment may include: determining a third distance between a starting position and an ending position of the target moving route; and correcting the first landing route according to the first landing route and the third distance to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

The first landing route and the third distance provided by the embodiment are accurate displacement data, the first landing route of the first unmanned aerial vehicle is corrected according to the position after the displacement of the accurate displacement data through the mobile nest, the accurate displacement data of the first unmanned aerial vehicle can be obtained, namely, the second landing route, compared with the positioning data provided by the positioning system in the related technology, the landing route of the unmanned aerial vehicle is corrected, and the accuracy of the landing route of the unmanned aerial vehicle can be effectively improved.

In some embodiments, the step of correcting the first landing route according to the first landing route and the third distance to obtain the second landing route for the first unmanned aerial vehicle to land to the mobile nest may include: determining a first relative position of a second position relative to a first position in a preset coordinate system according to the first landing route, wherein the first position is a position corresponding to the first position information, and the second position is a position corresponding to the second position information; determining a second relative position of the end position of the target moving route relative to the second position according to the third distance; determining a relative distance and a relative angle between the first position and the end position of the target moving route according to a set relative distance calculation formula, a relative angle calculation formula, coordinates of the first position and coordinates of the second relative position; and adjusting the first landing route according to the relative distance and the relative angle to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

As an alternative embodiment, the first unmanned aerial vehicle provided in this embodiment may determine the coordinates of the first position where the first unmanned aerial vehicle is located, with reference to the coordinate axes of the geodetic coordinate system (the ground coordinate system of the ground is formed by the X axis and the Y axis, and the Z axis is the coordinate axis perpendicular to the ground coordinate system). And then, according to the coordinates of the first position and the first landing route, determining the coordinates of the first relative position of the second position of the mobile nest relative to the first position of the first unmanned aerial vehicle, and simultaneously, according to the third distance, determining the coordinates of the second relative position of the end position of the target moving route relative to the second position. And then determining the relative distance and the relative angle between the first position of the first unmanned aerial vehicle and the end position of the target moving route according to a preset relative distance calculation formula, a relative angle calculation formula, the coordinates of the first position and the coordinates of the second relative position.

The geodetic coordinate system provided in this embodiment uses an actual distance value as a coordinate value unit and any position on the ground as an origin, so that the coordinates of the relative position between each position and the first unmanned aerial vehicle can be accurately determined.

Specifically, the formula for calculating the relative distance provided in this embodiment may be:

Wherein L is the relative distance between the first position of the first unmanned aerial vehicle and the end position of the target moving route, X _A X is the position vector of the first position in the geodetic coordinate system _B A position vector in the geodetic coordinate system for the second relative position.

The relative angle calculation formula provided in this embodiment may be:

wherein,is vector X _A And X is _B Included angle between x ₁ 、y ₁ 、z ₁ X is the value of the first position in three coordinate axes of x, y and z ₂ 、y ₂ 、z ₂ Is the value of the second relative position on three coordinate axes of x, y and z.

Therefore, the relative distance and the relative angle between the first position of the first unmanned aerial vehicle and the end position of the target moving route can be determined by adopting the relative distance calculation formula and the relative angle calculation formula provided by the embodiment, so that the first landing route can be adjusted according to the relative distance and the relative angle, and the accurate second landing route can be obtained, so that the first unmanned aerial vehicle can accurately land to the mobile machine nest, and the landing precision of the unmanned aerial vehicle is effectively improved.

And step 205, controlling the first unmanned aerial vehicle to drop to the mobile nest according to the second drop route.

After obtaining accurate second landing route, can will the second landing route send to first unmanned aerial vehicle to control first unmanned aerial vehicle and descend according to this second landing route, thereby make first unmanned aerial vehicle can accurately descend to the mobile machine nest realizes unmanned aerial vehicle accurate purpose on the mobile machine nest.

In summary, the embodiment of the present invention provides a control method of an unmanned aerial vehicle, which is applied to a mobile nest, wherein the mobile nest is in communication connection with a first unmanned aerial vehicle to be landed, and the method includes: under the condition that a landing request of a first unmanned aerial vehicle is received, acquiring environment information, equipment parameter information and first position information of an environment where the first unmanned aerial vehicle is located, determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to second position information and first position information of the mobile nest, determining a target moving route of the mobile nest according to the environment information and the equipment parameter information, correcting the first landing route based on the target moving route to obtain a second landing route of the first unmanned aerial vehicle to the mobile nest, and controlling the first unmanned aerial vehicle to land to the mobile nest according to the second landing route. By adopting the embodiment of the invention, the purpose that the unmanned aerial vehicle accurately drops onto the mobile machine nest can be realized.

According to the method described in the above embodiments, the present embodiment will be further described from the perspective of a control device of an unmanned aerial vehicle, where the control device of the unmanned aerial vehicle may be implemented as a separate entity, or may be implemented as an integrated mobile phone nest, such as a terminal, where the terminal may include a mobile phone, a tablet computer, and so on.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 7, a control device 400 of an unmanned aerial vehicle according to an embodiment of the present invention is applied to a mobile nest, the mobile nest is communicatively connected to a first unmanned aerial vehicle to be landed, and the control device 400 of an unmanned aerial vehicle includes: a first acquisition module 401, a first determination module 402, a second determination module 403, a correction module 404, and a control module 405;

the first obtaining module 401 is configured to obtain, when receiving a landing request of the first unmanned aerial vehicle, environmental information of an environment where the first unmanned aerial vehicle is located, device parameter information of the first unmanned aerial vehicle, and first location information.

A first determining module 402, configured to determine a first landing route of the first unmanned aerial vehicle to the mobile nest according to the second location information of the mobile nest and the first location information.

A second determining module 403, configured to determine a target moving route of the mobile nest according to the environmental information and the device parameter information, where the environmental information includes wind speed information, and the device parameter information includes current remaining range information of the first unmanned aerial vehicle.

And the correction module 404 is configured to perform correction processing on the first landing route based on the target moving route, so as to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

And the control module 405 is configured to control the first unmanned aerial vehicle to land to the mobile nest according to the second landing route.

In some embodiments, the mobile nest is provided with a second unmanned aerial vehicle, the first location information includes altitude information, and the first determining module 402 provided in this embodiment may include: a first control unit, a second control unit, a first shooting unit, a first determination unit, and a second determination unit;

the first control unit is used for controlling the second unmanned aerial vehicle to fly to a target position corresponding to the height information according to a target flight track, the target flight track comprises a flight track from a second position to the target position, and the second position is a position corresponding to the second position information.

The second control unit is used for controlling the first unmanned aerial vehicle to fly horizontally to a preset range of the target position.

The first shooting unit is used for shooting the first unmanned aerial vehicle and the second unmanned aerial vehicle through a shooting assembly in the mobile machine nest to obtain a first image containing the first unmanned aerial vehicle and the second unmanned aerial vehicle.

The first determining unit is configured to determine an actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to a first distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle in the first image.

In some embodiments, the second determining module 403 provided in this embodiment may include: a third determination unit, a fourth determination unit, and a fifth determination unit;

the third determining unit is configured to determine actual remaining range information of the first unmanned aerial vehicle according to the wind speed information and the current remaining range information.

The fourth determining unit is configured to determine, according to the actual remaining range information and a first position, a target flight range of the first unmanned aerial vehicle, where the first position is a position corresponding to the first position information.

In some embodiments, the fourth determining unit provided in this embodiment may be specifically configured to: determining an initial flight range of the first unmanned aerial vehicle according to the actual remaining range information and the first position; acquiring a second image shot by the first unmanned aerial vehicle, wherein the second image comprises an object in the initial flight range; identifying and marking a first obstacle in the second image to obtain a first obstacle position, wherein the first obstacle is an air obstacle influencing the landing of the first unmanned aerial vehicle; and removing the first obstacle position from the initial flight range to obtain a target flight range of the first unmanned aerial vehicle.

In some embodiments, the second determining module 403 provided in this embodiment may further include: an acquisition unit, an identification unit;

the acquiring unit is configured to acquire a third image obtained by shooting by the first unmanned aerial vehicle, where the third image includes the object in the initial flight range and the mobile nest.

The identifying unit is used for identifying and marking a second obstacle in the third image to obtain a second obstacle position, wherein the second obstacle is a ground obstacle influencing the movement of the mobile phone nest.

In some embodiments, the correction module 404 provided in this embodiment may include: a sixth determination unit, a correction unit;

wherein the sixth determining unit is configured to determine a third distance between a start position and an end position of the target moving route.

In some embodiments, the correction unit provided in this embodiment may be specifically configured to: determining a first relative position of a second position relative to a first position in a preset coordinate system according to the first landing route, wherein the first position is a position corresponding to the first position information, and the second position is a position corresponding to the second position information; determining a second relative position of the end position of the target moving route relative to the second position according to the third distance; determining a relative distance and a relative angle between the first position and the end position of the target moving route according to a set relative distance calculation formula, a relative angle calculation formula, coordinates of the first position and coordinates of the second relative position; and adjusting the first landing route according to the relative distance and the relative angle to obtain a second landing route for the first unmanned aerial vehicle to land to the mobile nest.

In the implementation, each module and/or unit may be implemented as an independent entity, or may be combined arbitrarily and implemented as the same entity or a plurality of entities, where the implementation of each module and/or unit may refer to the foregoing method embodiment, and the specific beneficial effects that may be achieved may refer to the beneficial effects in the foregoing method embodiment, which are not described herein again.

In addition, referring to fig. 8, fig. 8 is a schematic structural diagram of a mobile nest according to an embodiment of the present invention. As shown in fig. 8, a mobile nest 500 may include a processor 501, a memory 502. The processor 501 is electrically connected to the memory 502.

The processor 501 is a control center of the mobile nest 500, and uses various interfaces and lines to connect various parts of the entire mobile nest, and performs various functions of the mobile nest 500 and processes data by running or loading application programs stored in the memory 502, and calling data stored in the memory 502, thereby performing overall monitoring of the mobile nest 500.

In this embodiment, the processor 501 in the mobile nest 500 loads instructions corresponding to the processes of one or more application programs into the memory 502 according to the method steps provided in this embodiment, and the processor 501 runs the application programs stored in the memory 502, so as to implement any step in the control method of the unmanned aerial vehicle provided in the above embodiment.

The mobile phone nest 500 can implement the steps in any embodiment of the control method for the unmanned aerial vehicle provided by the embodiment of the present invention, so that the beneficial effects that can be achieved by any embodiment of the control method for the unmanned aerial vehicle provided by the embodiment of the present invention can be achieved, and detailed descriptions of the foregoing embodiments are omitted herein.

Referring to fig. 9, fig. 9 is another schematic structural diagram of a mobile nest according to an embodiment of the present invention, and fig. 9 is a specific structural block diagram of the mobile nest according to an embodiment of the present invention, where the mobile nest 600 may be used to implement the control method of the unmanned aerial vehicle provided in the above embodiment.

The RF circuit 610 is configured to receive and transmit electromagnetic waves, and to perform mutual conversion between the electromagnetic waves and the electrical signals, thereby communicating with a communication network or other devices. RF circuitry 610 may include various existing circuit elements for performing these functions, such as an antenna, a radio frequency transceiver, a digital signal processor, an encryption/decryption chip, a Subscriber Identity Module (SIM) card, memory, and the like. The RF circuitry 610 may communicate with various networks such as the internet, intranets, wireless networks, or other devices via wireless networks. The wireless network may include a cellular telephone network, a wireless local area network, or a metropolitan area network. The wireless network may use various communication standards, protocols, and technologies including, but not limited to, global system for mobile communications (Global System for Mobile Communication, GSM), enhanced mobile communications technology (Enhanced Data GSM Environment, EDGE), wideband code division multiple access technology (Wideband Code Division Multiple Access, WCDMA), code division multiple access technology (Code Division Access, CDMA), time division multiple access technology (Time Division Multiple Access, TDMA), wireless fidelity technology (Wireless Fidelity, wi-Fi) (e.g., american society of electrical and electronic engineers standards IEEE802.11 a, IEEE802.11 b, IEEE802.11g, and/or IEEE802.11 n), internet telephony (Voice over Internet Protocol, voIP), worldwide interoperability for microwave access (Worldwide Interoperability for Microwave Access, wi-Max), other protocols for mail, instant messaging, and short messaging, as well as any other suitable communication protocols, including even those not currently developed.

The memory 620 may be used to store software programs and modules, such as program instructions/modules corresponding to the control method of the unmanned aerial vehicle in the above embodiments, and the processor 680 executes the software programs and modules stored in the memory 620, thereby executing various functional applications and controlling the unmanned aerial vehicle.

Memory 620 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 620 may further include memory remotely located with respect to the processor 680, which may be connected to the mobile nest 600 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input unit 630 may be used to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. In particular, the input unit 630 may include a touch-sensitive surface 631 and other input devices 632. The touch-sensitive surface 631, also referred to as a touch display screen or a touch pad, may collect touch operations thereon or thereabout by a user (e.g., operations of the user on the touch-sensitive surface 631 or thereabout using any suitable object or accessory such as a finger, stylus, etc.), and actuate the corresponding connection device according to a predetermined program. Alternatively, the touch sensitive surface 631 may comprise two parts, a touch detection device and a touch controller. The touch detection device detects the touch azimuth of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device and converts it into touch point coordinates, which are then sent to the processor 680 and can receive commands from the processor 680 and execute them. In addition, the touch sensitive surface 631 may be implemented in various types of resistive, capacitive, infrared, surface acoustic wave, and the like. In addition to the touch-sensitive surface 631, the input unit 630 may also comprise other input devices 632. In particular, other input devices 632 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, mouse, joystick, etc.

The display unit 640 may be used to display information entered by a user or provided to a user as well as various graphical user interfaces of the mobile nest 600, which may be composed of graphics, text, icons, video, and any combination thereof. The display unit 640 may include a display panel 641, and optionally, the display panel 641 may be configured in the form of an LCD (Liquid Crystal Display ), an OLED (Organic Light-Emitting Diode), or the like. Further, the touch sensitive surface 631 may overlay the display panel 641, and upon detection of a touch operation thereon or thereabout by the touch sensitive surface 631, the touch sensitive surface is communicated to the processor 680 to determine the type of touch event, and the processor 680 then provides a corresponding visual output on the display panel 641 based on the type of touch event. Although in the figures the touch-sensitive surface 631 and the display panel 641 are shown as two separate components to implement the input and output functions, in some embodiments the touch-sensitive surface 631 may be integrated with the display panel 641 to implement the input and output functions.

The mobile nest 600 can also include at least one sensor 650, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 641 according to the brightness of ambient light, and a proximity sensor that may be interrupted when the flip cover is closed or closed. As one type of motion sensor, a gravitational acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and direction when stationary, and can be used for recognizing gestures, vibration recognition related functions (such as pedometer, knocking) and the like; other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that may also be configured with the mobile nest 600 are not described in detail herein.

Audio circuitry 660, speakers 661, and microphone 662 may provide an audio interface between the user and the mobile nest 600. The audio circuit 660 may transmit the received electrical signal converted from audio data to the speaker 661, and the electrical signal is converted into a sound signal by the speaker 661 to be output; on the other hand, microphone 662 converts the collected sound signals into electrical signals, which are received by audio circuit 660 and converted into audio data, which are processed by audio data output processor 680 for transmission to, for example, another terminal via RF circuit 610, or which are output to memory 620 for further processing. The audio circuit 660 may also include an ear bud jack to provide communication of the peripheral ear bud with the mobile nest 600.

The mobile nest 600 may assist the user in receiving requests, sending information, etc., via the transmission module 670. Although the transmission module 670 is shown, it is understood that it does not belong to the necessary constitution of the mobile nest 600 and can be omitted entirely as required within the scope of not changing the essence of the invention.

Processor 680 is a control center of mobile nest 600, and uses various interfaces and lines to connect various portions of the entire mobile nest 600, and performs various functions of mobile nest 600 and processes data by running or executing software programs and/or modules stored in memory 620, and calling data stored in memory 620, thereby performing overall monitoring of the mobile nest. Optionally, processor 680 may include one or more processing cores; in some embodiments, processor 680 may integrate an application processor that primarily processes operating systems, user interfaces, applications, etc., with a modem processor that primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 680.

The mobile nest 600 also includes a power supply 690 (e.g., a battery) that powers the various components, which in some embodiments may be logically connected to the processor 680 through a power management system, thereby performing functions such as managing charging, discharging, and power consumption by the power management system. The power supply 690 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

Although not shown, the mobile nest 600 further includes cameras (e.g., front cameras, rear cameras), bluetooth modules, etc., and will not be described in detail herein. In particular, in this embodiment, the display unit of the mobile nest is a touch screen display, and the mobile nest further includes a memory, and one or more programs, where the one or more programs are stored in the memory, and configured to be executed by the one or more processors, where the one or more programs implement any step in the control method of the unmanned aerial vehicle provided in the foregoing embodiment.

In the implementation, each module may be implemented as an independent entity, or may be combined arbitrarily, and implemented as the same entity or several entities, and the implementation of each module may be referred to the foregoing method embodiment, which is not described herein again.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium having stored therein a plurality of instructions that when executed by a processor enable any one of the steps of the control method of the unmanned aerial vehicle provided in the above embodiment to be implemented.

Wherein the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.

The steps in any embodiment of the control method for the unmanned aerial vehicle provided by the embodiment of the present application can be executed due to the instructions stored in the storage medium, so that the beneficial effects that can be achieved by any embodiment of the control method for the unmanned aerial vehicle provided by the embodiment of the present application can be achieved, and detailed descriptions of the previous embodiments are omitted.

The control method, device, mobile nest and storage medium of the unmanned aerial vehicle provided by the embodiment of the application are described in detail, and specific examples are applied to the description of the principle and implementation mode of the application, and the description of the above embodiments is only used for helping to understand the method and core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application. Moreover, it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the principles of the present application, and such modifications and variations are also considered to be within the scope of the application.

Claims

1. The control method of the unmanned aerial vehicle is characterized by being applied to a mobile machine nest, wherein the mobile machine nest is in communication connection with a first unmanned aerial vehicle to be landed, and a second unmanned aerial vehicle is arranged in the mobile machine nest, and the method comprises the following steps:

acquiring environment information of an environment where the first unmanned aerial vehicle is located, equipment parameter information of the first unmanned aerial vehicle and first position information under the condition that a landing request of the first unmanned aerial vehicle is received, wherein the first position information comprises altitude information;

controlling the second unmanned aerial vehicle to fly to a target position corresponding to the height information according to a target flight track, wherein the target flight track comprises a flight track from a second position to the target position, and the second position is a position corresponding to second position information of the mobile aircraft nest;

Determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to the target flight track and the second distance;

2. The method of claim 1, wherein the determining the target movement route of the mobile nest based on the environmental information and the device parameter information comprises:

3. The method of claim 2, wherein the determining the target flight range of the first drone based on the actual remaining range information and the first location comprises:

4. The method of claim 3, wherein prior to the step of determining a target travel route for the mobile nest based on the second location and the target flight range, the method further comprises:

5. The method of claim 1, wherein the modifying the first descent route based on the target travel route results in a second descent route for the first drone to descend to the mobile nest, comprising:

6. The method of claim 5, wherein modifying the first descent route based on the first descent route and the third distance results in a second descent route for the first drone to descend to the mobile nest, comprising:

7. The utility model provides a controlling means of unmanned aerial vehicle, its characterized in that is applied to the mobile nest, mobile nest and wait to descend first unmanned aerial vehicle communication connection, be equipped with the second unmanned aerial vehicle in the mobile nest, include:

the first acquisition module is used for acquiring environment information of the environment where the first unmanned aerial vehicle is located, equipment parameter information of the first unmanned aerial vehicle and first position information under the condition that a landing request of the first unmanned aerial vehicle is received, wherein the first position information comprises altitude information;

the first determining module is used for controlling the second unmanned aerial vehicle to fly to a target position corresponding to the height information according to a target flight track, wherein the target flight track comprises a flight track from a second position to the target position, and the second position is a position corresponding to second position information of the mobile nest; controlling the first unmanned aerial vehicle to fly horizontally to a preset range of the target position; shooting the first unmanned aerial vehicle and the second unmanned aerial vehicle through a camera shooting assembly in the mobile machine nest to obtain a first image containing the first unmanned aerial vehicle and the second unmanned aerial vehicle; determining an actual second distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to a first distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle in the first image; determining a first landing route of the first unmanned aerial vehicle to the mobile nest according to the target flight track and the second distance;

8. A mobile nest comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the steps in the method according to any one of claims 1 to 6 when the computer program is executed.

9. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps in the method according to any one of claims 1 to 6.