WO2018028364A1

WO2018028364A1 - Method and device for controlling unmanned aircraft to make return flight

Info

Publication number: WO2018028364A1
Application number: PCT/CN2017/092051
Authority: WO
Inventors: 刘若鹏; 栾琳; 林玉娟
Original assignee: 深圳光启空间技术有限公司
Priority date: 2016-08-11
Filing date: 2017-07-06
Publication date: 2018-02-15
Also published as: CN107728638A

Abstract

A method and device for controlling an unmanned aircraft to make a return flight. The method comprises: controlling, according to a first control signal, an unmanned aircraft to make a return flight in a predetermined route (S102); receiving a second control signal sent by a remote control during the process the unmanned aircraft makes the return flight in the predetermined route, the second control signal being used for adjusting the predetermined route so that the unmanned aircraft can avoid obstacles (S104); superimposing the second control signal onto the first control signal to obtain a superimposed control signal (S106); and controlling, by using the superimposed control signal, the unmanned aircraft to make a return flight (S108). By means of the method and device, the existing technical problem of low obstacle avoidance performance of an unmanned aircraft during a return flight is resolved.

Description

Control method and device for drone returning

Technical field

[0001] The present invention relates to the field of drone control, and in particular to a control method and apparatus for returning a drone.

Background technique

[0002] Automatic return is a basic function of most UAVs. This function is mainly to prevent the UAV from being lost in the event of loss of control. At the same time, the function can realize the stable landing of the UAV. Reduces the difficulty of manipulator control. In the current backhaul control system of the drone, when the aircraft (ie, the drone) performs the returning mission, the remote control signal does not work for the aircraft. Only after the returning mission is suspended, the remote controller can take over the control, that is, the remote controller signal. Acting, this will reduce the obstacle avoidance function of the drone during the return flight. In addition, it is now possible to achieve obstacle avoidance by recording the path of the path that has passed through the path, but this return process is not the optimal route return, and the margin for aircraft energy is high.

technical problem

[0003] In view of the current problem of poor obstacle avoidance performance during the return flight of the drone, no effective solution has been proposed yet.

Problem solution

Technical solution

Embodiments of the present invention provide a control method and apparatus for returning a drone to at least solve the technical problem that the current UAV has poor obstacle avoidance performance during the return flight.

[0005] According to an aspect of an embodiment of the present invention, a method for controlling a return of a drone is provided, the method comprising: controlling, according to a first control signal, the drone to return to a predetermined path; Receiving, in the returning process of the predetermined path, receiving a second control signal sent by the remote controller, wherein the second control signal is used to adjust the predetermined path, so that the drone avoids an obstacle; and the second control And superimposing the signal on the first control signal to obtain a superimposed control signal; and using the superimposed control signal to control the drone to return. [0006] Further, in the process of returning the drone, the method further includes: detecting, by the preset interval, whether the remote controller sends the second control signal; if the remote controller is detected to be sent Receiving, by the second control signal, the second control signal sent by the remote controller; if the remote controller is not detected to send the second control signal, using the first control signal, controlling the The drone returned.

[0007] Further, before the drone is in the returning process, the method further includes: generating an automatic returning trigger signal according to a predefined triggering manner; and the drone is triggered by the automatic returning triggering signal Enter the return flight process.

[0008] Further, according to the predefined triggering manner, generating an automatic returning trigger signal includes at least one of: generating the automatic returning trigger signal by triggering a return mode of the remote controller; and triggering a returning button of the ground control station by triggering Generating the automatic returning trigger signal; generating the automatic returning trigger signal by detecting the detection signal of the remote controller that the power is insufficient; if the distance between the remote controller and the drone is greater than a preset distance, generating The automatic returning trigger signal; if the energy of the energy management system of the drone is lower than a preset threshold, generating the automatic returning trigger signal.

[0009] Further, before detecting, by the preset interval, whether the remote controller sends the second control signal, the method further includes: detecting a preset return mode; according to the preset The first control signal is obtained by the flight signal of the drone corresponding to the return mode.

[0010] Further, the preset return mode includes any one of the following: a right angle return mode, a three-dimensional coordinate axis parabolic return mode, and a round return mode.

[0011] Further, controlling the return of the drone includes one of: controlling the drone to return to a return point indicated by a position of the mast activated by the remote controller; controlling the drone to return through the remote controller Or the return point set by the ground station; controlling the drone to return to the preset fixed return point.

[0012] According to another aspect of the present invention, a control device for returning a drone is provided, the device comprising: a returning module, configured to control the drone to return to a predetermined path according to the first control signal a first receiving module, configured to receive a second control signal sent by the remote controller during the return of the drone according to the predetermined path, where the second control signal is used to adjust the predetermined path, so that The supercomputer avoids the obstacle; the superimposing module is configured to superimpose the second control signal and the first control signal to obtain a superimposed control signal, wherein the first control signal is a predetermined control to return the drone The first control module is configured to control the return of the drone by using the superimposed control signal. [0013] Further, the device further includes: a detecting module, configured to detect whether the remote controller sends the second control signal every preset interval during the return of the drone; a module, configured to receive the second control signal sent by the remote controller if the remote controller detects that the second control signal is sent, where the second control module is configured to send the remote controller if the remote controller is not detected The second control signal controls the drone to return using the first control signal.

[0014] Further, the device further includes: a generating module, configured to generate an automatic returning trigger signal according to a preset triggering manner before the drone is in a returning process; and a triggering module, configured to trigger in the automatic returning Under the trigger of the signal, the drone enters the return flight process.

Advantageous effects of the invention

Beneficial effect

[0015] In the embodiment of the present invention, in the process of returning the drone, if an obstacle is encountered, the remote controller sends a second control signal to the drone, and the drone control system then uses the second control signal. Superimposed with a predetermined first control signal for controlling the return of the drone, the superimposed control signal is used to control the return of the drone, that is, the drone adds a second control signal as a fine adjustment based on the control of the first control signal. Through the above embodiment, in the return process of the drone, and without interrupting the returning process, the second control signal that can be sent by the remote controller and the predetermined superimposition control of superimposing the first control signal of the drone returning The signal adjusts a predetermined path controlled by the first control signal, so that the drone can avoid obstacles, and in addition, compared with the prior art adopting the mechanism of returning the original path to implement the obstacle avoidance scheme, the energy margin is The requirement is relatively low, which can reduce the energy loss, thereby improving the obstacle avoidance performance of the drone during the return flight process, and solving the problem that the current drone avoidance performance of the drone during the return flight process is poor.

Brief description of the drawing

DRAWINGS

The accompanying drawings are intended to provide a further understanding of the invention, and the invention is not intended to limit the invention. In the drawing:

1 is a flow chart of a control method for returning a drone according to an embodiment of the present invention;

2 is a flow chart of an optional method for controlling the return of a drone according to an embodiment of the present invention;

3 is a schematic diagram of a control device for returning a drone according to an embodiment of the invention. Embodiments of the invention

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. The embodiments are merely a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope should fall within the scope of the present invention.

[0021] It should be noted that the terms "first", "second", and the like in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or Prioritization. It is to be understood that the data so used may be interchanged as appropriate, so that the embodiments of the invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprising" and "comprises" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

Embodiment 1

[0023] According to an embodiment of the present invention, an embodiment of a method for controlling the return of a drone is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be in a computer such as a set of computer executable instructions. Executed in the system, and although logical sequences are shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.

1 is a flowchart of a method for controlling the return of a drone according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

[0025] step S102, controlling the drone to return to the predetermined path according to the first control signal;

[0026] Step S104, receiving a second control signal sent by the remote controller during the return of the drone according to the predetermined path, wherein the second control signal is used to adjust the predetermined path, so that the drone avoids the obstacle;

[0027] Step S106, superimposing the second control signal and the first control signal to obtain a superimposed control signal, where the first control signal is a predetermined signal for controlling the return of the drone;

[0028] Step S108, using the superimposed control signal, controlling the drone to return. [0029] With the embodiment of the present invention, in the process of returning the drone, if an obstacle is encountered, the remote controller sends a second control signal to the drone, and the drone control system then uses the second control signal. Superimposed with a predetermined first control signal for controlling the return of the drone, the superimposed control signal is used to control the return of the drone, that is, the drone adds a second control signal as a fine adjustment based on the control of the first control signal. Through the above embodiment, in the return process of the drone, and without interrupting the returning process, the second control signal that can be sent by the remote controller and the predetermined superimposition control of superimposing the first control signal of the drone returning The signal adjusts a predetermined path controlled by the first control signal, so that the drone can avoid obstacles. In addition, compared with the prior art adopting the mechanism of returning the original path to implement the obstacle avoidance scheme, the energy balance is The requirement of quantity is relatively low, which can reduce the energy loss, thereby improving the obstacle avoidance performance of the drone during the return flight process, and solving the problem that the current drone avoidance performance of the drone during the return flight process is poor.

[0030] Specifically, in the process of returning the drone, if an obstacle is encountered, and within the control range of the remote controller, the drone can receive the second control signal sent by the remote controller, and the drone control system The second control signal (ie, the control signal of the remote controller) is superimposed with the predetermined first control signal for controlling the return of the drone by software programming, and the superimposed control signal is used to control the flight of the drone. To control the drone to avoid obstacles.

[0031] Through the above embodiment, the drone can be guaranteed to be in the process of automatic returning, and within the control range of the remote controller, when encountering an obstacle, the operator controls the aircraft using the remote controller, and the drone control system receives a control signal to the remote controller (ie, the second control signal described above), and superimposing the control signal of the remote controller and the return control signal (ie, the first control signal described above), and controlling the flight of the drone by using the superimposed signal In order to avoid obstacles, the drone can be prevented from crashing because of the inability to avoid obstacles during the return flight.

[0032] In the above embodiment of the present invention, in the return process of the drone, the method may further include: detecting, by the preset interval, whether the remote controller sends the second control signal; if detecting the remote controller sending The second control signal receives the second control signal sent by the remote controller; if the remote controller does not detect the second control signal, the first control signal is used to control the drone to return.

[0033] Specifically, in the process of returning the drone, if an obstacle is encountered and within the control range of the remote controller, the remote controller sends a second control signal to the drone. The drone control system detects whether the remote controller sends the second control signal to the drone every predetermined time interval, and if the remote controller detects that the remote control sends the second control signal, That is, during the return flight, the drone encounters an obstacle, and the drone control system receives the second control signal sent by the remote controller, and implements the second control signal and the predetermined control drone return by software programming. Superimposing the first control signal, and using the superimposed control signal to control the flight of the drone to control the drone to avoid obstacles, and after the drone successfully avoids the obstacle, continue to use the first control signal to control the unmanned The flight of the aircraft completes the return flight process; if the remote control does not detect the second control signal, that is, during the return flight, the drone does not encounter an obstacle, then the first control signal is used to control the drone to return.

[0034] Through the above embodiment, in the return process of the unmanned aerial vehicle, the unmanned aerial vehicle adopts different control signals for control in the case of encountering an obstacle and not encountering an obstacle, respectively, and realizes the Intelligent and efficient control of the human-machine return process.

[0035] In the above embodiment of the present invention, before the drone is in the returning process, the method further includes: generating an automatic returning trigger signal according to a preset triggering manner; and triggering the automatic returning triggering signal, the drone Enter the return flight process.

[0036] Further, according to the predefined triggering manner, generating an automatic returning trigger signal includes at least one of the following: generating an automatic returning trigger signal by triggering a return mode of the remote controller; generating a returning button by triggering the ground control station Automatic returning trigger signal; generating an automatic returning trigger signal by detecting a detection signal of insufficient power of the remote controller; if the distance between the remote controller and the drone is greater than a preset distance, generating an automatic returning trigger signal; if the energy management of the drone If the energy of the system is lower than the preset threshold, an automatic return flight trigger signal is generated.

[0037] Specifically, the trigger mode of the drone returning is diverse. The auto-return trigger signal can be generated by triggering the return mode of the remote control, or by triggering the return button of the ground control station. After receiving the auto-return trigger signal, the drone control system is in the auto-return trigger signal. Under the trigger, the drone enters the returning process; when the power of the remote control is insufficient, the drone control signal is lost, the drone can be triggered to return automatically, that is, the remote controller can be detected by the detecting module installed in the remote controller. The detection signal of the low battery is sent by the remote controller to the drone control system, and the automatic returning trigger signal is generated by the drone control system, and the drone enters the returning process under the trigger of the automatic returning trigger signal; When the distance between the drone and the remote controller is too far (ie, greater than the preset distance), causing the drone control signal to be lost, the drone can be triggered to automatically return to the air, that is, The man-machine control system can obtain the distance between the drone and the remote controller, and generate an automatic returning trigger signal when the distance is greater than the preset distance, and the drone enters and returns under the trigger of the automatic returning trigger signal. If the drone has an energy management system, when the energy is below a certain threshold (that is, the above-mentioned preset threshold), it is not enough to support the automatic return of the drone, the drone can be triggered to automatically return, that is, The drone control system can be used to detect whether the energy is below a certain threshold, and when the energy is below a certain threshold, an automatic returning trigger signal is generated, and the drone enters and returns under the trigger of the automatic returning trigger signal. process.

[0038] Through the above embodiments, the drone can be triggered to enter the returning process under the action of various triggering modes, thereby realizing the flexibility of the drone control, thereby improving the user experience.

[0039] In the above embodiment of the present invention, before detecting whether the remote controller sends the second control signal every predetermined interval, the method further includes: detecting a preset return mode; according to the preset return mode Corresponding drone flight signals, the first control signal is obtained.

[0040] Further, the preset return mode includes any one of the following: a right angle return mode, a three-dimensional coordinate parabola return mode, and a round return mode.

[0041] Specifically, after the drone enters the return flight process, when the drone is at the current flight altitude, or the ground station is set to the return altitude, the drone is controlled to fly to the set height, the drone The control system detects the return mode selected by the operator (ie, the preset return mode described above), and according to the flight signal corresponding to the return mode, the first control signal can be obtained, that is, the automatic return control signal is obtained.

[0042] Further, in the case that the remote controller does not participate in any control, the automatic return route of the aircraft is optional, and the return flight mode may be selected according to the flight environment of the vehicle, that is, the automatic return route is selected. The return mode is various. It can be set at the ground station with a right-angle route, a three-axis route parabola or a circular route, etc., that is, the set return mode can be the right-angle route return mode (ie, the drone moves vertically to the setting). The altitude and horizontal linear displacement of the voyage mode), the three-dimensional axis parabolic return mode (ie, the return position of the parabolic trajectory is determined by the location of the drone, the set return position and the position of the intermediate flight) or round return The method (ie, the return mode of the arc motion track is determined by the location of the drone, the set return position, and the position of the intermediate flight).

[0043] According to the above embodiment, according to the flying environment of the drone, the ground station can be selected and set differently. The return mode, according to the selected return mode, can achieve flexible control of the drone.

[0044] In the above embodiment of the present invention, controlling the return of the drone includes one of: controlling the drone to return to the return point indicated by the position of the mast start of the remote controller; controlling the drone to return through the remote controller Or the return point set by the ground station; control the drone to return to the preset fixed return point.

[0045] Specifically, the drone is controlled to return, and finally the drone is controlled to return to the return point. The design of the return point can be various. For example, the position where the mast of the remote controller is activated can be used as the position of the return point. If the user wants to set a certain point in the flight as the return point, it can be designed by the remote controller or the ground station. The above two return points are designed as short return points, that is, the user can redesign as needed; if the user wants to return to a fixed position every time the drone can be programmed by software, in the program Set a permanent return point. In addition, in this embodiment, a remote switch is provided with a switch to indicate whether the return point can be activated by the mast or the remote controller is set, that is, the design of the return point is switched by the switch. The position activated by the mast of the remote control is used as the position of the return point, or the return point is designed by the remote controller during the flight of the drone.

[0046] Through the above embodiments, the design of the return point is diverse, and based on the diversity of the design of the return point, the flexible control of the drone can be realized, and the user experience is improved.

[0047] It should be noted that the drone in the above embodiment may also be referred to as an aircraft.

[0048] The above embodiment of the present invention will be described in detail below with reference to FIG. As shown in FIG. 2, the embodiment may include the following steps:

[0049] Step S201: The drone enters a return flight process.

[0050] Specifically, the automatic returning trigger signal may be generated according to a preset triggering manner; under the trigger of the automatic returning triggering signal, the drone enters a returning process. The implementation of the automatic returning trigger signal is the same as that in the foregoing embodiment, and is not described here.

[0051] Step S202: Control the drone to fly to a specified height.

[0052] Optionally, in the case that the ground station sets the return altitude, the drone is controlled to fly to the set height.

[0053] Step S203: Detect a return mode selected by the operator.

[0054] Specifically, the return mode selected by the operator is the above-mentioned preset return mode, and the return mode is various, which is selected at the ground station by the operator according to the flight environment of the drone.

[0055] Step S204, obtaining a first flight according to a flight signal of the drone corresponding to the return mode selected by the operator. control signal.

[0056] wherein, the first control signal is a predetermined signal for controlling the return of the drone, that is, the automatic return control signal, the control signal of the automatic return of the drone; and the drone corresponding to the return mode selected by the operator The flight signal is calculated and the first control signal is obtained.

[0057] Step S205: Detect whether the remote controller sends the second control signal every preset period.

[0058] Specifically, every other period, it is detected whether there is a remote control signal intervention, that is, every other period, whether or not the remote control signal (ie, the second control signal described above) is received is detected.

[0059] If it is detected that the remote controller sends the second control signal, step S206 is performed; otherwise, step S207 is performed.

[0060] Step S206, superimposing the second control signal and the first control signal to obtain a superposition control signal.

[0061] Specifically, the superposition of the second control signal sent by the remote controller and the predetermined first control signal for controlling the return of the human-machine is realized by software programming. After step S206 is performed, step S208 is performed.

[0062] Step S207, using the first control signal, controlling the drone to return.

[0063] Specifically, if it is not detected that the remote controller sends the second control signal, that is, during the return flight, the drone does not encounter an obstacle, the first control signal is used to control the drone to return.

[0064] Step S208: Control the drone to return by using the superimposed control signal.

[0065] Specifically, the superimposed control signal is used to control the flight of the drone to control the drone to avoid obstacles, and after the drone successfully avoids the obstacle, continue to control the drone flight by using the first control signal, Complete the return journey.

[0066] In the above embodiment, unlike the current automatic returning process of the unmanned aerial vehicle, in the flight control program for controlling the flight of the drone, if the aircraft performs the task instruction of automatic returning, the aircraft will follow the setting. The return mode returns, but when the operator finds that the aircraft encounters an obstacle during the return of the aircraft, the operator can control the flight of the aircraft through the remote control. The control signal of the aircraft is the remote control signal (ie, the above The second control signal is superimposed with the control signal (ie, the first control signal described above) that is automatically returned, and the superimposed signal is used to control the aircraft to return. In order to avoid the loss caused by the operator's erroneous operation in an emergency, the aircraft will operate in the headless mode during the return flight with the remote control signal participating in the control, that is, the remote control signal is always used (ie, in the above embodiment) The second control signal) enters the direction of the nose of the cymbal in the direction of flight, so as to prevent the operator from correctly manipulating the aircraft and avoiding obstacles after failing to hit the yaw angle. The situation happened.

[0067] Through the above embodiment, in the process of not interrupting the automatic returning, the control of the remote controller is added, the control signal of the remote controller is superimposed with the control signal of the returning, and the superimposed signal is used to control the aircraft to avoid obstacles and complete the return flight. This can prevent the drone from crashing and reduce the loss, and the same can reduce the loss of energy.

Example 2

3 is a schematic diagram of a control device for returning a drone according to an embodiment of the present invention. As shown in FIG. 3, the device may include: a returning module 32, a first receiving module 34, a superimposing module 36, and a A control module 38.

[0070] wherein, the returning module 32 is configured to control the drone to return to the predetermined path according to the first control signal; [0071] the first receiving module 34 is configured to receive the remote controller during the return of the drone according to the predetermined path a second control signal sent, wherein the second control signal is used to adjust a predetermined path to enable the drone to avoid obstacles

[0072] The superimposing module 36 is configured to superimpose the second control signal and the first control signal to obtain a superimposed control signal, where the first control signal is a predetermined signal for controlling the return of the drone;

[0073] The first control module 38 is configured to control the drone to return using the superimposed control signal.

[0074] With the embodiment of the present invention, in the process of returning the drone, if an obstacle is encountered, the remote controller sends a second control signal to the drone, and the drone control system will use the second control signal. Superimposed with a predetermined first control signal for controlling the return of the drone, the superimposed control signal is used to control the return of the drone, that is, the drone adds a second control signal as a fine adjustment based on the control of the first control signal. Through the above embodiment, in the return process of the drone, and without interrupting the returning process, the second control signal that can be sent by the remote controller and the predetermined superimposition control of superimposing the first control signal of the drone returning The signal adjusts a predetermined path controlled by the first control signal, so that the drone can avoid obstacles. In addition, compared with the prior art adopting the mechanism of returning the original path to implement the obstacle avoidance scheme, the energy balance is The requirement of quantity is relatively low, which can reduce the energy loss, thereby improving the obstacle avoidance performance of the drone during the return flight process, and solving the problem that the current drone avoidance performance of the drone during the return flight process is poor.

[0075] Specifically, in the process of returning the drone, if an obstacle is encountered, and within the control range of the remote controller, the drone can receive the second control signal sent by the remote controller, and the drone control system Will pass the software The method of programming realizes superposition of the second control signal (ie, the control signal of the remote controller) with the predetermined first control signal for controlling the return of the drone, and controls the flight of the drone by using the superimposed control signal to control the unmanned The machine avoids obstacles.

[0076] Through the above embodiments, the drone can be guaranteed to be in the process of automatic returning, and within the control range of the remote controller, when encountering an obstacle, the operator controls the aircraft using the remote controller, and the drone control system receives a control signal to the remote controller (ie, the second control signal described above), and superimposing the control signal of the remote controller and the return control signal (ie, the first control signal described above), and controlling the flight of the drone by using the superimposed signal In order to avoid obstacles, the drone can be prevented from crashing because of the inability to avoid obstacles during the return flight.

[0077] In the above embodiment of the present invention, the device may further include: a detecting module, configured to detect whether the remote controller sends the second control signal every preset period during the return process of the drone; a receiving module, configured to receive a second control signal sent by the remote controller if the remote controller detects that the second control signal is sent, where the second control module is configured to: if the remote controller does not detect the second control signal, A control signal controls the drone to return.

[0078] Specifically, in the process of returning the drone, if an obstacle is encountered and within the control range of the remote controller, the remote controller sends a second control signal to the drone. The drone control system detects whether the remote control sends a second control signal to the drone every predetermined interval, and if the remote controller detects that the second control signal is sent, that is, during the return flight, the drone encounters an obstacle. The UAV control system receives the second control signal sent by the remote controller, and realizes superposition of the second control signal and the predetermined first control signal for controlling the return of the drone by software programming, and uses the superposition control Signal, control the flight of the drone to control the drone to avoid obstacles, and after the drone successfully avoids the obstacle, continue to use the first control signal to control the drone flight, complete the return flight process; if no remote control is detected The second control signal is sent, that is, during the return flight, if the drone does not encounter an obstacle, the first control signal is used to control the drone to return.

[0079] Through the above embodiment, in the return process of the unmanned aerial vehicle, the drone is controlled by different control signals in the case of encountering obstacles and not encountering obstacles, thereby realizing Intelligent and efficient control of the human-machine return process.

[0080] In the above embodiment of the present invention, the apparatus may further include: a generating module, configured at the drone Before the returning process, an automatic returning trigger signal is generated according to a preset triggering manner; and a triggering module is used for triggering the returning process of the drone under the trigger of the automatic returning trigger signal.

[0081] Specifically, the trigger mode of the drone returning is diverse. The auto-return trigger signal can be generated by triggering the return mode of the remote control, or by triggering the return button of the ground control station. After receiving the auto-return trigger signal, the drone control system is in the auto-return trigger signal. Under the trigger, the drone enters the returning process; when the power of the remote control is insufficient, the drone control signal is lost, the drone can be triggered to return automatically, that is, the remote controller can be detected by the detecting module installed in the remote controller. The detection signal of the low battery is sent by the remote controller to the drone control system, and the automatic returning trigger signal is generated by the drone control system, and the drone enters the returning process under the trigger of the automatic returning trigger signal; When the distance between the drone and the remote controller is too far (that is, greater than the preset distance), the drone control signal is lost, and the drone can be automatically returned, that is, the drone control system can obtain the unmanned The distance between the machine and the remote control, and the distance is greater than the preset distance The auto-return trigger signal is generated, and the drone enters the returning process under the trigger of the auto-return trigger signal; if the drone has an energy management system, the energy is below a certain threshold (ie, the above-mentioned preset threshold) In the case that it is not enough to support the automatic return of the drone, it can trigger the automatic return of the drone, that is, the drone control system can detect whether the energy is below a certain threshold and the energy is below a certain threshold. Next, an automatic returning trigger signal is generated, and the drone enters the returning process under the trigger of the automatic returning trigger signal.

[0082] Through the above embodiments, the drone can be triggered to enter the returning process under the action of various triggering modes, thereby realizing the flexibility of the drone control, thereby improving the user experience.

[0083] In the above embodiment, unlike the current automatic returning process of the unmanned aerial vehicle, in the flight control program for controlling the flight of the drone, if the aircraft performs the task command of the automatic returning flight, the aircraft will follow the setting. The return mode returns, but when the operator finds that the aircraft encounters an obstacle during the return of the aircraft, the operator can control the flight of the aircraft through the remote control. The control signal of the aircraft is the remote control signal (ie, the above The second control signal is superimposed with the control signal (ie, the first control signal described above) that is automatically returned, and the superimposed signal is used to control the aircraft to return. In order to avoid the operator's loss caused by the erroneous operation in an emergency, the aircraft will operate in the headless mode during the return flight with the remote control signal participating in the control, that is, the machine always enters the 以 machine with the remote control signal. The direction of the head is forward in the direction of flight, so as to prevent the operator from correctly manipulating the aircraft to avoid obstacles after the yaw angle is missed.

[0084] Through the above embodiment, in the process of not interrupting the automatic returning, the control of the remote controller is added, the control signal of the remote controller is superimposed with the control signal of the returning, and the superimposed signal is used to control the aircraft to avoid obstacles and complete the return flight. This can prevent the drone from crashing and reduce the loss, and the same can reduce the loss of energy. The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

[0085] In the above-described embodiments of the present invention, the descriptions of the various embodiments are different, and the details are not described in detail in an embodiment, and the related descriptions of other embodiments may be referred to.

[0086] In the several embodiments provided by the present application, it should be understood that the disclosed technical content may be implemented in other manners. The device embodiments described above are only schematic. For example, the division of the unit may be a logical function division. The actual implementation may have another division manner. For example, multiple units or components may be combined or may be Integration into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.

[0087] The unit described as a separate component may or may not be physically distributed, and the component displayed as a unit may or may not be a physical unit, that is, may be located in one place, or may be distributed to multiple On the unit. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiment of the present embodiment.

[0088] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0089] The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. , including a number of instructions to make a computer device (can be a personal computer, server or network All or part of the steps of the method described in the various embodiments of the invention are performed. The foregoing storage medium includes: a USB flash drive, a read only memory (ROM, Read-Only)

Memory, Random Access Memory (RAM), removable hard disk, disk or optical disk, and other media that can store program code.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

Claim

[Claim 1] A method for controlling the return of a drone, comprising:

Controlling the drone to return to the predetermined path according to the first control signal;

Receiving a second control signal sent by the remote controller during the return of the drone according to the predetermined path, wherein the second control signal is used to adjust the predetermined path, so that the drone avoids obstacles Object

Superimposing the second control signal and the first control signal to obtain a superimposed control signal; and using the superimposed control signal to control the drone to return.

[Claim 2] The method according to claim 1, wherein during the return of the drone, the method further comprises:

Detecting whether the remote controller sends the second control signal every predetermined time interval; receiving the second control sent by the remote controller if detecting that the remote controller sends the second control signal Signal

If the remote controller is not detected to send the second control signal, the first control signal is used to control the drone to return.

[Claim 3] The method according to claim 1, wherein the method further comprises: before the drone is in the returning process, the method further comprises:

Generate an automatic return trigger signal according to a predefined trigger mode;

The drone enters a return flight process triggered by the automatic return flight trigger signal.

[Claim 4] The method according to claim 3, characterized by: according to a predefined triggering method

, generating an automatic returning trigger signal includes at least one of the following:

The automatic returning trigger signal is generated by triggering a return mode of the remote controller; generating the automatic returning trigger signal by triggering a return button of the ground control station; by detecting a detection signal of the remote controller that the power is insufficient, Generating the automatic returning trigger signal;

Generating the automatic returning trigger signal if the distance between the remote controller and the drone is greater than a preset distance;

Generating the self if the energy of the energy management system of the drone is lower than a preset threshold The return flight trigger signal.

[Claim 5] The method according to claim 2, wherein before the remote controller detects whether the remote controller sends the second control signal, the method further includes: detecting the advance Set the return mode;

The first control signal is obtained according to a flight signal of the drone corresponding to the preset return mode.

[Claim 6] The method according to claim 5, wherein the preset return mode includes any one of the following:

Right-angle route return mode, three-dimensional axis parabolic return mode and round return mode.

[Claim 7] The method according to claim 1 or 2, wherein controlling the return of the drone includes one of the following:

Controlling the drone to return to a return point indicated by a position activated by the mast of the remote controller; controlling the drone to return to a return point set by the remote controller or the ground station; controlling the drone Returns the preset fixed return point.

[Claim 8] A control device for returning a drone, comprising:

a returning module, configured to control the drone to return to the predetermined path according to the first control signal; the first receiving module, configured to receive the second sent by the remote controller during the return of the drone according to the predetermined path a control signal, wherein the second control signal is used to adjust the predetermined path to enable the drone to avoid obstacles;

a superimposing module, configured to superimpose the second control signal and the first control signal to obtain a superimposed control signal, where the first control signal is a predetermined signal for controlling the return of the drone;

And a first control module, configured to control, by using the superposition control signal, the return of the drone.

[Claim 9] The device according to claim 8, wherein the device further comprises:

a detecting module, configured to detect, during every return period of the drone, whether the remote controller sends the second control signal;

a second receiving module, configured to: if it is detected that the remote controller sends the second control signal, Receiving the second control signal sent by the remote controller;

a second control module, configured to control, by the first control signal, the return of the drone if the remote controller does not detect the second control signal being sent.

[Claim 10] The device according to claim 9, wherein the device further comprises:

a generating module, configured to generate an automatic returning trigger signal according to a predefined triggering manner before the drone is in a returning process;

And a triggering module, configured to: when triggered by the automatic returning trigger signal, the drone enters a returning process.