WO2019006772A1 - 无人机返航方法及装置 - Google Patents

无人机返航方法及装置 Download PDF

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Publication number
WO2019006772A1
WO2019006772A1 PCT/CN2017/092299 CN2017092299W WO2019006772A1 WO 2019006772 A1 WO2019006772 A1 WO 2019006772A1 CN 2017092299 W CN2017092299 W CN 2017092299W WO 2019006772 A1 WO2019006772 A1 WO 2019006772A1
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Prior art keywords
drone
flight
path
return
user
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PCT/CN2017/092299
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English (en)
French (fr)
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杨顺伟
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杨顺伟
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Publication of WO2019006772A1 publication Critical patent/WO2019006772A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the drone flight control system in particular, relates to a drone returning method and device.
  • the embodiment of the invention provides a method and a device for returning the unmanned aerial vehicle, which can solve the problem that the unmanned aircraft enters the prohibited flight area due to returning from the original route when returning from the original flight or returning due to uncontrolled return.
  • an embodiment of the present invention provides a method for returning a drone to a remote control terminal device of a drone, including:
  • the unmanned aircraft returning method includes:
  • the flight direction and path of the UAV are calculated again according to the current position of the user, and the UAV arrives at the position corresponding to the user according to the recalculated flight direction and path.
  • the unmanned aircraft return method includes:
  • the drone When guiding the drone to return flight, according to the map data and the preset sensitive flight area, it is determined whether the drone passes the sensitive flight area when returning to the flight, and if it enters the sensitive flight area, according to the minimum distance that can avoid the sensitive flight area The change, recalculate the flight direction and path of the drone, and guide the drone to return flight according to the recalculated flight direction and path.
  • Recalculating the flight direction and path of the drone according to the change of the minimum distance that can avoid the sensitive flight area includes:
  • the flight direction and path of the drone are calculated such that the path is adjacent to the boundary of the sensitive flight area.
  • the method includes:
  • the UAV When the UAV is guided to return flight, it is judged whether the calculated flight direction of the UAV is the same as the operation direction of the user, and if the operation direction of the user is the same, the UAV continues to guide the UAV to return according to the calculated flight direction of the UAV. If it is different from the user's operation direction, the guidance of the drone is interrupted, so that the drone performs flight based on the user operation.
  • an embodiment of the present invention provides a drone returning device, including:
  • a starting position obtaining unit which acquires starting position information of a starting position of the drone
  • a first calculating unit acquiring map data of a current location, and calculating a flight trajectory of the drone from the starting position to a current flight position when the drone is flying;
  • a second calculating unit when the drone returns, calculating a flight direction and a path when the drone returns according to the aircraft trajectory
  • the control unit guides the unmanned aircraft to return flight according to the flight direction and path of the UAV's voyage calculated by the second calculation unit.
  • the UAV returning device further includes:
  • a third calculating unit when the control unit directs the drone to return flight, the third calculating unit calculates the flight direction and path of the drone again according to the current position of the user;
  • the control unit adjusts the flight direction and the path calculated by the third calculation unit to adjust the position of the drone to correspond to the user.
  • the drone returning device further includes:
  • a fourth calculating unit when the control unit directs the drone to fly back, the fourth calculating unit determines whether the drone passes the sensitive flying area according to the map data and the preset sensitive flight area, and if In the flight area, the flight direction and path of the drone are recalculated according to the change of the minimum distance that can avoid the sensitive flight area;
  • the control unit guides the drone to return flight according to the flight direction and path recalculated by the fourth calculating unit.
  • the fourth calculating unit calculates the flight direction and path of the drone when the flight direction and path of the drone are recalculated according to the change of the minimum distance that can avoid the sensitive flight area, and the path and the sensitive flight area are calculated.
  • the boundaries are adjacent.
  • the drone returning device further includes:
  • a judging unit when the control unit guides the drone to return flight, the judging unit judges whether the calculated flight direction of the drone is the same as the operation direction of the user, and if the operation direction is the same as the user, the unmanned person continues to calculate The flight direction of the machine guides the drone to return. If it is different from the user's operation direction, the guidance of the drone is interrupted, so that the drone can fly based on the user operation.
  • the unmanned aircraft returning method and device obtaineds the starting position information of the starting position of the drone; and combines the acquired map data of the current position, more importantly, when the drone is flying, Calculating a flight path of the drone from the starting position to the current flight position; thus, when the drone When returning, the flight direction and path of the drone when returning from the aircraft can be calculated according to the aircraft trajectory; the flyback flight can be automatically guided by the flight direction and path at the time of returning. Therefore, it is possible to effectively avoid the danger that the drone may deviate from the original route when the remote control cannot return to the drone when the remote control is out of control, or the risk of entering the prohibited flight area due to the uncontrolled return flight. . Therefore, it provides a more intelligent, safe and accurate return guide for returning guidance.
  • FIG. 1 is a schematic flow chart of a method for returning a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of another method for returning a drone according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a returning device of a drone according to an embodiment of the present invention.
  • FIG. 4 is another schematic structural view of a drone returning device according to an embodiment of the present invention.
  • FIG. 5 is another schematic structural diagram of a drone returning device according to an embodiment of the present invention.
  • FIG. 6 is another schematic structural diagram of a drone returning device according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a drone returning device 500 according to an embodiment of the present invention.
  • the embodiment of the invention provides a method and a device for returning the drone, which can provide a smarter, safer and more accurate return navigation service for the user, which are respectively described in detail below.
  • the UAV returning method and the UAV returning device in the embodiment of the present invention can be applied to an operation terminal that establishes a communication connection with the UAV, and the operation terminal is provided with an operation interface that interacts with the user.
  • an embodiment of a method for returning a drone in an embodiment of the present invention includes:
  • An embodiment of the present invention provides a method for returning a drone to a remote terminal device of a drone. As shown in FIG. 1 , the method includes:
  • Step 101 Obtain starting position information of a starting position of the drone.
  • the starting position information of obtaining the starting position of the drone includes, but is not limited to, the following method, relying on GPS, or flight control recording of the take-off point latitude and longitude, or a laser identifier for positioning, etc., when the drone takes off,
  • the GPS point or latitude and longitude or laser-recognized position data of the drone is recorded as the starting position information of the drone.
  • Step 102 Obtain map data of a current location, and when the drone is flying, calculate a flight trajectory of the drone from the starting position to the current flight position.
  • the map data of the current location may be pre-stored in the memory or acquired from the server through the communication module. During the flight of the drone, based on the positioning of the drone itself, the map data is used to draw the drone on the map in real time.
  • the starting position begins with a simulated trajectory at the current flight position.
  • the trajectory may be stored in a memory or sent to a remote server, and the implementation of the embodiments of the present invention is not limited thereto.
  • Step 103 When the drone returns, calculate the flight direction and path of the drone when returning according to the aircraft trajectory.
  • the drone When the drone receives the return flight command, it retrieves the simulated trajectory formed by the flight of the drone drawn during the flight to inversely predict the direction and path of the drone when it returns. It should be noted that the flight path at the time of returning can be the same as when it comes, but the path can be modified as follows if necessary.
  • the return route When returning, when the calculated return path falls into the temporary no-fly zone or the unfavourable flight zone, the return route is re-planned to fly along the boundary of the no-fly zone or the unfavourable flight zone.
  • Unfavorable flight zone package This includes, but is not limited to, areas of flight that are difficult due to wind, temporary obstacles, etc.
  • the temporary no-fly zone or the unfavourable flight zone of the embodiment of the present invention may be acquired in real time from the remote server through the communication module, for example, but is not limited thereto.
  • Step 104 Guide the unmanned aircraft to return flight according to the flight direction and path at the time of returning.
  • the drone After the flight direction and the path are determined, the drone is controlled to fly in accordance with the flight direction and the path. In the embodiment of the present invention, for example, it may be displayed as a recommended path on the remote terminal device of the user, and executed after the user clicks the confirmation, or directly as the return direction and path if the user does not need to notify in advance. carried out.
  • flying according to the flight direction and path at the return flight calculated by the drone if the user's operation instruction is received, the flight is interrupted and the action is performed based on the user's operation instruction, and after the user completes the operation command, the current comparison is performed.
  • the position and the calculated flight path at the time of returning make the drone return to the calculated flight path at the shortest distance with the shortest distance, and re-flight according to the calculated flight path at the return flight.
  • the embodiment of the present invention can obtain the starting position information of the starting position of the drone; obtain the map data of the current position, and calculate the drone from the starting position when the drone is flying The flight path to the current flight position; when the drone returns, calculate the flight direction and path of the drone when returning from the aircraft; according to the flight direction and path at the return flight, guide the drone to return flight.
  • step 104 when the drone is guided to return, the flight direction and the path of the drone are calculated again according to the current position of the user, and the drone is adjusted according to the recalculated flight direction and path. The location corresponding to the user.
  • step 104 when the drone returns, the position change occurs because the user has moved. Therefore, in this case, in order to better realize the return flight, the user position needs to be located first.
  • the remote control terminal device held by the user can be located to obtain the latest location information of the user, and combined with the latest location information, the flight direction and path when the drone is calculated according to the aircraft trajectory in step 103 can be adjusted, thereby According to the recalculated flight direction and path, the drone is adjusted to reach the position corresponding to the user's latest position, instead of returning to the original position when the drone took off.
  • step 104 when the UAV is guided to return flight, according to the map data and the preset sensitive flight area, it is determined whether the UAV passes the sensitive flight area when returning to the flight, and if it enters the sensitive flight area, according to the Ability to avoid changes in the minimum distance of the sensitive flight area, recalculate no The flight direction and path of the man-machine, and guide the drone to return flight according to the recalculated flight direction and path.
  • the UAV when the UAV is guided to return flight, there is a possibility that the flight area is originally allowed to become a sensitive flight area due to time changes or temporary conditions. In this case, if it is determined that there is a sensitive flight area in the return route, it is necessary to avoid The sensitive flight area is opened and the route is changed. Therefore, the flight direction and path of the drone need to be recalculated at this time, and the unmanned aircraft is guided to return flight according to the recalculated flight direction and path.
  • the manner of recalculating the flight direction and path of the drone 1 according to the change of the minimum distance capable of avoiding the sensitive flight area includes: calculating a flight direction and a path of the drone, The path is adjacent to the boundary of the sensitive flight area.
  • the path 5 along the boundary of the sensitive area may be used, so that the drone finally returns.
  • Return point 2 the embodiment of the present invention can be implemented, for example, according to the shortest route between the UAV and the user at the current moment, and the embodiment of the present invention is not limited thereto.
  • step 104 when the drone is guided to return flight, it is determined whether the calculated flight direction of the drone is the same as the operation direction of the user, and if the operation direction is the same as the user, the drone continues to be calculated according to the calculation.
  • the flight direction guides the drone to return, and if it is different from the user's operation direction, the guidance of the drone is interrupted, so that the drone performs flight based on the user operation.
  • the judgment is made. For the user to change or manually control the drone, at this time, the guidance of the drone is interrupted, and the control of the drone is returned to the user, so that the drone can fly based on the user operation.
  • the UAV is controlled to activate an imaging device for displaying image information captured by the imaging device.
  • the UAV can be controlled to activate the imaging device, thereby displaying the image information captured by the imaging device, so that the user can confirm the first time.
  • Shooting content the UAV can be controlled to activate the imaging device, thereby displaying the image information captured by the imaging device, so that the user can confirm the first time.
  • a further embodiment of the present invention provides a drone returning device. As shown in FIG. 3, the device includes:
  • the starting position obtaining unit 21 acquires starting position information of the starting position of the drone
  • the first calculating unit 22 acquires map data of the current location, and calculates the unmanned when the drone is flying a flight path from the starting position to the current flight position;
  • a second calculating unit 23 when the drone returns, calculating a flight direction and a path when the drone returns to the aircraft according to the aircraft trajectory;
  • the control unit 24 guides the unmanned aircraft to return flight according to the flight direction and path of the UAV's square navigation time calculated by the second calculation unit 23.
  • the method further includes: a third calculating unit 25, when the control unit 24 directs the drone to fly back, the third calculating unit 25 calculates the drone again according to the current position of the user.
  • a third calculating unit 25 when the control unit 24 directs the drone to fly back, the third calculating unit 25 calculates the drone again according to the current position of the user.
  • Direction and path of flight
  • the control unit adjusts the flight direction and path calculated by the third calculation unit 25 to adjust the position of the drone to correspond to the user.
  • the method further includes: a fourth calculating unit 26, when the control unit 24 guides the unmanned aircraft to return flight, the fourth calculating unit 26 determines according to the map data and the preset sensitive flight area. Whether the drone passes through the sensitive flight area when returning to the flight; if it enters the sensitive flight area, the flight direction and path of the drone are recalculated according to the change of the minimum distance that can avoid the sensitive flight area;
  • the control unit 24 guides the drone to return flight according to the flight direction and path recalculated by the fourth calculating unit 26.
  • the fourth calculating unit 26 calculates the flight direction and path of the drone according to the change of the minimum distance that can avoid the sensitive flight area, and calculates the flight direction and path of the drone, so that the path and the path are The boundaries of the sensitive flight areas are adjacent.
  • the method further includes: a determining unit 27, when the control unit 24 guides the unmanned aircraft to return flight, the determining unit 27 determines whether the calculated flight direction of the drone is the same as the operation direction of the user, If it is in the same direction as the user's operation, the drone will continue to be guided according to the calculated flight direction of the drone. If the operation direction is different from the user's operation, the guidance of the drone will be interrupted, so that the drone can be operated based on the user operation. flight.
  • the drone returning device 500 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a personal digital assistant, and the like.
  • the drone returning device 500 can include one or more of the following components: a processing component 502, a memory 504, a power component 506, a multimedia component 508, an audio component 510, an input/output (I/O) interface 512, Sensor component 514, and communication component 516.
  • Processing component 502 typically controls the overall operation of drone return device 500, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 502 can include one or more processors 520 to execute instructions.
  • processing component 502 can include one or more modules to facilitate interaction between component 502 and other components.
  • processing component 502 can include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.
  • the memory 504 is configured to store various types of data to support operation of the drone return device 500. Examples of such data include instructions for any application or method operating on the drone return device 500, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 504 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 506 provides power to various components of drone return device 500.
  • the power component 506 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the drone return device 500.
  • the multimedia component 508 includes a screen that provides an output interface between the drone returning device 500 and the user.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 508 includes a front camera and/or a rear camera. When the drone returning device 500 is in an operating mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 510 is configured to output and/or input an audio signal.
  • the audio component 510 includes a microphone (MIC) when the drone returning device 500 is in an operational mode, such as a call mode, a recording mode.
  • the microphone In the speech recognition mode, the microphone is configured to receive an external audio signal.
  • the received audio signal may be further stored in memory 504 or transmitted via communication component 516.
  • audio component 510 also includes a speaker for outputting an audio signal.
  • the I/O interface 512 provides an interface between the processing component 502 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 514 includes one or more sensors for providing various aspects of state assessment for drone return device 500.
  • sensor assembly 514 can detect an open/closed state of drone return device 500, relative positioning of components, such as the display and keypad of drone return device 500, and sensor component 514 can also detect unmanned The position of one component of the aircraft returning device 500 or the unmanned aircraft returning device 500 is changed, the presence or absence of the user's contact with the unmanned aircraft returning device 500, the unmanned aircraft returning device 500 azimuth or acceleration/deceleration and the drone returning device 500 The temperature changes.
  • Sensor assembly 514 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 514 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 516 is configured to facilitate wired or wireless communication between drone return device 500 and other devices.
  • the drone returning device 500 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 516 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 516 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the drone return device 500 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs). Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA Field Programmable Gate Array
  • controller microcontroller, microprocessor or other electronic component implementation.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • 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.
  • 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.
  • the technical solution of the present invention which is essential or contributes 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.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. . 123456

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

一种无人机返航方法及装置，涉及无人机的遥控领域，其中，该方法包括：获取无人机的起始位置的起始位置信息（101）；获取当前位置的地图数据，当无人机飞行时，计算无人机从起始位置至当前飞行位置的飞行轨迹（102）；当无人机返航时，根据飞机轨迹计算无人机返航时的飞行方向及路径（103）；按照返航时的飞行方向及路径，引导无人机返航飞行（104）。该方法及装置适用于无人机及无人机的遥控终端设备，能够解决无人机返航时偏离原路线返航或由于失控返航而误入禁止飞行区域的问题。

Description

无人机返航方法及装置 技术领域
无人机飞控系统，尤其涉及一种无人机返航方法及装置。
背景技术
近年来，随着无人机技术的不断发展，无人机不仅在军事上得到了广泛的应用，而且逐渐延伸到民用场合。目前，现有的无人机用自动返航系统仅仅依靠GPS和飞控记录的起飞点经纬度来返航，其降落过程为：无人机返航到返航点上空，悬停几秒，然后降落。因此，无人机返回返航点(即无人机起飞前记录的起飞点)的精准度极低，误差达到两至三米，只有驾驶员不断调整无人机的空中位置,才能让无人机安全降落在某一区域上，其达不到定位降落的有效效果；当无人机失控返航，遥控器无法对无人机操控，则无人机就有可能偏离原路线返航；或者由于失控返航而误入禁止飞行区域。因此，有必要提供一种返航引导更智能、安全、准确的返航引导。
发明内容
本发明的实施例提供一种无人机返航方法及装置，能够解决无人机返航时偏离原路线返航或由于失控返航而误入禁止飞行区域的问题。
为达到上述目的，本发明的实施例采用如下技术方案：
第一方面，本发明的实施例提供一种无人机返航方法，应用于无人机的遥控终端设备，包括：
获取无人机的起始位置的起始位置信息；
获取当前位置的地图数据，当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹；
当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径；
按照返航时的飞行方向及路径，引导无人机返航飞行。
结合第一方面，在第一方面的第一种可能的实现方式中，
所述的无人机返航方法，包括：
当引导无人机返航飞行时，结合用户的当前位置，再次计算无人机的飞行方向及路径，并按照再次计算的飞行方向及路径，调整无人机到达与用户相对应的位置。
结合第一方面的第一种可能的实现方式，在第二种可能的实现方式中，
所述无人机返航方法，包括：
当引导无人机返航飞行时，根据地图数据及预设敏感飞行区域，判断无人机返航时是否经过敏感飞行区域，若进过敏感飞行区域，则按照能够避让所述敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径，并按照所述重新计算的飞行方向及路径，引导无人机返航飞行。
结合第一方面的第二种可能的实现方式，在第三种可能的实现方式中，
所述按照能够避让敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径包括：
计算无人机的飞行方向及路径，使所述路径与所述敏感飞行区域的边界相邻接。
结合第一方面的第二种可能的实现方式，在第四种可能的实现方式中，包括：
当引导无人机返航飞行时，判断计算的无人机的飞行方向与用户的操作方向是否相同，若与用户的操作方向相同，则继续按照计算的无人机的飞行方向引导无人机返航，若与用户的操作方向不同，则中断对无人机的引导，使无人机基于用户操作进行飞行。
第二方面，本发明的实施例提供一种无人机返航装置，其特征在于，包括：
起始位置获取单元，获取无人机的起始位置的起始位置信息；
第一计算单元，获取当前位置的地图数据，当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹；
第二计算单元，当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径；
控制单元，按照所述第二计算单元计算的无人机方航时的飞行方向及路径，引导无人机返航飞行。
结合第二方面，在第二方面的第一种可能的实现方式中，所述的无人机返航装置，还包括：
第三计算单元，当所述控制单元引导无人机返航飞行时，所述第三计算单元结合用户的当前位置，再次计算无人机的飞行方向及路径；
所述控制单元按照所述第三计算单元再次计算的飞行方向及路径，调整无人机到达与用户相对应的位置。
结合第二方面的第一种可能的实现方式，在第二种可能的实现方式中，
所述的无人机返航装置，还包括：
第四计算单元，当所述控制单元引导无人机返航飞行时，所述第四计算单元根据地图数据及预设敏感飞行区域，判断无人机返航时是否经过敏感飞行区域，若进过敏感飞行区域，则按照能够避让所述敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径；
所述控制单元按照所述第四计算单元重新计算的飞行方向及路径，引导无人机返航飞行。
结合第二方面的第二种可能的实现方式，在第三种可能的实现方式中，
所述第四计算单元按照能够避让敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径时，计算无人机的飞行方向及路径，使所述路径与所述敏感飞行区域的边界相邻接。
结合第二方面的第二种可能的实现方式，在第四种可能的实现方式中，
所述的无人机返航装置，还包括：
判断单元，当所述控制单元引导无人机返航飞行时，判断单元判断计算的无人机的飞行方向与用户的操作方向是否相同，若与用户的操作方向相同，则继续按照计算的无人机的飞行方向引导无人机返航，若与用户的操作方向不同，则中断对无人机的引导，使无人机基于用户操作进行飞行。
本发明实施例提供的无人机返航方法及装置，通过获取无人机的起始位置的起始位置信息；结合所获取的当前位置的地图数据，更重要的是当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹；从而当无人机 返航时，能够根据所述飞机轨迹计算无人机返航时的飞行方向及路径；通过按照返航时的飞行方向及路径，能够自动地引导无人机返航飞行。从而能够有效避免当无人机失控返航时，在遥控器无法对无人机操控的情况下，无人机就有可能偏离原路线返航的危险；或者由于失控返航而误入禁止飞行区域的危险。因此，提供了一种返航引导更智能、安全、准确的返航引导。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是本发明实施例的无人机返航方法的流程示意图；
图2是本发明实施例的无人机返航方法的另一流程示意图；
图3是本发明实施例的无人机返航装置结构示意图；
图4是本发明实施例的无人机返航装置的另一结构示意图；
图5是本发明实施例的无人机返航装置的另一结构示意图；
图6是本发明实施例的无人机返航装置的另一结构示意图；
图7是本发明实施例的无人机返航装置500的结构示意图。
具体实施方式
本发明实施例提供了一种无人机返航方法及装置，可为用户提供更智能、安全、准确的返航引导服务，以下分别进行详细说明。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特 定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
可以理解的是，本发明实施例中的无人机返航方法和无人机返航装置可以应用于与无人机建立有通信连接的操作终端，且该操作终端设置有与用户交互的操作界面。
请参阅图1，本发明实施例中无人机返航方法一个实施例包括：
本发明一实施例提供一种无人机返航方法，应用于无人机的遥控终端设备，如图1所示，所述方法包括：
步骤101、获取无人机的起始位置的起始位置信息。
其中，获取无人机的起始位置的起始位置信息包括但不限于如下方式，依靠GPS、或飞控记录的起飞点经纬度、或定位用的激光识别仪等，在无人机起飞时，记录该无人机的GPS点或经纬度或激光识别的位置数据，作为该无人机的起始位置信息。
步骤102、获取当前位置的地图数据，当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹。
当前位置的地图数据可以预先存储在存储器中，或者通过通信模块从服务器中获取，在无人机飞行过程中，基于无人机自身的定位，结合该地图数据在地图上实时绘制无人机从起始位置开始，到当前飞行位置处的模拟轨迹。该轨迹可以存储在存储器中或发送至远端服务器，本发明实施例的实施不限于此。
步骤103、当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径。
当无人机收到返航指令时，调取在飞行过程中所绘制的无人机的飞行所形成的模拟轨迹，用以反向推算无人机返航时的方向及路径。需要说明的是，返航时的飞行路径可以与来时一致，但必要时可以以如下方式修改路径。当返航时，计算的返航路径落入临时禁飞区域或不利飞行区域中时，重新规划返航路径，使其沿禁飞区域或不利飞行区域的边界处进行飞行。所述不利飞行区域包 括但不限于由于风力、临时障碍等造成的飞行困难区域。本发明实施例的临时禁飞区域或不利飞行区域例如可以通过通信模块从远端服务器实时获取，但不限于此。
步骤104、按照返航时的飞行方向及路径，引导无人机返航飞行。
在飞行方向及路径确定后，控制无人机按照该飞行方向及路径飞行。在本发明实施例中，例如可以将其作为推荐路径显示在用户的遥控终端设备上，待用户点击确认后予以执行，或者在用户预先设置了无需通知的情况下，直接作为返航方向及路径予以执行。在按照该由无人机计算获得的返航时的飞行方向及路径飞行时，若收到用户的操作指令，则中断飞行而基于用户的操作指令执行动作，在用户完成操作指令后，比对当前位置与计算的返航时的飞行路径，使无人机以最短距离返回至该已计算的返航时的飞行路径上，重新按照该已计算的返航时的飞行路径进行飞行。
与现有技术相比，本发明实施例能够获取无人机的起始位置的起始位置信息；获取当前位置的地图数据，当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹；当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径；按照返航时的飞行方向及路径，引导无人机返航飞行。
进一步的，在所述步骤104中，当引导无人机返航时，结合用户的当前位置，再次计算无人机的飞行方向及路径，并按照再次计算的飞行方向及路径，调整无人机到达与用户相对应的位置。
需要指出的是，在步骤104中，当无人机返航时，由于存在用户已移动而发生位置变更的情况，因此，在此种情况下，为了更好的实现返航，首先需要定位用户位置，例如可以对用户手持的遥控终端设备进行定位，获取用户的最新位置信息，结合该最新位置信息，调整步骤103中根据所述飞机轨迹所计算的无人机返航时的飞行方向及路径，从而可以按照再次计算的飞行方向及路径，调整无人机到达与用户的最新位置相对应的位置，而并非回归无人机起飞时的原始位置。
进一步的，在所述步骤104中，当引导无人机返航飞行时，根据地图数据及预设敏感飞行区域，判断无人机返航时是否经过敏感飞行区域，若进过敏感飞行区域，则按照能够避让所述敏感飞行区域的最小距离的变更，重新计算无 人机的飞行方向及路径，并按照所述重新计算的飞行方向及路径，引导无人机返航飞行。
举例而言，当引导无人机返航飞行时，存在由于时间变化或临时情况，导致原本允许飞行区域变成敏感飞行区域的可能性，此时如判断返航路线中存在敏感飞行区域，则需要避开该敏感飞行区域而进行路线变更，因而，此时需重新计算无人机的飞行方向及路径，并按照所述重新计算的飞行方向及路径，引导无人机返航飞行。
这里，如图2所示，所述按照能够避让敏感飞行区域的最小距离的变更，重新计算无人机1的飞行方向及路径的方式包括：计算无人机的飞行方向及路径，使所述路径与所述敏感飞行区域的边界相邻接。
具体而言，当确定返航路径4将会途经敏感区域3后，为了避开该敏感区域3且最小限度绕行，例如可以沿该敏感区域的边界的路径5进行飞行，从而无人机最终返回返航点2。当然，在可以实现本发明实施例的前提下，还可以选择其他绕行方式，例如按照当前时刻无人机与用户之间的最短路线进行绕行，本发明实施方式不限于此。
进一步的，在步骤104中，当引导无人机返航飞行时，判断计算的无人机的飞行方向与用户的操作方向是否相同，若与用户的操作方向相同，则继续按照计算的无人机的飞行方向引导无人机返航，若与用户的操作方向不同，则中断对无人机的引导，使无人机基于用户操作进行飞行。
这里，通过判断无人机此刻的飞行方向与用户的操作方向之间的关系，确定用户是否存在改变无人机方向的意图，当无人机此刻的飞行方向与用户的操作方向不同时，判断为用户意欲改变或手动操控无人机，此时，中断对无人机的引导，将无人机的操控权返还用户，使无人机基于用户操作进行飞行。
进一步的，控制所述无人机启动成像装置，用以显示所述成像装置拍摄的图像信息。
这里，需要说明的是，根据拍摄要求，在向目的地飞行及返航飞行的过程中，可控制所述无人机启动成像装置，从而显示该成像装置拍摄的图像信息，以便用户第一时间确认拍摄内容。
本发明又一实施例提供一种无人机返航装置，如图3所示，所述装置包括：
起始位置获取单元21，获取无人机的起始位置的起始位置信息；
第一计算单元22，获取当前位置的地图数据，当无人机飞行时，计算无人 机从所述起始位置至当前飞行位置的飞行轨迹；
第二计算单元23，当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径；
控制单元24，按照所述第二计算单元23计算的无人机方航时的飞行方向及路径，引导无人机返航飞行。
进一步的，如图4所示，还包括：第三计算单元25，当所述控制单元24引导无人机返航飞行时，所述第三计算单元25结合用户的当前位置，再次计算无人机的飞行方向及路径；
所述控制单元按照所述第三计算单元25再次计算的飞行方向及路径，调整无人机到达与用户相对应的位置。
进一步的，如图5所示，还包括：第四计算单元26，当所述控制单元24引导无人机返航飞行时，所述第四计算单元26根据地图数据及预设敏感飞行区域，判断无人机返航时是否经过敏感飞行区域，若进过敏感飞行区域，则按照能够避让所述敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径；
所述控制单元24按照所述第四计算单元26重新计算的飞行方向及路径，引导无人机返航飞行。
具体的，所述第四计算单元26按照能够避让敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径时，计算无人机的飞行方向及路径，使所述路径与所述敏感飞行区域的边界相邻接。
进一步的，如图6所示，还包括：判断单元27，当所述控制单元24引导无人机返航飞行时，判断单元27判断计算的无人机的飞行方向与用户的操作方向是否相同，若与用户的操作方向相同，则继续按照计算的无人机的飞行方向引导无人机返航，若与用户的操作方向不同，则中断对无人机的引导，使无人机基于用户操作进行飞行。
具体的，如图7所示，无人机返航装置500可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，个人数字助理等。
参照图7，无人机返航装置500可以包括以下一个或多个组件：处理组件502，存储器504，电源组件506，多媒体组件508，音频组件510，输入/输出(I/O)的接口512，传感器组件514，以及通信组件516。
处理组件502通常控制无人机返航装置500的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件502可以包括一个或多个处理器520来执行指令。
此外，处理组件502可以包括一个或多个模块，便于处理组件502和其他组件之间的交互。例如，处理组件502可以包括多媒体模块，以方便多媒体组件508和处理组件502之间的交互。
存储器504被配置为存储各种类型的数据以支持在无人机返航装置500的操作。这些数据的示例包括用于在无人机返航装置500上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器504可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件506为无人机返航装置500的各种组件提供电力。电源组件506可以包括电源管理系统，一个或多个电源，及其他与为无人机返航装置500生成、管理和分配电力相关联的组件。
多媒体组件508包括在所述无人机返航装置500和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件508包括一个前置摄像头和/或后置摄像头。当无人机返航装置500处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件510被配置为输出和/或输入音频信号。例如，音频组件510包括一个麦克风(MIC)，当无人机返航装置500处于操作模式，如呼叫模式、记录模式 和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器504或经由通信组件516发送。在一些实施例中，音频组件510还包括一个扬声器，用于输出音频信号。
I/O接口512为处理组件502和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件514包括一个或多个传感器，用于为无人机返航装置500提供各个方面的状态评估。例如，传感器组件514可以检测到无人机返航装置500的打开/关闭状态，组件的相对定位，例如所述组件为无人机返航装置500的显示器和小键盘，传感器组件514还可以检测无人机返航装置500或无人机返航装置500一个组件的位置改变，用户与无人机返航装置500接触的存在或不存在，无人机返航装置500方位或加速/减速和无人机返航装置500的温度变化。传感器组件514可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件514还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件514还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件516被配置为便于无人机返航装置500和其他设备之间有线或无线方式的通信。无人机返航装置500可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件516经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件516还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，无人机返航装置500可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述 的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。123456
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理 解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种无人机返航方法，应用于无人机的遥控终端设备，其特征在于，包括：
    获取无人机的起始位置的起始位置信息；
    获取当前位置的地图数据，当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹；
    当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径；
    按照返航时的飞行方向及路径，引导无人机返航飞行。
  2. 如权利要求1所述的无人机返航方法，其特征在于，包括：
    当引导无人机返航时，结合用户的当前位置，再次计算无人机的飞行方向及路径，并按照再次计算的飞行方向及路径，调整无人机到达与用户相对应的位置。
  3. 如权利要求2所述的无人机返航方法，其特征在于，包括：
    当引导无人机返航飞行时，根据地图数据及预设敏感飞行区域，判断无人机返航时是否经过敏感飞行区域，若进过敏感飞行区域，则按照能够避让所述敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径，并按照所述重新计算的飞行方向及路径，引导无人机返航飞行。
  4. 如权利要求3所述的无人机返航方法，其特征在于，所述按照能够避让敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径包括：
    计算无人机的飞行方向及路径，使所述路径与所述敏感飞行区域的边界相邻接。
  5. 如权利要求3所述的无人机返航方法，其特征在于，包括：
    当引导无人机返航飞行时，判断计算的无人机的飞行方向与用户的操作方向是否相同，若与用户的操作方向相同，则继续按照计算的无人机的飞行方向引导无人机返航，若与用户的操作方向不同，则中断对无人机的引导，使无人机基于用户操作进行飞行。
  6. 一种无人机返航装置，其特征在于，包括：
    起始位置获取单元，获取无人机的起始位置的起始位置信息；
    第一计算单元，获取当前位置的地图数据，当无人机飞行时，计算无人机从所述起始位置至当前飞行位置的飞行轨迹；
    第二计算单元，当无人机返航时，根据所述飞机轨迹计算无人机返航时的飞行方向及路径；
    控制单元，按照所述第二计算单元计算的无人机方航时的飞行方向及路径，引导无人机返航飞行。
  7. 如权利要求6所述的无人机返航装置，其特征在于，还包括：
    第三计算单元，当所述控制单元引导无人机返航飞行时，所述第三计算单元结合用户的当前位置，再次计算无人机的飞行方向及路径；
    所述控制单元按照所述第三计算单元再次计算的飞行方向及路径，调整无人机到达与用户相对应的位置。
  8. 如权利要求7所述的无人机返航装置，其特征在于，还包括：
    第四计算单元，当所述控制单元引导无人机返航飞行时，所述第四计算单元根据地图数据及预设敏感飞行区域，判断无人机返航时是否经过敏感飞行区域，若进过敏感飞行区域，则按照能够避让所述敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径；
    所述控制单元按照所述第四计算单元重新计算的飞行方向及路径，引导无人机返航飞行。
  9. 如权利要求8所述的无人机返航装置，其特征在于，
    所述第四计算单元按照能够避让敏感飞行区域的最小距离的变更，重新计算无人机的飞行方向及路径时，计算无人机的飞行方向及路径，使所述路径与所述敏感飞行区域的边界相邻接。
  10. 如权利要求8所述的无人机返航装置，其特征在于，还包括：
    判断单元，当所述控制单元引导无人机返航飞行时，判断单元判断计算的无人机的飞行方向与用户的操作方向是否相同，若与用户的操作方向相同，则继续按照计算的无人机的飞行方向引导无人机返航，若与用户的操作方向不同，则中断对无人机的引导，使无人机基于用户操作进行飞行。
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