WO2019091226A1

WO2019091226A1 - Unmanned aerial vehicle control method and terminal

Info

Publication number: WO2019091226A1
Application number: PCT/CN2018/106539
Authority: WO
Inventors: 冯银华
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-11-13
Filing date: 2018-09-19
Publication date: 2019-05-16
Also published as: CN107831785A

Abstract

Provided are a control method for an unmanned aerial vehicle and a terminal. The method comprises: upon detecting that the terminal is disconnected from the unmanned aerial vehicle, the terminal saves flight route information of the flight route of the unmanned aerial vehicle (101); after the connection between the terminal and the unmanned aerial vehicle is reestablished, the terminal determines whether the unmanned aerial vehicle does not finish the flight route according to the flight route information (102); and if it is determined that the unmanned aerial vehicle does not finish the flight route, the terminal sends the flight route information to the unmanned aerial vehicle, so as to control the unmanned aerial vehicle to finish the rest flight route in the flight route according to the flight route information (103). According to the method of the embodiment of the invention, the efficiency of obtaining the flight route by the unmanned aerial vehicle can be improved and the user operation can be simplified. The power consumption of the unmanned aerial vehicle during the non-flight period can be reduced.

Description

Control method and terminal for unmanned aerial vehicle

The present application claims priority to Chinese Patent Application No. 200911115437X, filed on November 13, 2017, the entire disclosure of which is incorporated herein by reference. In this application.

Technical field

The present application relates to the field of information technology, and in particular to a control method and terminal for an unmanned aerial vehicle.

Background technique

With the continuous development of unmanned aerial photography technology, more and more consumer-grade UAVs are also being produced and developed, and consumer-grade UAVs are gradually becoming more and more popular. A drone can be understood as an Unmanned Aerial Vehicle (UAV). During the flight of an unmanned aerial vehicle, the mission function of the route becomes more and more important. That is, the unmanned opportunity receives the route task sent by the terminal and conducts the flight according to the route task.

Currently, if the UAV is disconnected from the terminal in the event that the flight route mission is not completed, measures such as return flight or emergency landing will be taken according to the previously set flight strategy. If the UAV is still connected to the terminal and needs to perform a previously unfinished route task, the user needs to reset the route information.

Summary of the invention

The embodiment of the present application provides a control method and terminal for an unmanned aerial vehicle, so that the unmanned aerial vehicle can continue to execute an unfinished flight path.

The embodiment of the present application provides a control method for an unmanned aerial vehicle, including:

When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV;

After the terminal re-establishes a connection with the unmanned aerial vehicle, the terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route;

If yes, the terminal sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.

Optionally, the terminal saves the route information of the flight route, including:

The terminal saves location information of all waypoints in the flight path of the UAV, and location information of the unmanned aerial vehicle that was last acquired before disconnecting from the UAV;

Determining, by the terminal, whether the unmanned aerial vehicle has not completed the flight route according to the route information, including:

Determining, by the terminal, whether the unmanned aerial vehicle reaches an end point of the flight path according to position information of the unmanned aerial vehicle and position information of the all waypoints;

If not, the terminal determines that the unmanned aerial vehicle has not completed the flight path.

Optionally, when the terminal detects disconnection from the UAV, the method further includes:

Determining, by the terminal, whether the unmanned aerial vehicle reaches an end point of the flight path according to position information acquired last time before disconnecting from the unmanned aerial vehicle;

If not, the terminal determines, according to the location information of the UAV and the location information of all the waypoints in the flight path, the remaining waypoints included in the remaining routes of the flight route, and the remaining waypoints Location information;

The terminal saves the route information of the flight route, including:

The terminal saves location information of the remaining waypoints and an uncompleted route identifier;

Determining, by the terminal, whether the route information includes an uncompleted route identifier;

If so, the terminal determines that the unmanned aerial vehicle has not completed the flight path.

Optionally, before the terminal sends the route information to the unmanned aerial vehicle, the method further includes:

The terminal outputs prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

Sending, by the terminal, the route information to the unmanned aerial vehicle, including:

After detecting the confirmation operation of the prompt information by the user, the terminal sends the route information to the unmanned aerial vehicle.

Optionally, the method further includes:

The terminal saves flight mode and/or flight parameter information corresponding to the flight path;

The terminal transmits the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.

The embodiment of the present application further provides a terminal, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the following steps when executing the computer program:

Saving route information of a flight path of the unmanned aerial vehicle when detecting disconnection from the unmanned aerial vehicle;

After reestablishing the connection with the unmanned aerial vehicle, determining, according to the route information, whether the unmanned aerial vehicle has not completed the flight path;

If yes, the route information is sent to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.

Optionally, when the processor executes the computer program, the method further implements:

Preserving location information of all waypoints in the UAV flight path, and location information of the UAV obtained last time before disconnecting from the UAV;

Determining whether the unmanned aerial vehicle reaches an end point of the flight path according to position information of the unmanned aerial vehicle and position information of the all waypoints;

If not, it is determined that the unmanned aerial vehicle has not completed the flight path.

Determining, when the terminal detects disconnection from the UAV, whether the UAV arrives at the flight path according to location information acquired last time before the UAV is disconnected from the UAV end;

If not, determining, according to the location information of the unmanned aerial vehicle and the location information of all the waypoints in the flight route, the remaining waypoints included in the remaining routes of the flight route, and the location information of the remaining waypoints ;

Saving location information of the remaining waypoints and an unfinished route identifier;

Determining whether the route information includes an unfinished route identifier;

If so, it is determined that the unmanned aerial vehicle has not completed the flight path.

Before transmitting the route information to the unmanned aerial vehicle, outputting prompt information, the prompt information being used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

After detecting the confirmation operation of the prompt information by the user, the route information is sent to the unmanned aerial vehicle.

Saving flight mode and/or flight parameter information corresponding to the flight path;

The flight mode and/or flight parameter information is transmitted to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.

The embodiment of the present application also provides a control device for an unmanned aerial vehicle. The device includes a functional module. The function module is used to implement any of the above methods.

The embodiment of the present application further provides a computer readable storage medium storing computer executable instructions for the control method of the unmanned aerial vehicle.

In the embodiment of the present application, when the terminal is disconnected from the UAV, the terminal may save the route information of the flight path of the UAV. Further, after the terminal re-establishes a connection with the unmanned aerial vehicle, it can determine whether the drone completes the flight route according to the saved route information, and if it is determined that the unmanned aerial vehicle has not completed the flight route, the route information can be sent to the unmanned aerial vehicle. Therefore, the unmanned aerial vehicle can complete the remaining routes according to the route information. In the above manner, the efficiency of the UAV acquiring the flight path can be improved, the user operation can be simplified, and the power consumption of the UAV during the flight can be reduced.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 1 of the present application;

2 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present application;

3 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present application;

4 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 4 of the present application;

FIG. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a module of a control device for an unmanned aerial vehicle according to an embodiment of the present application.

Detailed ways

The embodiments of the present application are described below with reference to the accompanying drawings.

Embodiment 1

FIG. 1 shows a control method of an unmanned aerial vehicle provided by Embodiment 1 of the present application, which can be performed by a terminal. The terminal may be a terminal that includes an Android operating system, an iOS operating system, a Windows operating system, or other operating systems, such as a smart phone, a mobile computer, a tablet computer, a PDA (Personal Digital Assistant), and the like. An unmanned aerial vehicle related application can be installed in the terminal, and the application can communicate with the unmanned aerial vehicle. For example, the application can receive flight information of the unmanned aerial vehicle through the terminal, such as flight status, flight parameters, and the like. Alternatively, the application can send commands to the unmanned aerial vehicle through the terminal to control the flight state of the unmanned aerial vehicle and the like. The terminal can also be connected to a remote control device for transmitting remote control commands to the unmanned aerial vehicle, for example, the flight direction of the remote control aircraft. The communication between the terminal and the UAV can be directly implemented, or implemented by a remote control device, and is not limited herein. The terminal can be configured with a function of interacting with the user. For example, the terminal can be configured with a hardware function such as a touch display screen, or can be implemented by displaying the human-computer interaction interface and the like through the application program on the terminal. Of course, the combination of the above may be included, and is not limited herein.

As shown in FIG. 1, the method may include the following steps.

Step 101: When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV.

The terminal is connected to the UAV, and the terminal and the UAV may be directly connected by wireless, or the terminal may be connected to the UAV through the UAV remote controller, which is not limited herein. After the terminal is connected to the UAV, the terminal can interact with the UAV. When the terminal does not obtain the signal returned by the UAV for a specified time, it may be determined that the UAV is disconnected, wherein the UAV may perform due to insufficient battery power, abnormal weather, and natural Disasters, too far distance from the terminal, etc., result in disconnection from the terminal. In the case of disconnection from the terminal, the UAV can take measures such as returning to the starting point or emergency landing according to a preset flight strategy.

Optionally, the route information saved by the terminal may be location information of all the waypoints in the flight path of the UAV, and the unmanned aerial vehicle that is last acquired before disconnecting from the UAV The location information, or the route information saved by the terminal may also be the location information of the remaining waypoints and the unfinished route identifier.

Optionally, the manner in which the terminal saves the route information may be associated with the unmanned aerial vehicle, that is, the terminal is connected to different unmanned aerial vehicles, and the manner in which the terminal stores the route information is different. Alternatively, the manner in which the terminal saves the route information is associated with the flight route, that is, the different flight routes, and the manner in which the terminal stores the route information is different. Alternatively, the terminal may save the route information in a manner of alternate rotation or the like. Here, the manner in which the terminal saves the route information is not limited. The flight path of the UAV may include a plurality of waypoints, each of which corresponds to location information, and the location information may include longitude information and latitude information of the waypoint.

The flight route may include a completed waypoint and a remaining waypoint, the completed waypoint refers to a waypoint included in the completed route in the flight route, and the remaining waypoint refers to a waypoint included in the unfinished route in the flight route, That is, the waypoints included in the remaining routes. Wherein, the completed route or the remaining route in the flight route may be determined according to the position information of the unmanned aerial vehicle acquired by the terminal last time.

Step 102: After the terminal re-establishes a connection with the unmanned aerial vehicle, the terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route.

Optionally, the terminal may determine, according to whether the uncompleted route identifier is included in the route information, whether the unmanned aerial vehicle has not completed the flight route. If the terminal determines that the route information includes the unfinished route identifier, it may be determined that the unmanned aerial vehicle has not completed the flight route.

Further, if the terminal determines that the route information does not include the unfinished route identifier, it may determine whether the route information includes the location information of the UAV and the location information of all the waypoints in the flight route. If it is determined to be included, it can be determined according to the above location information whether the unmanned aerial vehicle has not completed the flight route.

Step 103: If yes, the terminal sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete remaining routes in the flight route according to the route information.

The terminal may send location information of all the waypoints in the flight path of the UAV and location information of the unmanned aerial vehicle to the unmanned aerial vehicle, or send location information of the remaining waypoints. To the unmanned aerial vehicle.

In an implementation manner, if the terminal determines, according to the route information, that the UAV has completed the flight route, a new flight route may be formulated for the UAV, for example, from the stored flight. One or more flight routes are selected as new flight routes in the route, and the new flight route is sent to the unmanned aerial vehicle, which is not limited herein.

Embodiment 2

As shown in FIG. 2, the method can include the following steps.

Step 201: When the terminal detects disconnection from the UAV, the terminal saves location information of all the waypoints in the UAV flight path, and last acquired before disconnecting from the UAV The location information of the unmanned aerial vehicle.

In this step, the terminal does not need to judge whether the unmanned aerial vehicle completes the current route, and can save the location information of all the waypoints in the flight route and the position information of the last acquired unmanned aerial vehicle.

Step 202: The terminal re-establishes a connection with the UAV.

Wherein, the unmanned aerial vehicle is the same as the unmanned aerial vehicle in step 201. For example, a reconnected UAV and a disconnected UAV are the same unmanned aerial vehicle, ie, the unique identifier of the UAV. Alternatively, the reconnected UAV is of the same type as the disconnected UAV, or the same airspace, and is not limited herein.

Step 203: The terminal determines, according to the location information of the unmanned aerial vehicle and the location information of the all waypoints, whether the unmanned aerial vehicle reaches the end of the flight path; if not, step 204 is performed. If yes, the process ends;

Step 204: The terminal sends location information of the UAV and location information of the all waypoints to the UAV to control the UAV to complete remaining routes in the flight path.

Wherein, the unmanned aerial vehicle can fly to the position represented by the position information according to the position information of the transmitted unmanned aerial vehicle. And according to the location information of all waypoints and the location of the unmanned aerial vehicle, the remaining routes are determined, and the remaining routes are completed.

Alternatively, the terminal may determine location information of the remaining waypoints of the remaining routes according to the location information of the unmanned aerial vehicle and the location information of all the waypoints, and transmit the location information of the unmanned aerial vehicle and the location information of the remaining waypoints to the unmanned aerial vehicle. . Further, the UAV completes the remaining routes based on the received information.

Embodiment 3

As shown in FIG. 3, the method may include the following steps:

Step 301: When the terminal detects disconnection from the UAV, the terminal acquires location information that is sent by the UAV for the last time before disconnecting;

Step 302, the terminal determines whether the unmanned aerial vehicle reaches the end of the flight path, if yes, step 303 is performed, if not, step 304 is performed;

Step 303, the terminal saves all the waypoint information and the completed route identifier in the flight route, or only saves the completed route identifier, and performs step 305;

Wherein the completed route identifier indicates that the unmanned aerial vehicle has completed the flight route.

In this step, the terminal may save or not save the waypoint information in the flight route according to a preset policy.

Step 304, the terminal determines, according to the location information of the unmanned aerial vehicle and the location information of the all waypoints, the remaining waypoints included in the remaining routes of the flight route, and the location information of the remaining waypoints, Saving location information of the remaining waypoints and an unfinished route identifier;

The terminal determines the location information of the remaining waypoints according to the location information of the unmanned aerial vehicle and the location information of the all waypoints, and further determines the remaining routes. Wherein, the remaining waypoint may refer to a waypoint that the UAV needs to pass through the current position of the UAV to the end of the flight path. The remaining routes consist of the remaining waypoints.

Wherein the unfinished route identifier indicates that the unmanned aerial vehicle has not completed the flight route. A flag can be set, for example, when the flag position is 1, it indicates that the route has been completed, and when it is set to 0, it indicates that the route is not completed; of course, when the flag position is 0, it indicates that the route has been completed, and is set to At 1 o'clock, it indicates that the route is not completed; two identifiers may also be set, which respectively correspond to the completed route identifier and the unfinished route identifier, which are not limited herein.

Step 305, the terminal re-establishes a connection with the unmanned aerial vehicle;

Step 306: The terminal determines whether the route information includes an uncompleted route identifier; if yes, step 307 is performed, and if no, the process ends.

Step 307: The terminal determines that the UAV does not complete the flight path, and sends location information of the remaining waypoints to the UAV to control the UAV to complete the flight path. The remaining routes.

Embodiment 4

As shown in FIG. 4, the method may include the following steps:

Step 401: When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV;

Optionally, the terminal may further save information of the UAV, and the information of the UAV is used to uniquely identify an UAV;

The information of the UAV may include: identification information of the UAV, such as one of the factory serial number of the UAV, the model of the UAV, or the name of the UAV, and the like. Kind or combination. In order to enable the aircraft information to be used to uniquely identify an unmanned aerial vehicle, or a type of unmanned aerial vehicle, it is not limited herein.

Optionally, the terminal further saves flight mode and/or flight parameter information corresponding to the flight path;

The flight mode corresponding to the flight path may include one or more of the closest distance flight between the waypoints, a preset trajectory flight between the waypoints, N rounds of flying around one or more waypoints, and the like.

The flight parameter information may include at least one of: flight speed information, fly height information, distance range information, low battery warning information, return information, and the like.

Wherein, the flight speed information may be for one or more waypoints. The flight altitude information can be for one or more waypoints.

The distance range information means that the distance between the UAV and the waypoint needs to be within the distance indicated in the distance range information. The distance range information can be for one or more waypoints.

The low battery warning message may be an alarm that is input when the power of the unmanned aerial vehicle is low, for example, the prompt information may be displayed in the terminal, the alarm sound may be sounded, and the like.

The return flight information may include a return flight condition and a return flight point information. When the route task or the low battery or the loss control signal is completed, the UAV's own vision system or GPS record automatically returns to the return point and completes the automatic landing. The return point can also be defaulted to the starting point or updated to the location of the terminal.

Step 402: The terminal re-establishes a connection with the UAV;

Step 403: The terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route; if yes, step 404 is performed; if not, the process ends;

Optionally, after the terminal re-establishes a connection with the UAV, the terminal further determines whether the unmanned aerial vehicle connected to the UAV is the same as the UAV connected last time, and the UAV can be saved by the terminal. The information is compared with the information of the connected unmanned aerial vehicle. If it is not the same unmanned aerial vehicle, the process is terminated, and a new flight route can be set for the connected unmanned aerial vehicle, which is not limited herein.

Step 404, the terminal outputs prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

The prompt information may be display prompt information, voice prompt information, etc., and is not limited herein.

Step 405: The terminal detects a confirmation operation of the prompt information by the user, and sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the flight route according to the route information. The remaining routes.

The confirmation operation of the user may include at least one of a touch operation, a keyboard input operation, and a voice operation.

Optionally, the terminal further transmits the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining route according to the flight mode and/or flight parameter information. .

For example, the UAV passes one or more remaining waypoints according to the received flight mode; or, the UAV completes the route task on the corresponding waypoint according to the flight parameter information.

The steps in the above embodiments may be combined and are not limited herein. The description of the same steps in the above embodiments may be referred to each other and will not be described herein.

The embodiment of the present application further provides a terminal, where the terminal may be a terminal including an Android operating system, an iOS operating system, a Windows operating system, or another operating system, such as a smart phone, a mobile computer, a tablet computer, a PDA, or an image. Display terminals, etc. The terminal is used to implement the foregoing embodiments and implementation manners, and details have been omitted for description.

As shown in FIG. 5, the terminal of the embodiment of the present application includes: a memory 51, a processor 52, and a computer program stored on the memory 51 and executable on the processor.

The processor implements the following steps when executing the computer program:

After reestablishing the connection with the unmanned aerial vehicle, determining, according to the route information, whether the unmanned aerial vehicle has not completed the flight route;

Optionally, the terminal may further include an input/output device 53 for interacting with the user according to the control of the processor, and the input/output device 53 may include an input unit 531 and an output unit 532, wherein the input unit 531 The touch screen, the keyboard, the mouse, the microphone, and the like may be included for receiving input operations of the user, including a confirmation operation of the user, a setting operation, and the like. The output unit 532 may include a display screen, a speaker, and the like for outputting a prompt or providing an option for selection by a user, such as an image or a sound. In some embodiments, the input unit 531 and the output unit 332 may be combined together, such as a touch screen or the like.

Before transmitting the route information to the unmanned aerial vehicle, outputting prompt information, the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

The prompt information, the voice prompt information, and the like can be displayed by the output unit 532. For example, you can display the prompt window to prompt "Whether to continue to execute the remaining routes", and the prompt window can also include "Yes" and "No" two button controls. When the input unit 531 detects that the user clicks the "Yes" button control, the route information is transmitted to the UAV.

Of course, the terminal may also include other devices, such as communication devices, etc., for enabling a communication connection with the UAV. Other devices or circuit configurations included in the terminal are not limited herein.

The embodiment of the present application further provides a control device for an unmanned aerial vehicle, which is used to implement the foregoing embodiments and implementation manners, and has not been described again. As used below, the term "module" can be software, hardware, or a combination of both to implement the functions described above.

As shown in FIG. 6, the control device of the UAV of the embodiment of the present application includes:

a saving module 61, configured to save route information of a flight path of the unmanned aerial vehicle when detecting disconnection from the unmanned aerial vehicle;

The first judging module 62 is configured to determine, according to the route information, whether the unmanned aerial vehicle has not completed the flight path after reestablishing a connection with the unmanned aerial vehicle;

The sending module 63 is configured to send the route information to the UAV if the first determining module determines to be YES, to control the UAV to complete the remaining in the flight path according to the route information. route.

Optionally, the saving module 61 is configured to save location information of all the waypoints in the flight path of the UAV, and the last acquired unmanned aerial vehicle before disconnecting from the UAV location information;

The determining module 62 is configured to determine, according to the location information of the UAV and the location information of the all waypoints, whether the UAV arrives at an end point of the flight path; if not, determine the None The human aircraft did not complete the flight route.

Optionally, the device further includes a second determining module, configured to, when detecting disconnection from the UAV, according to being disconnected from the UAV The last acquired position information, determining whether the unmanned aerial vehicle reaches the end of the flight path;

The saving module 61 is further configured to: when the second determining module determines to be no, determine the remaining routes of the flight route according to the location information of the unmanned aerial vehicle and the location information of all the waypoints in the flight route. The remaining waypoints included, and the location information of the remaining waypoints, the location information of the remaining waypoints and the unfinished route identifiers are saved;

The first determining module 62 is configured to determine whether the route information includes an uncompleted route identifier; if yes, determine that the unmanned aerial vehicle does not complete the flight route.

Optionally, the device further includes an output module, configured to output prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

The sending module 63 is configured to send the route information to the unmanned aerial vehicle after detecting a confirmation operation of the prompt information by the user.

Optionally, the saving module 61 is further configured to save flight mode and/or flight parameter information corresponding to the flight path;

The sending module 63 is further configured to send the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining according to the flight mode and/or flight parameter information. route.

The functions of the above modules can be implemented by the above terminals.

The embodiment of the present application further provides a computer readable storage medium storing computer executable instructions for executing the control method of the unmanned aerial vehicle.

In this embodiment, the computer readable storage medium may include, but is not limited to, a USB flash drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, and a magnetic disk. Or a variety of media such as optical discs that can store program code.

Although the embodiments disclosed in the present application are as above, the described content is only an embodiment adopted to facilitate understanding of the present application. Any modification and variation in the form and details of the embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

A method for controlling an unmanned aerial vehicle, comprising:

When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV;

After the terminal re-establishes a connection with the unmanned aerial vehicle, the terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route;

If yes, the terminal sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.
The method according to claim 1, wherein the terminal saves the route information of the flight route, including:

The terminal saves location information of all waypoints in the flight path of the UAV, and location information of the unmanned aerial vehicle that was last acquired before disconnecting from the UAV;

Determining, by the terminal, whether the unmanned aerial vehicle has not completed the flight route according to the route information, including:

Determining, by the terminal, whether the unmanned aerial vehicle reaches an end point of the flight path according to position information of the unmanned aerial vehicle and position information of the all waypoints;

If not, the terminal determines that the unmanned aerial vehicle has not completed the flight path.
The method of claim 1, wherein when the terminal detects disconnection from the UAV, the method further comprises:

Determining, by the terminal, whether the unmanned aerial vehicle reaches an end point of the flight path according to position information acquired last time before disconnecting from the unmanned aerial vehicle;

If not, the terminal determines, according to the location information of the UAV and the location information of all the waypoints in the flight path, the remaining waypoints included in the remaining routes of the flight route, and the remaining waypoints Location information;

The terminal saves the route information of the flight route, including:

The terminal saves location information of the remaining waypoints and an uncompleted route identifier;

Determining, by the terminal, whether the unmanned aerial vehicle has not completed the flight route according to the route information, including:

Determining, by the terminal, whether the route information includes an uncompleted route identifier;

If so, the terminal determines that the unmanned aerial vehicle has not completed the flight path.
The method according to any one of claims 1 to 3, wherein before the terminal transmits the route information to the unmanned aerial vehicle, the method further includes:

The terminal outputs prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

Sending, by the terminal, the route information to the unmanned aerial vehicle, including:

After detecting the confirmation operation of the prompt information by the user, the terminal sends the route information to the unmanned aerial vehicle.
The method according to any one of claims 1 to 3, wherein the method further comprises:

The terminal saves flight mode and/or flight parameter information corresponding to the flight path;

The terminal transmits the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.
A terminal comprising: a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor executes the computer program to implement the following steps:

Saving route information of a flight path of the unmanned aerial vehicle when detecting disconnection from the unmanned aerial vehicle;

After reestablishing the connection with the unmanned aerial vehicle, determining, according to the route information, whether the unmanned aerial vehicle has not completed the flight route;

If yes, the route information is sent to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.
The terminal according to claim 6, wherein the processor further implements when the computer program is executed:

Preserving location information of all waypoints in the UAV flight path, and location information of the UAV obtained last time before disconnecting from the UAV;

Determining whether the unmanned aerial vehicle reaches an end point of the flight path according to position information of the unmanned aerial vehicle and position information of the all waypoints;

If not, it is determined that the unmanned aerial vehicle has not completed the flight path.
The terminal according to claim 6, wherein the processor further implements when the computer program is executed:

Determining, when the terminal detects disconnection from the UAV, whether the UAV arrives at the flight path according to location information acquired last time before the UAV is disconnected from the UAV end;

If not, determining, according to the location information of the unmanned aerial vehicle and the location information of all the waypoints in the flight route, the remaining waypoints included in the remaining routes of the flight route, and the location information of the remaining waypoints ;

Saving location information of the remaining waypoints and an unfinished route identifier;

Determining whether the route information includes an unfinished route identifier;

If so, it is determined that the unmanned aerial vehicle has not completed the flight path.
The terminal according to any one of claims 6 to 8, wherein the processor further implements when the computer program is executed:

Before transmitting the route information to the unmanned aerial vehicle, outputting prompt information, the prompt information being used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;

After detecting the confirmation operation of the prompt information by the user, the route information is sent to the unmanned aerial vehicle.
The terminal according to any one of claims 6 to 8, wherein the processor further implements when the computer program is executed:

Saving flight mode and/or flight parameter information corresponding to the flight path;

The flight mode and/or flight parameter information is transmitted to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.
A computer readable storage medium storing computer executable instructions for performing the control method of the unmanned aerial vehicle of any of claims 1-5.