WO2020006658A1 - 无人机返航控制的方法、装置以及无人机 - Google Patents

无人机返航控制的方法、装置以及无人机 Download PDF

Info

Publication number
WO2020006658A1
WO2020006658A1 PCT/CN2018/094007 CN2018094007W WO2020006658A1 WO 2020006658 A1 WO2020006658 A1 WO 2020006658A1 CN 2018094007 W CN2018094007 W CN 2018094007W WO 2020006658 A1 WO2020006658 A1 WO 2020006658A1
Authority
WO
WIPO (PCT)
Prior art keywords
return
drone
area
home
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/094007
Other languages
English (en)
French (fr)
Inventor
陈超彬
王凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880014835.9A priority Critical patent/CN110383196B/zh
Priority to PCT/CN2018/094007 priority patent/WO2020006658A1/zh
Publication of WO2020006658A1 publication Critical patent/WO2020006658A1/zh
Priority to US17/033,451 priority patent/US11783716B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/54—Navigation or guidance aids for approach or landing
    • 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
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • 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
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/74—Arrangements for monitoring traffic-related situations or conditions for monitoring terrain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to a method, a device and an unmanned aerial vehicle for return control of the unmanned aerial vehicle.
  • the drone when the drone is flying, when the preset return conditions are met, the drone will enter the return mode and return to the preset return point.
  • the drone in the return home mode may not be able to return to the home point safely due to restrictions on issues such as battery power, navigation accuracy, flight control accuracy, etc., which may lead to a drone flight accident and cause personal injury. Injury and property damage.
  • Embodiments of the present invention provide a method, a device, and a drone for drone return control to improve the flexibility and reliability of drone return.
  • a first aspect of the embodiments of the present invention provides a drone return control method, including:
  • the drone When the return home evaluation information meets the preset requirements, the drone is controlled to return to the alternate landing area; otherwise, the drone is controlled to return to the return point.
  • a second aspect of the embodiments of the present invention provides a drone return control device, which includes:
  • Memory for storing executable instructions
  • a processor configured to execute the executable instructions stored in the memory to perform the following operations:
  • the drone When the return home evaluation information meets the preset requirements, the drone is controlled to return to the alternate landing area; otherwise, the drone is controlled to return to the return point.
  • a third aspect of the embodiments of the present invention provides a computer-readable storage medium that stores executable instructions.
  • the executable instructions When executed by one or more processors, the one or more processes can be performed.
  • the drone performs the method of drone return control as described in the first aspect.
  • a fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including the drone return control device according to the second aspect.
  • the invention provides a home return control method and device.
  • a drone in a home return mode can determine whether to return to a home point or a fallback area according to return home evaluation information. In this way, the drone can flexibly select
  • the return home method ensures the safety of the drone flight and improves the flexibility and reliability of the return drone.
  • FIG. 1 is a flowchart of a drone return control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a drone return control device according to an embodiment of the present invention selecting a return mode based on return return evaluation information.
  • FIG. 3 is a schematic diagram of setting a backup area for a user according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a drone return control method according to another embodiment of the present invention.
  • FIG. 5 is a structural diagram of a drone return control device according to an embodiment of the present invention.
  • a component when a component is considered to be “connected” to another component, it may be directly connected to another component or a centered component may exist at the same time.
  • the obtaining when a component "gets" data from another component, the obtaining here may be that a component directly communicates with the other component to obtain data, or it may be that a component obtains data from the other component through other components.
  • the drone may be disconnected from the control terminal. At this time, no The operator enters the home mode and returns to the preset home point. In some cases, when the drone detects that the remaining power is insufficient or receives a home return instruction sent by the user through the control terminal, the drone enters the home mode and returns to the preset home point.
  • the drone in the home mode may not be able to safely return to the home point due to the limitation of power, navigation accuracy, flight control accuracy and other issues.
  • a drone may take off in a place with poor geographical conditions.
  • the drone takes off on a field or beach.
  • the drone records the field or beach as the home point.
  • the current Drone navigation accuracy may be poor (for example, the RTK data received by the RTK device configured on the drone is invalid and the RTK device cannot complete the positioning, or the GPS positioning receiver receives satellite signals from less than 4 satellites) or flight control
  • the accuracy may be poor (for example, navigation drones with high wind speeds in the current environment cannot achieve high-precision flight control), so the drone may have a large landing deviation when landing to the home point, so the drone may When returning to the sea, it may land in the paddy field next to the field or the water near the beach due to the landing deviation.
  • the distance between the drone and the home point is far away, and the current remaining power of the drone is not enough to support the drone flying to the home point.
  • Man-machine may fall during return.
  • embodiments of the present invention provide a method and device for drone return control, so as to improve the flexibility and reliability of drone return, and ensure the flight safety of the drone.
  • FIG. 1 is a flowchart of a drone return control method according to an embodiment of the present invention. As shown in FIG. 1, the method for controlling drone return flight includes:
  • Step S101 In the home return mode, obtain home return evaluation information.
  • the method may be executed by a home return control device, wherein the home return control device may be configured on a drone, and in some embodiments, the home return control terminal may also be configured on the control terminal.
  • the execution subject of the method may be a processor of the homeward control device, wherein the processor may be a general-purpose or special-purpose processor, the processor may be one or more, and the one or more The processors work individually or in concert.
  • the home control device controls the drone to enter the home mode.
  • the return home control device obtains return home evaluation information, wherein the return home evaluation information may be any information for instructing the drone to select the return mode of the drone, that is, the return home evaluation information may be Any information used to instruct the drone to select a home point and fallback area.
  • Step S102 When the return home evaluation information meets a preset requirement, control the drone to return to the fall-back area; otherwise, control the drone to return to the return point.
  • the return home control device may detect whether the return home evaluation information meets a preset requirement.
  • a drone return mode is selected according to whether the return home evaluation information meets a preset requirement. Further, as shown in FIG. 2, when the return home evaluation information meets a preset requirement, the return home control device may control the drone 201 to return to the standby area 202, otherwise, the return home control device may control the drone 201 to return to the home Return at point 203.
  • the invention provides a home return control method.
  • a drone in a home return mode can determine whether to return to the home point or return to the fallback area according to the return home evaluation information. In this way, the drone can flexibly select a home return mode. , To ensure the safety of drone flight, improve the flexibility and reliability of drone return.
  • the minimum distance from the center point of the backup area to the boundary is not less than the positioning error of the low-precision positioning device configured on the drone; For a low-precision positioning device, such as a GPS receiver, if the positioning error of the low-precision positioning device is 5 meters, the minimum distance between the center point of the standby area and the boundary cannot be less than 5 meters.
  • the distance from the drop-off area to the return point cannot exceed a preset distance threshold, such as the maximum range of the drone;
  • the environment of the standby area needs to meet the conditions of use of the low-precision positioning device configured on the drone.
  • the standby area is required to be sufficiently open and unobstructed.
  • the requirement for navigation accuracy in the standby area is lower than the requirement for navigation accuracy at the home point.
  • the requirement for flight control accuracy in the standby area is lower than the requirement for flight control accuracy at the home point.
  • the altitude of the standby area cannot be higher than the cruise altitude set when the drone returns.
  • the method further includes: receiving standby area indication information sent by the control terminal, wherein the standby area indication information is determined by the control terminal according to the detected standby area setting operation; the control is unmanned
  • the return of the aircraft to the alternate landing zone includes: controlling the drone to return to the alternate landing zone indicated by the instruction information of the alternate landing zone.
  • the user can set the backup and drop zone through the control terminal. Further, the user can perform the backup and drop zone setting operation on the control terminal.
  • the control terminal can determine the backup and drop zone instruction information, and The backup landing area instruction information is sent to the return home control device, and the return home control device can control the drone to return to the standby area indicated by the backup area instruction information.
  • the backup area indication information may be the location information of the backup area.
  • the user may set the location information of the backup area on the interactive interface displayed on the control terminal 301. Then, the position information of the fall-back area set by the user is sent to the return flight control device, and the return-flow control device controls the drone to return to the fall-back area according to the position information.
  • the drone is configured with a shooting device, wherein the backup landing area indication information includes position information of the backup landing area in a shooting screen of the shooting device.
  • the control terminal may display a shooting screen obtained by shooting with a shooting device configured on the drone, and the user may select an area in the shooting screen as a backup area, and the backup area setting operation may be a user's click on the shooting screen Alternatively, in a frame selection operation, the control terminal may send the drone position information of the alternate landing area selected by the user in the shooting screen, and the return flight control device may determine the standby information based on the position information of the alternate landing zone in the shooting screen. Location information of the landing area, and controlling the drone to return to the standby area based on the location information.
  • the backup landing area indication information may include an image of the backup landing area, where the image may be obtained by shooting by a shooting device of a drone.
  • the method further comprises: receiving home return point indication information sent by the control terminal, wherein the home return point indication information is determined by the control terminal according to the detected home return point setting operation; and controlling the drone to return home Point return includes controlling the drone to return to the return point indicated by the return point instruction information.
  • the home point indication information may be position information of a home point.
  • the home point indication information includes position information of a home point in a shooting screen of the shooting device.
  • the method further includes: acquiring environmental data output by an environmental sensor configured by the drone, determining terrain information according to the environmental data; and selecting a standby area based on the terrain information.
  • an environmental sensor for acquiring environmental data is configured on the drone, for example, the environmental sensor includes a vision sensor (RGB camera, monocular camera, dual-head camera, etc.), a radar, a TOF camera, and the like, and the environmental data includes One or more of a grayscale image, an RGB image, a depth image, and a point cloud.
  • the homeward control device may obtain the environmental data and determine the terrain information of the environment where the drone is located according to the environmental data. The terrain information is analyzed, and the homeward control device determines one or more fall-back areas determined from the ground of the surrounding environment according to the terrain information.
  • determining the terrain information according to the environmental data includes: determining a digital map according to the environmental data, and determining terrain information according to the digital map.
  • the homeward control device may construct a digital map of the surrounding environment according to the environmental data, where the constructed digital map includes the terrain information of the ground in the surrounding environment, that is, according to the constructed digital data, The map determines the topographical information of the surrounding environment.
  • the selecting a fall-back area according to the terrain information includes selecting a fall-back area that meets a preset requirement according to the terrain information.
  • the return-to-home control device may select a fall-back area that meets preset requirements from the ground of the surrounding environment. Landing area, or select a piece of ground with the largest flat area within a preset distance from the drone as the fall-back area, where the larger the flat area, the requirements for flight control accuracy and navigation accuracy are Lower.
  • the obtaining return home evaluation information includes obtaining a control instruction sent by a control terminal, and when the return home evaluation information meets a preset requirement, controlling the drone to return to the alternate landing area; otherwise, controlling the drone to return to the return point
  • Returning home includes: when the control instruction is an alternate landing area instruction instruction, controlling the drone to return to the alternate landing area; otherwise, controlling the drone to return to the return home point.
  • the control terminal detects the home mode selection operation of the user to determine a control instruction, and sends the control instruction to the home control device
  • the home return control device receives a control instruction sent by a user through a control terminal, where the control instruction may include a backup area instruction instruction and a home point instruction instruction.
  • the alternate landing zone instruction may be an instruction to instruct the drone to return to the alternate landing zone.
  • the alternate landing zone instruction includes the identification information of the alternate landing zone.
  • all The fall-back area instruction instruction includes the location information of the fall-back area; the home point instruction instruction may be an instruction to instruct the drone to return to the home point.
  • the home point instruction instruction includes the home point. Identification information.
  • the home point instruction includes position information of the home point.
  • the return flight control device controls the drone to return to the alternate fall area. Further, the return home control device controls the drone to return to the standby area according to the set position information and cruise altitude of the standby area.
  • the control instruction is a home point instruction command, the drone is controlled to return to the home point. Further, the home return control device controls the drone to return to the home point according to the set position information and cruise altitude of the home point.
  • obtaining the return home evaluation information includes obtaining the remaining power of the drone, and when the return home evaluation information meets a preset requirement, controlling the drone to return to the fallback area; otherwise, controlling the drone to the return point Home return includes: when the remaining power is less than or equal to a preset power threshold, controlling the drone to return to the fallback area; otherwise, controlling the drone to return to the home point.
  • the evaluation information may include the remaining power of the drone, and the return home control device may compare the remaining power of the drone with a preset power threshold, and determine a return home mode of the drone according to the comparison result, When the remaining power is less than or equal to a preset power threshold, the drone is controlled to return to the fall-back area; otherwise, the drone is controlled to return to the return point.
  • the preset power threshold is determined according to the power required for the drone to fly from the current position to the home point.
  • the home control device can determine the power required for the drone to fly from the current position to the home point in real time, and set a preset power threshold according to the power required for the drone to fly from the current position to the home point. Setting the preset power threshold is equal to 1.1 times or 1.2 times the power required to fly from the current position to the home point, or setting the preset power threshold is equal to 1.1 or 1.2 times the power required to fly from the current position to the home point. When the home control device determines that the remaining power of the drone is less than or equal to a preset power threshold, the remaining power of the drone may not be sufficient to successfully return to the home point.
  • the return home control device determines that the remaining power of the drone is greater than a preset power threshold, it controls the home drone to return to the home point.
  • the preset power threshold is determined according to the power required for the UAV to fly from the current position to the fall-back area.
  • the return-to-home control device can determine the power required for the drone to fly from the current position to the fall-back area in real time, and set a preset power threshold according to the power required for the drone to fly from the current position to the fall-back area, such as You can set a preset power threshold equal to 1.2 times or 1.3 times the power required to fly from the current position to the return point, or set a preset power threshold.
  • the home control device determines that the remaining power of the drone is less than or equal to a preset power threshold, it is determined that the current remaining power of the drone is only enough to safely return to the fallback area.
  • the drone continues to be controlled to return to the home point, The remaining power of the drone may not be enough to support the drone's successful return to the fallback area. Therefore, when the return home control device determines that the remaining power of the drone is less than or equal to a preset power threshold, the drone is controlled to return to the standby area. When the return home control device determines that the remaining power of the drone is greater than a preset power threshold, it controls the home drone to return to the home point.
  • controlling the drone to return to the home point includes: controlling the drone to fly above the home point according to a preset flight height control strategy; if the current navigation accuracy is greater than a preset navigation accuracy threshold, controlling The drone lands at the return point. Otherwise, control the drone to hover or control the drone to return to the standby area.
  • the return home control device may determine whether the current remaining power of the unmanned vehicle is less than or equal to a preset power threshold, where the preset power threshold is based on the unmanned The amount of power required for the aircraft to fly from the current position to the fallback area is determined. When the remaining power is greater than a preset power threshold, the drone is controlled to return to the home point. Otherwise, the drone is controlled to return to the fallback area.
  • the return process of the drone may include a cruise phase and a cruise phase. During the cruise phase of the return process of the drone to the return point, the return control device may control the drone to fly to the return point according to a preset flight height control strategy.
  • the flight height control strategy may be to first control the drone to climb to a preset height and fly at the preset height. When the drone flies above the home point, the home process enters the landing phase.
  • the home control device can detect the current navigation accuracy of the drone and determine whether the current navigation accuracy of the drone is greater than a preset navigation accuracy threshold. For example, determine Whether the RTK data received by the drone's RTK device is valid. When the RTK data is valid, it indicates that the RTK device can accurately navigate, that is, it is determined that the current navigation accuracy is greater than a preset navigation accuracy threshold; when the RTK data is invalid , It indicates that the RTK device cannot accurately navigate, that is, it is determined that the current navigation accuracy is less than a preset navigation accuracy threshold.
  • the homeward control device controls the hovering of the drone, and in some embodiments, the homeward control device can control the drone to the standby Return to the landing area.
  • the homeward control device may continue to determine whether the current navigation accuracy is greater than a preset navigation accuracy threshold, and if it is determined that the current navigation accuracy is greater than a preset navigation accuracy threshold At this time, the drone is controlled to land at the home point. If it is determined that the current navigation accuracy is less than or equal to a preset navigation accuracy threshold, the drone is controlled to continue hovering.
  • the homeward control device can determine the current remaining power of the drone in real time to determine whether the current remaining power is less than or equal to a preset power threshold.
  • the remaining power is less than or equal to the preset power threshold.
  • the current remaining power of the drone is only enough to safely return to the fallback area. If you continue to try to control the drone to return to the home point, the remaining power of the drone may not be sufficient to support The man-machine successfully returns to the fall-back area. Therefore, the return-to-air control device controls the drone to return to the fall-back area. If it is determined that the current remaining power is greater than a preset power threshold, the drone is controlled to continue hovering.
  • controlling the drone to land at the home point includes: if it is determined that the current navigation accuracy is greater than a preset navigation accuracy threshold and the current flight control When the accuracy is greater than the preset flight control accuracy threshold, the drone is controlled to land towards the home point. Specifically, if it is determined that the current navigation accuracy is greater than a preset navigation accuracy threshold, the return flight control device may further obtain the current flight control accuracy of the drone. The man-machine can achieve precise navigation and can accurately control the flight action. At this time, the home control device can control the drone to land at the home point.
  • the home return control device may control the drone to hover or control the drone to return to the standby area. It can be understood that in the process of controlling the hovering of the drone, the return-to-home control device can perform the operations as described above until the drone reaches the return-to point and the return-to-home is successful.
  • controlling the landing of the drone to the home point includes: controlling the drone to fly above the home point according to a flight height control strategy; and controlling the drone if the current flight control accuracy is greater than a preset flight control accuracy threshold The aircraft will land towards the return point, otherwise control the drone to hover or control the drone to return to the standby area.
  • the drone return process may include a cruise phase and a cruise phase, and the return control device may follow a preset flight height control strategy during the cruise phase that controls the process of the drone returning to the home point.
  • the flight height control strategy may be to first control the drone to climb to a preset altitude and fly at the preset altitude.
  • the home control device can detect the current flight control accuracy of the drone and determine whether the current flight control accuracy of the drone is greater than a preset flight control accuracy threshold, indicating that the drone can be accurate Ground control flight operations, even if the geographical environment of the home point is poor, the drone can still safely land at the home point.
  • the drone is controlled to the home point. landing. If the current flight control accuracy is less than or equal to a preset flight control accuracy threshold, in some embodiments, the home control device controls the drone hovering, in some embodiments, the home control device may control the drone Return to the alternate landing zone.
  • obtaining the return home evaluation information may include obtaining the navigation accuracy of the drone; when the return home evaluation information meets a preset requirement, controlling the drone to return to the fall-back area; otherwise, controlling the drone to return to the home Point home includes: when the navigation accuracy is less than or equal to the preset navigation accuracy threshold, controlling the drone to return to the fallback area; when the navigation accuracy is greater than the preset navigation accuracy threshold, controlling the drone to return to the home point .
  • the navigation accuracy required for the return home to the alternate landing area is lower than the navigation accuracy required for the return home to the home point.
  • the return home control device can obtain the current drone Navigation accuracy.
  • the drone If it is determined that the current navigation accuracy is less than or equal to a preset navigation accuracy threshold, the drone is controlled to return to the standby area. If it is determined that the current navigation accuracy is greater than a preset navigation accuracy threshold, the drone is controlled to return to the home point.
  • the obtaining return flight assessment information may include obtaining flight control accuracy of the drone; when the return flight assessment information meets a preset requirement, controlling the drone to return to the standby area, otherwise, controlling the drone Return Home Point: when the flight control accuracy is less than or equal to the preset flight control accuracy threshold, controlling the drone to return to the fallback area; when the flight control accuracy is greater than the preset flight control accuracy threshold, controlling the unmanned The aircraft returns to the home point.
  • the flight control accuracy required for the return home to the alternate landing area is lower than the flight control accuracy required for the return home to the return point.
  • the return home control device can obtain the drone. The current flight control accuracy. If it is determined that the current flight control accuracy is less than or equal to a preset flight control accuracy threshold, the drone is controlled to return to the standby area. If it is determined that the current navigation accuracy is greater than a preset flight control accuracy threshold, the drone is controlled to return to the home point.
  • the standby area includes a plurality of areas
  • the returning the drone to the standby area includes: determining a target standby area from the multiple standby areas according to a preset rule; and controlling the drone to the target Return from the alternate landing zone.
  • the backup area may include multiple backup areas.
  • a user may set multiple backup areas through a control terminal.
  • the drone control device can determine the target fallback area from multiple fallback areas according to preset rules, and control the drone to return to the target fallback area.
  • receiving the fallback area selection information sent by the control terminal, wherein the fallback area selection information is determined by the control terminal according to the detected fallback area selection operation; Determining the target fall-back area in the fall-back area includes: determining a fall-back area indicated by the fall-back area selection information from a plurality of fall-back areas, and determining the fall-back area as the target fall-back area. Specifically, the user can select which alternate landing zone to return to via the control terminal. The user can perform an alternate landing zone selection operation on the control terminal.
  • the control terminal After detecting the alternate landing zone selection operation, the control terminal determines the alternate landing zone selection information and The backup landing area selection information is sent to the return home control device, and the return home control device may determine the target standby fall area from the backup fall area indicated by the backup fall area selection information from a plurality of backup fall areas.
  • the backup area selection information may include identification information of the backup area.
  • determining the target fall-back area from a plurality of fall-back areas according to a preset rule includes: determining a fall-back area closest to the drone from the plurality of fall-back areas, The fallback area is determined as the target fallback area.
  • the return-to-home control device may separately determine a distance between each of the multiple standby areas and the drone, and determine the closest standby area as the target standby area.
  • determining the target alternate landing zone from the multiple alternate landing zones according to a preset rule includes: determining, from among the multiple alternate landing zones, a backup descending zone that requires minimum navigation accuracy and flight control accuracy.
  • the return-to-home control device can separately determine the requirements for navigation accuracy or flight control accuracy in each of the multiple backup and landing areas, and will prepare the minimum requirements for navigation accuracy and flight control accuracy.
  • the drop zone is determined as the target fall-back zone.
  • FIG. 5 is a schematic diagram of a drone return control device according to an embodiment of the present invention.
  • the drone return control device in this embodiment may include a power module, various interface modules, and the like.
  • the drone return control device 500 shown in the embodiment further includes a memory 501 and a processor 502.
  • the memory 501 may include volatile memory (for example, random-access memory (RAM) 501; the memory 501 may also include non-volatile memory (for example, flash memory) Memory (flash memory), hard disk (HDD) or solid-state drive (SSD); memory 501 may also include a combination of the above types of memory.
  • volatile memory for example, random-access memory (RAM) 501
  • non-volatile memory for example, flash memory
  • flash memory flash memory
  • HDD hard disk
  • SSD solid-state drive
  • memory 501 may also include a combination of the above types of memory.
  • the processor 502 may be a central processing unit (central processing unit, abbreviation: CPU).
  • the processor 502 may further include a hardware chip, wherein the processor 502 may include one or more.
  • the hardware chip may be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • the memory 501 is further configured to store program instructions.
  • the processor 502 may call the program instructions to implement a related method as shown in the corresponding embodiment in FIG. 1.
  • the processor 502 is configured to execute the executable instructions stored in the memory 501 to perform the following operations:
  • the memory 501 is configured to store executable instructions
  • the processor 502 is configured to execute the executable instructions stored in the memory to perform the following operations:
  • the drone When the return home evaluation information meets the preset requirements, the drone is controlled to return to the alternate landing area; otherwise, the drone is controlled to return to the return point.
  • processor 502 is further configured to:
  • the processor controls the drone to return to the home point
  • the processor is used to control the drone to return to the home point indicated by the home point indication information.
  • the processor 502 when the processor 502 obtains the return flight assessment information, the processor 502 is configured to:
  • the processor controls the drone to return to the fall-back area when the return home evaluation information meets the preset requirements; otherwise, the processor is used to:
  • control instruction is an alternate landing area instruction instruction
  • the drone is controlled to return to the alternate landing area; otherwise, the drone is controlled to return to the return point.
  • the processor 502 when the processor 502 obtains the return flight assessment information, the processor 502 is configured to:
  • the processor controls the drone to return to the fall-back area when the return home evaluation information meets the preset requirements; otherwise, the processor is used to:
  • the drone When the remaining power is less than or equal to a preset power threshold, the drone is controlled to return to the fall-back area; otherwise, the drone is controlled to return to the return point.
  • the preset power threshold is determined according to the power required for the drone to fly from the current position to the home point.
  • the preset power threshold is determined according to the power required for the drone to fly from the current position to the backup area.
  • the processor 502 controls the drone to return to the home point
  • the processor 502 is configured to:
  • control the drone If the current navigation accuracy is greater than a preset navigation accuracy threshold, control the drone to land at the home point; otherwise, control the drone to hover or control the drone to return to the fall-back area.
  • processor 502 is further configured to:
  • the drone During the hovering process, if it is determined that the current navigation accuracy is greater than a preset navigation accuracy threshold, the drone is controlled to land at the home point. If it is determined that the current remaining power is less than or equal to the preset power threshold, the drone is controlled. Return to the alternate landing zone;
  • the processor 502 controls the drone to return to the home point
  • the processor 502 is configured to:
  • the processor 502 is further configured to: during the hovering process, if it is determined that the current flight control accuracy is greater than a preset flight control accuracy threshold, control the drone to land at the home point, and if it is determined that the current When the remaining power is less than or equal to the preset power threshold, the drone is controlled to return to the standby area.
  • the processor 502 when the processor 502 obtains the return flight assessment information, the processor 502 is configured to:
  • the processor 502 executes control of the drone to return to the fallback area when the return home evaluation information meets the preset requirements; otherwise, when controlling the drone to return to the home point, it is used to:
  • the drone When the navigation accuracy is less than or equal to the first preset navigation accuracy threshold, the drone is controlled to return to the fall-back area; otherwise, the drone is controlled to return to the return point.
  • the processor 502 when the processor 502 obtains the return flight assessment information, the processor 502 is configured to:
  • the processor 502 executes control of the drone to return to the fallback area when the return home evaluation information meets the preset requirements; otherwise, when controlling the drone to return to the home point, it is used to:
  • the drone When the flight control accuracy is less than or equal to a preset flight control accuracy threshold, the drone is controlled to return to the fall-back area; otherwise, the drone is controlled to return to the return point.
  • the processor 502 is configured to: when in the return home mode, obtain the return home evaluation information:
  • the backup and descending area includes multiple,
  • the processor 502 determines a target backup area from a plurality of backup areas according to a preset rule, the processor 502 is configured to:
  • a backup fall area closest to the drone is determined from a plurality of fall areas, and the fall area is determined as a target fall area.
  • processor 502 is further configured to:
  • the processor 502 is configured to determine a target standby area from a plurality of standby areas according to a preset rule:
  • a backup area indicated by the backup area selection information is determined from a plurality of standby areas, and the standby area is determined as a target standby area.
  • processor 502 is further configured to:
  • the processor 502 controls the drone to return to the fall-back area
  • the processor 502 is used to control the drone to return to the fall-back area indicated by the backup area indication information.
  • the backup area indication information includes location information of the standby area.
  • the drone is configured with a shooting device, wherein the backup area indication information includes position information of the standby area in a shooting screen of the shooting device.
  • the processor 502 is further configured to: obtain environmental data output by an environmental sensor configured by the drone, and determine terrain information according to the environmental data;
  • a fall-back area is selected according to the terrain information.
  • the processor 502 when determining the terrain information according to the environment data, is configured to:
  • the processor 502 when the processor 502 selects a backup area based on the terrain information, the processor 502 is configured to:
  • a backup area that meets preset requirements is selected.
  • the return-to-home control device can execute the return-to-home control method as shown in FIG. 1, where specific principles and explanations refer to the aforementioned related parts, and are not repeated here.
  • Another embodiment of the present invention provides a computer-readable storage medium, in which executable instructions are stored, and the executable instructions, when executed by one or more processors, may cause the one or more processes to be processed.
  • the drone performs the drone return control method in the embodiment corresponding to FIG. 1.
  • Another embodiment of the present invention provides an unmanned aerial vehicle, including the above-mentioned drone return control device.

Landscapes

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

Abstract

一种无人机返航控制的方法、装置以及无人机，该方法包括：（S101）在返航模式中，获取返航评估信息；（S102）当该返航评估信息满足预设要求时，控制无人机向备降区返航，否则控制无人机向返航点返航。通过这种方式，可以提高无人机返航的灵活性和可靠性。

Description

无人机返航控制的方法、装置以及无人机 技术领域
本发明涉及无人机领域，尤其涉及一种无人机返航控制的方法、装置以及无人机。
背景技术
目前，在无人机的飞行过程中，当满足预设返航条件时，无人机会进入返航模式，向预设的返航点返航。
然而，在某些情况中，处于返航模式的无人机可能由于电量、导航精度、飞行控制精度等问题的限制无法安全地返航到返航点，这样可能会导致无人机发生飞行事故，造成人身伤害和财产损失。
发明内容
本发明实施例提供一种无人机返航控制的方法、装置以及无人机，以提高无人机返航的灵活性和可靠性。
本发明实施例的第一方面提供了一种无人机返航控制的方法，包括：
在返航模式中，获取返航评估信息；
当所述返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
本发明实施例的第二方面提供了一种无人机返航控制的装置，其中，包括：
存储器，用于存储可执行指令；
处理器，用于执行所述存储器中存储的所述可执行指令，以执行如下操作：
在返航模式中，获取返航评估信息；
当所述返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
本发明实施例的第三方面提供了一种计算机可读存储介质，其存储有可执行指令，所述可执行指令在由一个或多个处理器执行时，可以使所述一个或多个处理器执行如第一方面所述无人机返航控制的方法。
本发明实施例的第四方面提供了一种无人机，包括如第二方面所述无 人机返航控制的装置。
本发明提供了一种返航控制的方法与装置，处于返航模式的无人机可以根据返航评估信息来确定是向返航点返航还是向备降区返航，通过这样方式，无人机可以灵活地选择返航方式，保证了无人机的飞行安全，提高无人机返航的灵活性和可靠性。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1为本发明实施例提供的无人机返航控制方法的流程图。
图2为本发明实施例提供的无人机返航控制装置根据返航评估信息选择返航方式的示意图。
图3为本发明实施例提供的用户设置备降区的示意图。
图4为本发明另一实施例提供的无人机返航控制方法的流程图。
图5为本发明实施例提供的无人机返航控制装置的结构图。
具体实施方式
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他实施例，都属于本发明保护的范围。
需要说明的是，当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件从另外一个组件“获取”数据时，这里的获取可以是一个组件从所述另外一个组件直接通信以获取数据，也可能是一个组件通过其他的组件从所述另外一个组件获取数据。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
无人机在飞行过程中，由于环境因素(例如电磁干扰、障碍物的遮挡)或者与控制终端之间的距离过大，可能导致无人机与控制终端断开连接的现象，此时，无人机会进入返航模式，向预设的返航点返航。在某些情况中，无人机检测到剩余电量不足或者接收到用户通过控制终端发送的返航指令时，无人机会进入返航模式，向预设的返航点返航。
然而，在某些情况中，处于返航模式的无人机可能由于电量、导航精度、飞行控制精度等问题的限制无法安全地返航到返航点。例如，无人机可能在一个地理条件比较恶劣的地方起飞，比如，无人机在一个田埂或者沙滩起飞，无人机将田埂或者沙滩作为返航点记录，当无人机进入返航模式时，当前无人机的导航精度可能较差(例如无人机上配置的RTK设备接收到的RTK数据无效导致RTK设备不能完成定位，或者GPS定位接收机接收到少于4个卫星的卫星信号)或者飞行控制精度可能较差(例如当前环境中的风速较大导航无人机不能实现高精度的飞行控制)，这样无人机在降落至返航点时可能会产生较大的降落偏差，这样无人机可能在返航时可能由于降落偏差降落到田埂旁边的水田中或者沙滩旁边的水中。再例如，在某些情况中，当无人机进入返航模式时，无人机与返航点之间的距离较远，当前无人机的剩余电量不足以支持无人机飞行至返航点，无人机可能会在返航的过程中发生坠落。
针对上述问题，本发明实施例提供一种无人机返航控制的方法及装置，以提高无人机返航的灵活性和可靠性，保证无人机的飞行安全。
本发明一实施例的第一方面提供了一种无人机返航控制的方法。图1是本发明实施例无人机返航控制的方法的流程图。如图1所示，所述无人机返航控制的方法包括：
步骤S101：在返航模式中，获取返航评估信息。
具体地，所述方法的执行主体可以为返航控制装置，其中，所述返航控制装置可以配置在无人机上，在某些实施例中，所述返航控制终端也可以配置控制终端上。进一步地，所述方法的执行主体可以为所述返航控制装置的处理器，其中，所述处理器可以通用或者专用处理器，所述处理器 可以为一个或多个，所述一个或多个处理器单独或协同地工作。
无人机在飞行过程中，当确定满足预设返航条件时，例如接收到控制终端发送的返航指令(用户主动触发)、检测当前的电量低于预设的返航电量阈值时，或检测到与控制终端之间的通讯连接断开时，返航控制装置控制无人机会进入返航模式。当无人机进入返航模式时，返航控制装置获取返航评估信息，其中，所述返航评估信息可以为用于指示无人机选择无人机返航方式的任何信息，即所述返航评估信息可以为用于指示无人机选择返航点和备降区的任何信息。
步骤S102：当所述返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
具体地，返航控制装置在获取到返航评估信息之后，可以检测返航评估信息是否满足预设要求。根据所述返航评估信息是否符合预设要求来选择无人机返航方式。进一步地，如图2所示，当所述返航评估信息满足预设要求时，返航控制装置可以控制无人201机向备降区202返航，否则，返航控制装置可以控制无人机201向返航点203返航。
本发明提供了一种返航控制的方法，处于返航模式的无人机可以根据返航评估信息来确定是向返航点返航还是向备降区返航，通过这样方式，无人机可以灵活地选择返航方式，保证了无人机的飞行安全，提高无人机返航的灵活性和可靠性。
可选地，在备降区可以满足以下要求中的一个或多个：
1、备降区的中心点距离边界的最小距离不小于无人机上配置的低精度定位装置的定位误差；例如，无人机可以配置高精度定位装置，例如RTK设备，无人机还可以配置低精度的定位装置，例如GPS接收机，若低精度的定位装置的定位误差是5米，则备降区的中心点距离边界的最小距离不能小于5米。
2、备降区距离返航点的距离不能超过预设的距离阈值，例如不能超过无人机的最大航程；
3、备降区的环境需要满足无人机上配置的低精度定位装置的使用条件，例如，对于GPS接收机，要求备降区足够空旷无遮挡。
4、备降区对导航精度的要求低于返航点对导航精度的要求。
5、备降区对飞行控制精度的要求低于返航点对飞行控制精度的要求。
6、备降区的高度不能高度无人机返航时设定的巡航高度。
可选地，所述方法还包括：接收控制终端发送的备降区指示信息，其中，所述备降区指示信息是控制终端根据检测到的备降区设置操作确定的；所述控制无人机向备降区返航包括：控制无人机向备降区指示信息指示的备降区返航。具体地，用户可以通过控制终端来设置备降区，进一步地，用户可以在控制终端上进行备降区设置操作，控制终端在检测到所述操作后可以确定备降区指示信息，并将所述备降区指示信息发送给返航控制装置，返航控制装置可以控制无人机向备降区指示信息指示的备降区返航。
在某些情况中，所述备降区指示信息可以为备降区的位置信息，如图3所示，用户可以在控制终端301显示的交互界面上设置备降区的位置信息，在设置完成之后将用户设置的备降区的位置信息发送返航控制装置，返航控制装置根据所述位置信息控制无人机向备降区返航。
在某些情况中，所述无人机配置拍摄装置，其中，所述备降区指示信息包括备降区在拍摄装置的拍摄画面中的位置信息。控制终端可以显示无人机上配置的拍摄装置拍摄获取的拍摄画面，用户可以将拍摄画面中的一个区域选择为备降区，所述备降区设置操作可以是用户在所述拍摄画面上的点击或者框选操作，控制终端可以将用户选中的备降区在所述拍摄画面中的位置信息发送无人机，返航控制装置可以根据所述备降区在所述拍摄画面中的位置信息确定备降区的位置信息，并根据所述位置信息控制无人机向备降区返航。
在某些情况中，所述备降区指示信息可以包括备降区的图像，其中，所述图像可以是无人机的拍摄装置拍摄获取的。
可选地，所述方法还包括：接收控制终端发送的返航点指示信息，其中，所述返航点指示信息是控制终端根据检测到的返航点设置操作确定的；所述控制无人机向返航点返航包括：控制无人机向返航点指示信息指示的返航点返航。某些情况中，所述返航点指示信息可以为返航点的位置信息。在某些情况中，所述返航点指示信息包括返航点在拍摄装置的拍摄画面中的位置信息。其中，这里的具体原理和解释和前述的备降区指示信息的具体原理和解释类似，请参见前述相关部分，此处不再赘述。
可选地，所述方法还包括：获取无人机配置的环境传感器输出的环境数据，根据所述环境数据确定地形信息；根据所述地形信息选中备降区。具体地，无人机上配置有用于获取环境数据的环境传感器，例如，所述环境传感器包括视觉传感器(RGB相机、单目摄像头、双头摄像头等)、雷达、TOF相机等，所述环境数据包括灰度图像、RGB图像、深度图像、点云中的一种或多种，返航控制装置可以获取所述环境数据并根据所述环境数据确定无人机所处环境的地形信息，通过对所述地形信息进行分析，返航控制装置根据所述地形信息从周围环境的地面上确定的一个或多个备降区。
进一步可选地，所述根据所述环境数据确定地形信息包括：根据所述环境数据确定数字地图，根据所述数字地图确定地形信息。具体地，返航控制装置在获取到环境数据之后，可以根据所述环境数据构建周围环境的数字地图，其中，构建得到的数字地图中包括周围环境中地面的地形信息，即可以根据构建得到的数字地图确定周围环境的地形信息。
进一步可选地，所述根据所述地形信息选中备降区包括：根据所述地形信息选中符合预设要求的备降区。具体地，在确定了周围环境的地形信息之后，返航控制装置可以从周围环境的地面上选中符合预设要求的备降区，例如，选中与无人机当前的位置距离最近的平整地面作为备降区，或者选中与无人机之间的距离在预设距离范围内的一块平整面积最大的地面作为备降区，其中，当平整面积越大时，对飞行控制精度和导航精度的要求就更低。
可选地，所述获取返航评估信息包括获取控制终端发送的控制指令，所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：当所述控制指令为备降区指示指令时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
具体地，在无人机进入返航模式时，用户可以通过控制终端为无人机选择返航方式，控制终端检测用户的返航模式选择操作确定控制指令，并将所述控制指令发送给返航控制装置，返航控制装置接收用户通过控制终端发送的控制指令，其中，所述控制指令可以包括备降区指示指令和返航点指示指令。所述备降区指示指令可以为指示无人机向备降区返航的指令， 在某些实施例中，所述备降区指示指令包含备降区的标识信息，在某些情况中，所述备降区指示指令包含备降区的位置信息；所述返航点指示指令可以为指示无人机向返航点返航的指令，在某些实施例中，所述返航点指示指令包含返航点的标识信息，在某些情况中，返航点指示指令包含返航点的位置信息。
当所述控制指令为备降区指示指令时，返航控制装置控制无人机向备降区返航。进一步地，返航控制装置控制无人机按照设置好的备降区的位置信息、巡航高度向备降区返航。当所述控制指令为返航点指示指令时，控制无人机向返航点返航。进一步地，返航控制装置控制无人机按照设置好的返航点的位置信息、巡航高度向返航点返航。
可选地，所述获取返航评估信息包括获取无人机的剩余电量，所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：当所述剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
具体地，所述评估信息可以包括无人机的剩余电量，返航控制装置可以将无人机的剩余电量和预设电量阈值进行比较，并根据所述比较结果来确定无人机的返航方式，当所述剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
进一步可选地，所述预设电量阈值是根据无人机从当前位置飞行到返航点所需的电量确定的。具体地，返航控制装置可以实时地确定无人机从当前位置飞行到返航点所需的电量，并根据无人机从当前位置飞行到返航点所需的电量设置预设电量阈值，例如，可以设置预设电量阈值等于从当前位置飞行到返航点所需的电量，或者设置预设电量阈值等于从当前位置飞行到返航点所需的电量的1.1倍或1.2倍。当返航控制装置确定所述无人机的剩余电量小于或等于预设电量阈值时，无人机的剩余电量可能不足以成功地返航到返航点，此时，不可以再尝试向返航点返航，直接控制无人机向备降区返航。当返航控制装置确定所述无人机剩余电量大于预设电量阈值时，控制无人机向返航点返航。
进一步可选地，所述预设电量阈值是根据无人机从当前位置飞行到备降区所需的电量确定的。具体地，返航控制装置可以实时地确定无人机从 当前位置飞行到备降区所需的电量，并根据无人机从当前位置飞行到备降区所需的电量设置预设电量阈值，例如，可以设置预设电量阈值等于从当前位置飞行到备降区所需的电量，或者设置预设电量阈值等于从当前位置飞行到返航点所需的电量的1.2倍或1.3倍。当返航控制装置确定所述无人机剩余电量小于或等于预设电量阈值时，即确定当前无人机的剩余电量仅够安全返航到备降区，如果继续控制无人机向返航点返航，无人机的剩余电量可能不足以支持无人机成功地返航到备降区。因此，当返航控制装置确定所述无人机剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航。当返航控制装置确定所述无人机剩余电量大于预设电量阈值时，控制无人机向返航点返航。
进一步可选地，所述控制无人机向返航点返航包括：按照预设的飞行高度控制策略控制无人机飞行至返航点上方；若当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，否则，控制无人机悬停或者控制无人机向备降区返航。
具体地，如图4所示，当无人机进入返航模式后，返航控制装置可以确定无人当前的剩余电量是否小于或等于预设电量阈值，其中，所述预设电量阈值是根据无人机从当前位置飞行到备降区所需的电量确定的，当剩余电量大于预设电量阈值时，控制无人机向返航点返航，否则，控制无人机向备降区返航。无人机的返航过程可以包括巡航阶段和巡航阶段，在无人机向返航点返航的过程的巡航阶段中，返航控制装置可以按照预设的飞行高度控制策略控制无人机飞行至返航点上，所述飞行高度控制策略可以是先控制无人机爬升至一个预设高度，在所述预设高度上飞行。当无人机飞行至返航点上方时，返航过程进入降落阶段，返航控制装置可以检测无人机当前的导航精度，确定无人机当前的导航精度是否大于预设的导航精度阈值，例如，确定无人机的RTK设备接收到的RTK数据是否有效，当所述RTK数据有效时，说明RTK设备可以精准地导航，即确定当前的导航精度大于预设的导航精度阈值；当所述RTK数据无效时，说明RTK设备可以不能精准地导航，即确定当前的导航精度小于预设的导航精度阈值。若当前的导航精度大于预设的导航精度阈值时，即便返航点的地理环境恶劣，由于导航精度足够高，无人机依然可以安全地向返航点降落，因此， 若当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落。若当前的导航精度小于或等于预设的导航精度阈值时，在某些实施例中，返航控制装置控制无人机悬停，在某些实施例中，返航控制装置可以控制无人机向备降区返航。
进一步可选地，在悬停的过程中，若确定当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航。具体地，继续参考图4，无人机在悬停的过程中，返航控制装置可以继续确定当前的导航精度是否大于预设的导航精度阈值，若确定当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，若确定当前的导航精度小于或等于预设的导航精度阈值时，控制无人机继续悬停。无人机在悬停的过程中，无人机的电量会持续消耗，返航控制装置可以实时地确定无人机当前的剩余电量确定当前的剩余电量是否小于或等于预设电量阈值，若确定当前的剩余电量小于或等于预设电量阈值，当前无人机的剩余电量仅够安全返航到备降区，如果继续尝试控制无人机向返航点返航，无人机的剩余电量可能不足以支持无人机成功地返航到备降区，因此，返航控制装置控制无人机向备降区返航，若确定当前的剩余电量大于预设电量阈值，控制无人机继续悬停。
进一步可选地，所述若确定当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落包括：若确定当前的导航精度大于预设的导航精度阈值且当前的飞行控制精度大于预设飞行控制精度阈值时，控制无人机向返航点降落。具体地，若确定当前的导航精度大于预设的导航精度阈值时，返航控制装置可以进一步获取无人机当前的飞行控制精度，当确定飞行控制精度大于预设的飞行控制精度阈值时，说明无人机可以实现精准导航同时可以精准地控制飞行动作，此时，返航控制装置可以控制无人机向返航点降落。当确定所述飞行控制精度小于或等于预设的飞行控制精度阈值时，返航控制装置可以控制无人机悬停或者控制无人机向备降区返航。可以理解的是，控制无人机悬停的过程中，返航控制装置可以执行如上所述的操作，直至无人机降落至返航点，返航成功为止。
可选地，所述控制无人机向返航点降落包括：按照飞行高度控制策略 控制无人机飞行至返航点上方；若当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
具体地，如前所述，无人机的返航过程可以包括巡航阶段和巡航阶段，返航控制装置在控制无人机向返航点返航的过程的巡航阶段中，可以按照预设的飞行高度控制策略控制无人机飞行至返航点上，所述飞行高度控制策略可以是先控制无人机爬升至一个预设高度，在所述预设高度上飞行。当无人机飞行至返航点上方时，返航控制装置可以检测无人机当前的飞行控制精度，确定无人机当前的飞行控制精度是否大于预设的飞行控制精度阈值，说明无人机可以精准地控制飞行动作，即便返航点的地理环境恶劣，无人机依然可以安全地向返航点降落，因此，若当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落。若当前的飞行控制精度小于或等于预设的飞行控制精度阈值时，在某些实施例中，返航控制装置控制无人机悬停，在某些实施例中，返航控制装置可以控制无人机向备降区返航。
可选地，所述获取返航评估信息可以包括获取无人机的导航精度；所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：当所述导航精度小于或等于预设导航精度阈值时，控制无人机向备降区返航；当所述导航精度大于预设导航精度阈值时，控制无人机向返航点返航。具体地，在某些情况中，返航至备降区对导航精度的要求低于返航至返航点对导航精度的要求，无人机在进入返航模式中，返航控制装置可以获取无人机当前的导航精度，若确定当前的导航精度小于或等于预设导航精度阈值时，控制无人机向备降区返航。若确定当前导航精度大于预设的导航精度阈值时，控制无人机向返航点返航。
可选地，所述获取返航评估信息可以包括获取无人机的飞行控制精度；所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：当所述飞行控制精度小于或等于预设飞行控制精度阈值时，控制无人机向备降区返航；当所述飞行控制精度大于预设飞行控制精度阈值时，控制无人机向返航点返航。
具体地，在某些情况中，返航至备降区对飞行控制精度的要求低于返 航至返航点对飞行控制精度的要求，无人机在进入返航模式中，返航控制装置可以获取无人机当前的飞行控制精度，若确定当前的飞行控制精度小于或等于预设的飞行控制精度阈值时，控制无人机向备降区返航。若确定当前导航精度大于预设的飞行控制精度阈值时，控制无人机向返航点返航。
可选地，所述备降区包括多个，所述控制无人机向备降区返航包括：根据预设的规则从多个备降区中确定目标备降区；控制无人机向目标备降区返航。具体地，所述备降区可以包括多个，例如，用户可以通过控制终端设置了多个备降区。无人机在返航模式中，返航控制装置可以根据预设的规则从多个备降区中确定目标备降区，并控制无人机向目标备降区返航。
进一步可选地，接收控制终端发送的备降区选择信息，其中，所述备降区选择信息是控制终端根据检测到的备降区选择操作确定的；所述根据预设的规则从多个备降区中确定目标备降区包括：从多个备降区中确定所述备降区选择信息指示的备降区，将所述备降区确定为目标备降区。具体地，用户可以通过控制终端选择向哪一个备降区返航，用户可以对控制终端进行备降区选择操作，控制终端在检测到所述备降区选择操作后确定备降区选择信息并将所述备降区选择信息发送给返航控制装置，返航控制装置可以从多个备降区中将备降区选择信息指示的备降区确定目标备降区。其中，所述备降区选择信息可以包括备降区的标识信息。
进一步可选地，所述根据预设的规则从多个备降区中确定目标备降区包括：从多个备降区中确定与所述无人机距离最近的备降区，将所述备降区确定为目标备降区。具体地，在返航模式中，返航控制装置可以分别确定多备降区中每一个备降区与无人机之间的距离，并将所述距离最近的备降区确定为目标备降区。
进一步可选地，所述根据预设的规则从多个备降区中确定目标备降区包括：从多个备降区中确定对导航精度要求和对飞行控制精度要求最低的备降区。具体地，在返航模式中，返航控制装置可以分别确定多个备降区中每一个备降区对导航精度或飞行控制精度的要求，并将对导航精度要求和对飞行控制精度要求最低的备降区确定为目标备降区。
本发明另一实施例提供了一种无人机返航控制的装置，其中，图5为 本发明实施例无人机返航控制装置的示意图。本实施例无人机返航控制装置可以包括电源模块，各种接口模块等，如图5所示，本实施例中，所示无人机返航控制装置500还包括：存储器501及处理器502。
所述存储器501可以包括易失性存储器(volatile memory)，例如随机存取存储器501(random-access memory，RAM)；存储器501也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；存储器501还可以包括上述种类的存储器的组合。
所述处理器502可以是中央处理器(central processing unit，缩写：CPU)。所述处理器502还可以进一步包括硬件芯片，其中，所述处理器502可以包括一个或多个。上述硬件芯片可以是专用集成电路(applicationspecific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
可选地，所述存储器501还用于存储程序指令。所述处理器502可以调用所述程序指令，实现如图1所对应实施例中所示相关方法。
具体地，所述处理器502，用于执行所述存储器501中存储的所述可执行指令，以执行如下操作：
所述存储器501，用于存储可执行指令；
所述处理器502，用于执行所述存储器中存储的所述可执行指令，以执行如下操作：
在返航模式中，获取返航评估信息；
当所述返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
可选地，所述处理器502还用于：
接收控制终端发送的返航点指示信息，其中，所述返航点指示信息是控制终端根据检测到的返航点设置操作确定的；
所述处理器控制无人机向返航点返航时用于：控制无人机向返航点指示信息指示的返航点返航。
可选地，所述处理器502获取返航评估信息时用于：
获取控制终端发送的控制指令；
所述处理器在当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
当所述控制指令为备降区指示指令时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
可选地，所述处理器502获取返航评估信息时用于：
获取无人机的剩余电量；
所述处理器在当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
当所述剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
可选地，所述预设电量阈值是根据无人机从当前位置飞行到返航点所需的电量确定的。
可选地，所述预设电量阈值是根据无人机从当前位置飞行到备降区所需的电量确定的。
可选地，所述处理器502控制无人机向返航点返航时用于：
按照预设的飞行高度控制策略控制无人机飞行至返航点上方；
若当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
可选地，所述处理器502还用于：
在悬停的过程中，若确定当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航；
可选地，所述处理器502控制无人机向返航点返航时用于：
按照飞行高度控制策略控制无人机飞行至返航点上方；
若当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
可选地，所述处理器502还用于：在悬停的过程中，若确定当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落， 若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航。
可选地，所述处理器502获取返航评估信息时用于：
获取无人机的导航精度；
所述处理器502执行当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
当所述导航精度小于或等于第一预设导航精度阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
可选地，所述处理器502获取返航评估信息时用于：
获取无人机的飞行控制精度；
所述处理器502执行当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
当所述飞行控制精度小于或等于预设飞行控制精度阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
可选地，所述处理器502在返航模式中，获取返航评估信息时用于：
在返航模式中，控制无人机向返航点返航；
在无人机向返航点返航的过程中，获取返航评估信息。
可选地，所述备降区包括多个，
所述处理器502控制无人机向备降区返航时用于：
根据预设的规则从多个备降区中确定目标备降区；
控制无人机向目标备降区返航。
可选地，所述处理器502根据预设的规则从多个备降区中确定目标备降区时用于：
从多个备降区中确定与所述无人机之间的距离最近的备降区，将所述备降区确定为目标备降区。
可选地，所述处理器502还用于：
接收控制终端发送的备降区选择信息；
所述处理器502根据预设的规则从多个备降区中确定目标备降区时用于：
从多个备降区中确定所述备降区选择信息指示的备降区，将所述备降 区确定为目标备降区。
可选地，所述处理器502还用于：
接收控制终端发送的备降区指示信息，其中，所述备降区指示信息是控制终端根据检测到的备降区设置操作确定的；
所述处理器502控制无人机向备降区返航时用于：控制无人机向备降区指示信息指示的备降区返航。
可选地，所述备降区指示信息包括备降区的位置信息。
可选地，所述无人机配置拍摄装置，其中，所述备降区指示信息包括备降区在拍摄装置的拍摄画面中的位置信息。
可选地，所述处理器502还用于：获取无人机配置的环境传感器输出的环境数据，根据所述环境数据确定地形信息；
根据所述地形信息选中备降区。
可选地，所述处理器502根据所述环境数据确定地形信息时用于：
根据所述环境数据确定数字地图；根据所述数字地图确定地形信息。
可选地，所述处理器502根据所述地形信息选中备降区时用于：
根据所述地形信息选中符合预设要求的备降区。
可以理解的是，所述返航控制装置可以执行如图1所述的返航控制方法，其中，具体原理和解释请参见前述相关部分，此处不再赘述。
本发明另一实施例提供了一种计算机可读存储介质，其中，其存储有可执行指令，所述可执行指令在由一个或多个处理器执行时，可以使所述一个或多个处理器执行图1所对应的实施例中的无人机返航控制方法。
本发明另一实施例提供了一种无人机，包括上述的无人机返航控制装置。
以上对本发明的实施例进行了描述。但是，这些实施例仅仅是为了说明的目的，而并非为了限制本发明的范围。尽管在以上分别描述了各实施例，但是这并不意味着各个实施例中的措施不能有利地结合使用。本发明的范围由所附权利要求及其等同物限定。不脱离本发明的范围，本领域技术人员可以做出多种替代和修改，这些替代和修改都应落在本发明的范围之内。

Claims (46)

  1. 一种无人机返航控制的方法，其特征在于，包括：
    在返航模式中，获取返航评估信息；
    当所述返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收控制终端发送的返航点指示信息，其中，所述返航点指示信息是控制终端根据检测到的返航点设置操作确定的；
    所述控制无人机向返航点返航包括：控制无人机向返航点指示信息指示的返航点返航。
  3. 根据权利要求1或2所述的方法，其特征在于，
    所述获取返航评估信息包括：
    获取控制终端发送的控制指令；
    所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：
    当所述控制指令为备降区指示指令时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，
    所述获取返航评估信息包括：
    获取无人机的剩余电量；
    所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：
    当所述剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  5. 根据权利要求4所述的方法，其特征在于，所述预设电量阈值是根据无人机从当前位置飞行到返航点所需的电量确定的。
  6. 根据权利要求4所述的方法，其特征在于，所述预设电量阈值是根据无人机从当前位置飞行到备降区所需的电量确定的。
  7. 根据权利要求6所述的方法，其特征在于，
    所述控制无人机向返航点返航包括：
    按照预设的飞行高度控制策略控制无人机飞行至返航点上方；
    若当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    在悬停的过程中，若确定当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航；
  9. 根据权利要求6-8任一项所述的方法，其特征在于，
    所述控制无人机向返航点降落包括：
    按照飞行高度控制策略控制无人机飞行至返航点上方；
    若当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    在悬停的过程中，若确定当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落，若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，
    所述获取返航评估信息包括：
    获取无人机的导航精度；
    所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：
    当所述导航精度小于或等于第一预设导航精度阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，
    所述获取返航评估包括：
    获取无人机的飞行控制精度；
    所述当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航包括：
    当所述飞行控制精度小于或等于预设飞行控制精度阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，
    所述在返航模式中，获取返航评估信息包括：
    在返航模式中，控制无人机向返航点返航；
    在无人机向返航点返航的过程中，获取返航评估信息。
  14. 根据权利要求1-13任一项所述的方法，其特征在于，所述备降区包括多个，
    所述控制无人机向备降区返航包括
    根据预设的规则从多个备降区中确定目标备降区；
    控制无人机向目标备降区返航。
  15. 根据权利要求14所述的方法，其特征在于，
    所述根据预设的规则从多个备降区中确定目标备降区包括：
    从多个备降区中确定与所述无人机之间的距离最近的备降区，将所述备降区确定为目标备降区。
  16. 根据权利要求14所述的方法，其特征在于，所述方法还包括：
    接收控制终端发送的备降区选择信息；
    所述根据预设的规则从多个备降区中确定目标备降区包括：
    从多个备降区中确定所述备降区选择信息指示的备降区，将所述备降区确定为目标备降区。
  17. 根据权利要求1-16任一项所述的方法，其特征在于，所述方法还包括：
    接收控制终端发送的备降区指示信息，其中，所述备降区指示信息是控制终端根据检测到的备降区设置操作确定的；
    所述控制无人机向备降区返航包括：控制无人机向备降区指示信息指示的备降区返航。
  18. 根据权利要求17所述的方法，其特征在于，所述备降区指示信息包括备降区的位置信息。
  19. 根据权利要求17所述的方法，其特征在于，所述无人机配置拍摄装置，其中，所述备降区指示信息包括备降区在拍摄装置的拍摄画面中的位置信息。
  20. 根据权利要求1-19任一项所述的方法，其特征在于，所述方法还 包括：
    获取无人机配置的环境传感器输出的环境数据，根据所述环境数据确定地形信息；
    根据所述地形信息选中备降区。
  21. 根据权利要求20所述的方法，其特征在于，所述根据所述环境数据确定地形信息包括：
    根据所述环境数据确定数字地图；
    根据所述数字地图确定地形信息。
  22. 根据权利要求21所述的方法，其特征在于，所述根据所述地形信息选中备降区包括：
    根据所述地形信息选中符合预设要求的备降区。
  23. 一种无人机返航控制的装置，其中，包括：存储器和处理器，其中，
    所述存储器，用于存储可执行指令；
    所述处理器，用于执行所述存储器中存储的所述可执行指令，以执行如下操作：
    在返航模式中，获取返航评估信息；
    当所述返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  24. 根据权利要求23所述的装置，其特征在于，所述处理器还用于：
    接收控制终端发送的返航点指示信息，其中，所述返航点指示信息是控制终端根据检测到的返航点设置操作确定的；
    所述处理器控制无人机向返航点返航时用于：控制无人机向返航点指示信息指示的返航点返航。
  25. 根据权利要求23或24所述的装置，其特征在于，
    所述处理器获取返航评估信息时用于：
    获取控制终端发送的控制指令；
    所述处理器在当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
    当所述控制指令为备降区指示指令时，控制无人机向备降区返航，否 则，控制无人机向返航点返航。
  26. 根据权利要求23-25任一项所述的装置，其特征在于，
    所述处理器获取返航评估信息时用于：
    获取无人机的剩余电量；
    所述处理器在当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
    当所述剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  27. 根据权利要求26所述的装置，其特征在于，所述预设电量阈值是根据无人机从当前位置飞行到返航点所需的电量确定的。
  28. 根据权利要求26所述的装置，其特征在于，所述预设电量阈值是根据无人机从当前位置飞行到备降区所需的电量确定的。
  29. 根据权利要求28所述的装置，其特征在于，
    所述处理器控制无人机向返航点返航时用于：
    按照预设的飞行高度控制策略控制无人机飞行至返航点上方；
    若当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
  30. 根据权利要求29所述的装置，其特征在于，所述处理器还用于：
    在悬停的过程中，若确定当前的导航精度大于预设的导航精度阈值时，控制无人机向返航点降落，若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航；
  31. 根据权利要求28-30任一项所述的装置，其特征在于，
    所述处理器控制无人机向返航点返航时用于：
    按照飞行高度控制策略控制无人机飞行至返航点上方；
    若当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落，否则控制无人机悬停或者控制无人机向备降区返航。
  32. 根据权利要求31所述的装置，其特征在于，所述处理器还用于：
    在悬停的过程中，若确定当前的飞行控制精度大于预设的飞行控制精度阈值时，控制无人机向返航点降落，若确定当前的剩余电量小于或等于预设电量阈值时，控制无人机向备降区返航。
  33. 根据权利要求23-32任一项所述的装置，其特征在于，
    所述处理器获取返航评估信息时用于：
    获取无人机的导航精度；
    所述处理器执行当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
    当所述导航精度小于或等于第一预设导航精度阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  34. 根据权利要求23-33任一项所述的装置，其特征在于，
    所述处理器获取返航评估信息时用于：
    获取无人机的飞行控制精度；
    所述处理器执行当返航评估信息满足预设要求时，控制无人机向备降区返航，否则，控制无人机向返航点返航时用于：
    当所述飞行控制精度小于或等于预设飞行控制精度阈值时，控制无人机向备降区返航，否则，控制无人机向返航点返航。
  35. 根据权利要求23-34任一项所述的装置，其特征在于，
    所述处理器在返航模式中，获取返航评估信息时用于：
    在返航模式中，控制无人机向返航点返航；
    在无人机向返航点返航的过程中，获取返航评估信息。
  36. 根据权利要求23-35任一项所述的装置，其特征在于，所述备降区包括多个，
    所述处理器控制无人机向备降区返航时用于：
    根据预设的规则从多个备降区中确定目标备降区；
    控制无人机向目标备降区返航。
  37. 根据权利要求36所述的装置，其特征在于，
    所述处理器根据预设的规则从多个备降区中确定目标备降区时用于：
    从多个备降区中确定与所述无人机之间的距离最近的备降区，将所述备降区确定为目标备降区。
  38. 根据权利要求36所述的装置，其特征在于，所述处理器还用于：
    接收控制终端发送的备降区选择信息；
    所述处理器根据预设的规则从多个备降区中确定目标备降区时用于：
    从多个备降区中确定所述备降区选择信息指示的备降区，将所述备降区确定为目标备降区。
  39. 根据权利要求23-38任一项所述的装置，其特征在于，所述处理器还用于：
    接收控制终端发送的备降区指示信息，其中，所述备降区指示信息是控制终端根据检测到的备降区设置操作确定的；
    所述处理器控制无人机向备降区返航时用于：控制无人机向备降区指示信息指示的备降区返航。
  40. 根据权利要求39所述的装置，其特征在于，所述备降区指示信息包括备降区的位置信息。
  41. 根据权利要求39所述的装置，其特征在于，所述无人机配置拍摄装置，其中，所述备降区指示信息包括备降区在拍摄装置的拍摄画面中的位置信息。
  42. 根据权利要求23-41任一项所述的装置，其特征在于，所述处理器还用于：
    获取无人机配置的环境传感器输出的环境数据，根据所述环境数据确定地形信息；
    根据所述地形信息选中备降区。
  43. 根据权利要求42所述的装置，其特征在于，所述处理器根据所述环境数据确定地形信息时用于：
    根据所述环境数据确定数字地图；
    根据所述数字地图确定地形信息。
  44. 根据权利要求43所述的装置，其特征在于，所述处理器根据所述地形信息选中备降区时用于：
    根据所述地形信息选中符合预设要求的备降区。
  45. 一种计算机可读存储介质，其特征在于，其存储有可执行指令，所述可执行指令在由一个或多个处理器执行时，可以使所述一个或多个处理器执行如权利要求1-22任一项所述的方法。
  46. 一种无人机，其特征在于，包括：如权利要求23至44任一项权利要求所述的无人机的返航控制装置。
PCT/CN2018/094007 2018-07-02 2018-07-02 无人机返航控制的方法、装置以及无人机 Ceased WO2020006658A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201880014835.9A CN110383196B (zh) 2018-07-02 2018-07-02 无人机返航控制的方法、装置以及无人机
PCT/CN2018/094007 WO2020006658A1 (zh) 2018-07-02 2018-07-02 无人机返航控制的方法、装置以及无人机
US17/033,451 US11783716B2 (en) 2018-07-02 2020-09-25 Return flight control method and device for unmanned aerial vehicle, and unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/094007 WO2020006658A1 (zh) 2018-07-02 2018-07-02 无人机返航控制的方法、装置以及无人机

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/033,451 Continuation US11783716B2 (en) 2018-07-02 2020-09-25 Return flight control method and device for unmanned aerial vehicle, and unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
WO2020006658A1 true WO2020006658A1 (zh) 2020-01-09

Family

ID=68248705

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/094007 Ceased WO2020006658A1 (zh) 2018-07-02 2018-07-02 无人机返航控制的方法、装置以及无人机

Country Status (3)

Country Link
US (1) US11783716B2 (zh)
CN (1) CN110383196B (zh)
WO (1) WO2020006658A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115996102A (zh) * 2022-11-29 2023-04-21 众芯汉创（北京）科技有限公司 一种基于大数据的分布式电磁嗅探的无人机防御系统
US20240370026A1 (en) * 2021-09-09 2024-11-07 Sony Group Corporation Mobile object, information processing method, information processing system, and computer program

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110554711B (zh) * 2016-12-16 2022-03-18 广州极飞科技股份有限公司 无人机作业的方法、装置、无人机及存储介质
CN110597297A (zh) * 2019-10-21 2019-12-20 深圳市道通智能航空技术有限公司 一种飞行器返航控制方法、装置、飞行器和存储介质
WO2021168819A1 (zh) * 2020-02-28 2021-09-02 深圳市大疆创新科技有限公司 无人机的返航控制方法和设备
CN112525166A (zh) * 2020-11-24 2021-03-19 浙江大学 一种潮滩健康多参数剖面实时同步监测装置及方法
JP7174748B2 (ja) * 2020-12-18 2022-11-17 楽天グループ株式会社 走行制御システム、制御方法、及び制御装置
CN112947535B (zh) * 2021-04-25 2023-07-04 北京云圣智能科技有限责任公司 无人机自动回巢方法、装置和电子设备
WO2023044897A1 (zh) * 2021-09-27 2023-03-30 深圳市大疆创新科技有限公司 无人机的控制方法、装置、无人机及存储介质
WO2023077341A1 (zh) * 2021-11-04 2023-05-11 深圳市大疆创新科技有限公司 无人机的返航方法、装置、无人机、遥控设备、系统及存储介质
CN114578855B (zh) * 2022-03-03 2022-09-20 北京新科汇智科技发展有限公司 一种无人机备降方法及系统
CN114779824B (zh) * 2022-06-20 2022-09-23 成都翼比特自动化设备有限公司 一种无人机智能返航的方法及系统
CN116483127B (zh) * 2023-05-11 2026-03-24 国网智能科技股份有限公司 一种无人机异地起降方法、无人机控制终端及存储介质
CN120276363A (zh) * 2025-05-29 2025-07-08 泛太能源环境(浙江)有限公司 一种光伏组件的地面巡检设备及其控制方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104797995A (zh) * 2012-11-16 2015-07-22 波音公司 在发生飞行偶然事件的情况下无人飞行器飞行路径的确定
CN105093130A (zh) * 2015-09-17 2015-11-25 杨珊珊 一种无人飞行器续航能力监测系统及方法
CN105116917A (zh) * 2015-07-17 2015-12-02 小米科技有限责任公司 飞行设备降落方法及装置
CN105911573A (zh) * 2016-04-01 2016-08-31 北京小米移动软件有限公司 飞行设备找回方法及装置
CN106227232A (zh) * 2016-07-26 2016-12-14 斑马信息科技有限公司 无人机的控制方法、装置和设备
WO2017083406A1 (en) * 2015-11-10 2017-05-18 Matternet, Inc. Methods and systems for transportation using unmanned aerial vehicles
CN107636549A (zh) * 2016-11-15 2018-01-26 深圳市大疆创新科技有限公司 用于控制可移动物体的方法、设备以及无人飞行器
CN108116686A (zh) * 2018-01-17 2018-06-05 西安九天无限智能科技有限公司 一种基于无人机定点伞降的辅助系统的使用方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104679013A (zh) * 2015-03-10 2015-06-03 无锡桑尼安科技有限公司 无人机自动着陆系统
CN105182994B (zh) * 2015-08-10 2018-02-06 普宙飞行器科技（深圳）有限公司 一种无人机定点降落的方法
CN105607645A (zh) * 2016-01-20 2016-05-25 杭州米为科技有限公司 一种无人机、无人机返航方法及控制终端
CN105652884A (zh) * 2016-02-15 2016-06-08 英华达（上海）科技有限公司 无人机飞行方法以及无人机飞行系统
CN105807787B (zh) * 2016-03-08 2018-12-07 谭圆圆 一种无人飞行器的控制方法及装置
CN106094841B (zh) * 2016-05-31 2018-11-23 北京小米移动软件有限公司 飞行设备降落方法及装置
US10074284B1 (en) * 2016-06-10 2018-09-11 ETAK Systems, LLC Emergency shutdown and landing for unmanned aerial vehicles with air traffic control systems
US10068489B2 (en) * 2016-08-31 2018-09-04 Skycatch, Inc. Managing energy during flight of unmanned aerial vehicles for safe return to ground
CN106527481A (zh) * 2016-12-06 2017-03-22 重庆零度智控智能科技有限公司 无人机飞行控制方法、装置及无人机
US10332407B2 (en) * 2017-07-07 2019-06-25 Walmart Apollo, Llc Systems and methods for providing emergency alerts at emergency landing areas of unmanned aerial vehicles
US20190009904A1 (en) * 2017-07-07 2019-01-10 Walmart Apollo, Llc Systems and methods for facilitating safe emergency landings of unmanned aerial vehicles

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104797995A (zh) * 2012-11-16 2015-07-22 波音公司 在发生飞行偶然事件的情况下无人飞行器飞行路径的确定
CN105116917A (zh) * 2015-07-17 2015-12-02 小米科技有限责任公司 飞行设备降落方法及装置
CN105093130A (zh) * 2015-09-17 2015-11-25 杨珊珊 一种无人飞行器续航能力监测系统及方法
WO2017083406A1 (en) * 2015-11-10 2017-05-18 Matternet, Inc. Methods and systems for transportation using unmanned aerial vehicles
CN105911573A (zh) * 2016-04-01 2016-08-31 北京小米移动软件有限公司 飞行设备找回方法及装置
CN106227232A (zh) * 2016-07-26 2016-12-14 斑马信息科技有限公司 无人机的控制方法、装置和设备
CN107636549A (zh) * 2016-11-15 2018-01-26 深圳市大疆创新科技有限公司 用于控制可移动物体的方法、设备以及无人飞行器
CN108116686A (zh) * 2018-01-17 2018-06-05 西安九天无限智能科技有限公司 一种基于无人机定点伞降的辅助系统的使用方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240370026A1 (en) * 2021-09-09 2024-11-07 Sony Group Corporation Mobile object, information processing method, information processing system, and computer program
US12619247B2 (en) * 2021-09-09 2026-05-05 Sony Group Corporation Mobile object, information processing method, information processing system, and computer program
CN115996102A (zh) * 2022-11-29 2023-04-21 众芯汉创（北京）科技有限公司 一种基于大数据的分布式电磁嗅探的无人机防御系统
CN115996102B (zh) * 2022-11-29 2023-06-27 众芯汉创（北京）科技有限公司 一种基于大数据的分布式电磁嗅探的无人机防御系统

Also Published As

Publication number Publication date
CN110383196A (zh) 2019-10-25
US11783716B2 (en) 2023-10-10
CN110383196B (zh) 2023-07-11
US20210020057A1 (en) 2021-01-21

Similar Documents

Publication Publication Date Title
CN110383196B (zh) 无人机返航控制的方法、装置以及无人机
US11776413B2 (en) Aerial vehicle flight control method and device thereof
US12025996B2 (en) Unmanned aerial vehicle path planning method and apparatus and unmanned aerial vehicle
US12415618B2 (en) Aircraft night flight control method and apparatus, control apparatus, and aircraft
US20190103032A1 (en) Unmanned aerial vehicle, data processing device, path selection device, processing method and processing program
WO2023077341A1 (zh) 无人机的返航方法、装置、无人机、遥控设备、系统及存储介质
US10725479B2 (en) Aerial vehicle landing method, aerial vehicle, and computer readable storage medium
US20240176367A1 (en) Uav dispatching method, server, dock apparatus, system, and storage medium
CN111801717A (zh) 机器人式运载工具的自动探索控制
CN109240329B (zh) 一种无人机返航控制方法、装置、无人机
CN109709976B (zh) 一种可飞行区域确定方法、装置、无人机及存储介质
CN106527481A (zh) 无人机飞行控制方法、装置及无人机
US20190210735A1 (en) Parachute landing methods and systems for an unmanned aerial vehicle
CN106598063A (zh) 无人飞行器及飞行控制方法
CN117980850A (zh) 无人机降落的控制方法和装置、无人机
WO2021237462A1 (zh) 无人飞行器的限高方法、装置、无人飞行器及存储介质
WO2021168819A1 (zh) 无人机的返航控制方法和设备
US20240019866A1 (en) Aerial vehicle control method and apparatus, aerial vehicle, and storage medium
CN108521802A (zh) 无人机的控制方法、控制终端和无人机
US20210208608A1 (en) Control method, control apparatus, control terminal for unmanned aerial vehicle
KR102133898B1 (ko) 농업 방재용 자율 비행 시스템 및 방법
WO2023060467A1 (zh) 无人机的返航方法、装置、无人机及存储介质
WO2023044897A1 (zh) 无人机的控制方法、装置、无人机及存储介质
CN108778931A (zh) 一种摄像装置的转动控制方法、控制设备以及飞行器
WO2022205166A1 (zh) 无人机的控制方法、无人机及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18925269

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18925269

Country of ref document: EP

Kind code of ref document: A1