WO2021168819A1

WO2021168819A1 - Return control method and device for unmanned aerial vehicle

Info

Publication number: WO2021168819A1
Application number: PCT/CN2020/077243
Authority: WO
Inventors: 周伟; 陈超彬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2021-09-02
Also published as: CN113614670A

Abstract

Provided are a return control method and device for an unmanned aerial vehicle. The method comprises: acquiring a return instruction (S301); in response to the return instruction, determining a target return route from among multiple return routes pre-set by a user (S302); and controlling the return of an unmanned aerial vehicle according to the target return route (S303). A return route is pre-set by a user, and therefore, the user can guarantee the safety of the return route when pre-setting the return route, so as to ensure the safe return of an unmanned aerial vehicle. Moreover, an unmanned aerial vehicle does not need to plan a return route after receiving a return instruction, thereby improving the returning efficiency thereof.

Description

UAV return control method and equipment

Technical field

The embodiments of the present application relate to the technical field of drones, and in particular, to a method and equipment for controlling the return of drones.

Background technique

During the flight of the UAV, if there are obstacles, the obstruction of the obstacle will cause signal interference, and the signal of the UAV and the remote control will be disconnected; or, if the UAV is far away from the starting point, no one The communication signal between the drone and the remote control will also be very weak, and the signal of the drone and the remote control will be disconnected; these will cause the drone to fly away. Therefore, in order to ensure the flight safety of the drone, the drone will automatically return home.

At present, when the drone starts to perform a flight mission, under normal circumstances, a home point is set for the drone in advance, and the home point can be the starting point of the drone or a point set by the user. When the UAV performs automatic return to home, plan the return route according to the current position and the home point, and then return according to the return route, so as to ensure the flight safety of the drone.

However, if the drone encounters a lot of obstacles during its return, and the terrain is uneven, the drone will detect obstacles above or below it. At this time, the drone will hover in order to avoid danger, causing no one. The machine could not return home, and it was even damaged due to exhaustion of power.

Summary of the invention

The embodiments of the present application provide a method and equipment for controlling the return of the drone, which are used to improve the safety of the return of the drone.

In the first aspect, an embodiment of the present application provides a return-to-home control method of an unmanned aerial vehicle, including:

Get the return instruction;

In response to the return instruction, determine the target return route from the multiple return routes preset by the user;

According to the target return route, control the drone to return.

In the second aspect, an embodiment of the present application provides a drone return control method, which is applied to a control terminal of the drone, and the method includes:

Detect the user's return route setting operation, and generate multiple return routes for the drone according to the return route setting operation;

The multiple return routes are transmitted to the drone, so that the drone selects the target return route from the multiple return routes to return after obtaining the return instruction.

In a third aspect, an embodiment of the present application provides a return-to-home control device of an unmanned aerial vehicle, including: a memory and a processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, it is used to:

Get the return instruction;

According to the target return route, control the drone to return.

In a fourth aspect, an embodiment of the present application provides a control terminal, including:

Interactive device, used to detect the user's return route setting operation;

The processor is configured to generate multiple return routes of the drone according to the setting operation of the return route, and transmit the multiple return routes to the drone, so that the drone obtains the return instruction , Select the target return route from the multiple return routes to return home.

In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed, the implementation of the present application is the same as the first aspect or the second aspect. The return control method of UAV described in the example.

In a sixth aspect, an embodiment of the present invention provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor can read the A computer program, where the at least one processor executes the computer program to implement the drone return control method according to the embodiment of the present application in the first aspect or the second aspect.

To sum up, the return-to-home control method and equipment provided by the embodiments of this application, since the return route is pre-set by the user, the user can ensure the safety of the return route when pre-setting the return route and ensure the drone Return safely. Moreover, the UAV does not need to plan the return route after receiving the return instruction, which improves the return efficiency.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application;

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application;

Fig. 3 is a flowchart of a drone return control method provided by an embodiment of the application;

Fig. 4 is a schematic diagram of the return route of the flight sub-area provided by an embodiment of the application;

FIG. 5 is a flowchart of a drone return control method provided by another embodiment of the application;

FIG. 6 is a schematic diagram of a user's return route setting operation provided by an embodiment of the application;

FIG. 7 is a flowchart of a drone return control method provided by another embodiment of the application;

Fig. 8 is a schematic diagram of setting a return route for each flight sub-area provided by an embodiment of the application;

FIG. 9 is a schematic diagram of a selected target flight area provided by an embodiment of the application;

FIG. 10 is a schematic structural diagram of a return control device for a drone provided by an embodiment of the application;

FIG. 11 is a schematic structural diagram of a control terminal provided by an embodiment of this application;

Fig. 12 is a schematic structural diagram of a return-to-home control system of an unmanned aerial vehicle provided by an embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The embodiments of the present application provide a return control method and equipment for the drone. Among them, the embodiments of the present application can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone may be a rotorcraft, for example, a multi-rotor drone that is propelled through the air by a plurality of propulsion devices. The embodiments of the present application are not limited to this. It will be obvious to the skilled person that other types of drones can be used without restrictions.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130. Among them, the drone 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150. The UAV 110 may be an agricultural UAV or an industrial application UAV, and there is a need for cyclic operation. Correspondingly, the battery also has the need for cyclic operation.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage and used for supporting the UAV 110 when it is landed.

The power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more remote control signals from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry a load, and the load may be, for example, the camera 123. The flight controller 161 can control the movement of the pan/tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt may be located on the top of the drone or on the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.

The display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image photographed by the photographing device 123 may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial vehicle 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be construed as a limitation to the embodiments of the present application.

The various embodiments of this application can be used in a scenario where the drone returns to home. Fig. 2 is a schematic diagram of an application scenario provided by an embodiment of the application. As shown in Fig. 2, Fig. 2 shows a drone 201 and a control terminal 202 of the drone. The control terminal 202 of the drone 201 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet). In the embodiment of the present application, the control terminal 202 is the remote controller 2021 and the terminal device 2022 as an example for schematic description. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto. When the drone 201 is performing work tasks, it can return to the home according to the user's preset return route. There is no need for the drone 201 to plan the return route in real time according to the return point and current position when it needs to return to ensure that the drone 201 is preset according to the user. The return route can safely reach the return point to avoid the damage of UAV 201 during the return process. Among them, the home point is the space position that the UAV expects to reach when it returns to home.

In some embodiments, the user can preset the return route of the drone 201 by operating the terminal device 2022.

In some embodiments, the process of returning home of the drone 201 in the embodiments of the present application may be controlled by the returning home control device of the drone. Optionally, the drone's return-to-home control device can be set on the drone 201. Alternatively, a part of the drone's return home control equipment is set on the drone 201, and the other part is set on the control terminal 202 of the drone.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

FIG. 3 is a flowchart of a return-to-home control method of a drone provided by an embodiment of the application. The method in this embodiment can be applied to a return-to-home control device of a drone. The return-to-home control equipment of the drone can be set on the drone; or, part of the return-to-home control device of the drone is set on the drone, and the other part is set on the control terminal of the drone. Taking the UAV's return home control equipment as an example for description, as shown in Fig. 3, the method in this embodiment includes:

S301. Obtain a return-to-home instruction.

In this embodiment, the drone obtains a return home instruction, which is used to instruct the drone to return home.

In a possible implementation, when the user wants to control the drone to return home, the user can perform the return home operation on the control terminal. Correspondingly, the control terminal detects the user’s home return operation. The control terminal includes a remote control, a smart phone, One or more of tablet computers, laptop computers, and wearable devices, which will not be repeated here. For example, the user can control the terminal’s interactive device to return to home. The interactive device can be an important part of the control terminal and an interface for interacting with the user. The user can operate the drone by operating the interactive device. ; Correspondingly, the control terminal will detect the user's return operation through the interactive device. The interaction device may be, for example, one or more of a touch screen, a keyboard, a joystick, and a wave wheel of the control terminal. Then, the control terminal generates a return instruction according to the return operation operation, and sends the return instruction to the UAV. Correspondingly, the drone receives the return instruction sent by the control terminal.

In another possible implementation method, the remaining power of the drone can be obtained, and it can be judged whether the remaining power of the drone is greater than the preset power. If the remaining power of the drone is less than or equal to the preset power, then a return flight is generated. The instructions indicate that the drone needs to return home as soon as possible, otherwise the drone will lose connection or even loss due to the exhaustion of the battery. If the remaining power of the drone is greater than the preset power, the drone will not be triggered to return to home, continue to obtain the remaining power of the drone, and determine whether the remaining power of the drone is greater than the preset power.

In another possible implementation manner, it can be detected whether the communication connection between the drone and the control terminal of the drone is disconnected. If the communication connection between the drone and the control terminal of the drone is disconnected, a return instruction is generated to prevent the drone from losing connection and loss. If the communication connection between the drone and the control terminal of the drone is not disconnected, continue to detect whether the communication connection between the drone and the control terminal of the drone is disconnected.

It should be noted that if any one of the above three possible implementation methods is satisfied, the return-to-home instruction can be obtained.

S302. In response to the return-to-home instruction, determine the target return-to-home route from a plurality of return-to-home routes preset by the user.

In this embodiment, in response to the acquired return instruction, one return route is determined as the target return route from a plurality of return routes preset by the user.

Optionally, at least two of the multiple return routes preset by the user correspond to different home points. Therefore, by pre-setting the return route, the user can make the drone perform different return routes and return to different locations, increase the diversity of return routes, provide multiple options for the safe return of the drone, and make the return control more flexible.

The multiple return routes pre-set by the user can be pre-saved in the drone. Before executing the above S301, the multiple return routes are preset by the user through the control terminal, and then the drone obtains multiple routes from the control terminal. Return route and save it. Or, after performing S301 and before S302, the drone sends a return route request instruction to the control terminal, and the control terminal sends multiple return routes preset by the user to the drone according to the return route request instruction. Here, the user setting multiple return routes through the control terminal of the drone is taken as an example. In other embodiments, the user can also preset multiple return routes through a return route setting device different from the control terminal of the drone.

S303. Control the UAV to return home according to the target return route.

In this embodiment, after the target return route is determined, the drone is controlled to return along the target return route according to the target return route.

The return home control method of the drone of this embodiment, after obtaining the return home instruction, determines the target return route from a plurality of return routes preset by the user, and controls the return route of the drone according to the target return route. Since the return route is preset by the user, the user can ensure the safety of the return route when presetting the return route and ensure the safe return of the drone. Moreover, the UAV does not need to plan the return route after receiving the return instruction, which improves the return efficiency.

In some other embodiments, there is one return route preset by the user. Accordingly, an alternative implementation of S302 above is: in response to the return instruction, a return route preset by the user is determined as the target return route. route. The return route is preset by the user to ensure the safe return of the drone. In addition, there is no need to select the target return route from multiple return routes, so the efficiency of determining the target return route is improved.

In other embodiments, if the return instruction is sent by the acquiring control terminal, the return instruction may include the return route (including the information of each waypoint) preset by the user, and accordingly, it may replace an implementation of S302 above. This is: in response to the return home instruction, the return route preset by the user carried in the return home instruction is determined as the target return route. The return route is pre-set by the user, so it can ensure that the drone returns safely. In addition, the return route is not pre-stored in the drone, which can save storage space.

The following describes the specific realization process of determining the target return route from the multiple return routes preset by the user in response to the return instruction in S302.

After S301 is executed, that is, after the return instruction is obtained, the position information of the drone is also obtained. Correspondingly, a possible implementation of determining the target return route from the multiple return routes preset by the user is to determine the target return route from the multiple return routes according to the position information of the drone. During the flight of the drone, the position of the drone will change, so the position information of the drone (representing the current position of the drone) is obtained, combined with the current position of the drone, from multiple return routes Determine the target return route that matches the current position of the drone, so that it is more convenient for the drone to return from the current position.

In some embodiments, the multiple return routes preset by the user include at least one return route preset by the user for each of the multiple flight sub-areas, and the multiple flight sub-areas are selected by the user . The multiple flight sub-areas are pre-divided by the user, and the user can preset at least one return route for each flight sub-areas.

According to the position information of the drone, a possible implementation of determining the return route of the target from multiple return routes is: according to the position information of the drone, determine the target flight sub-areas from the multiple flight sub-areas . Then, one of the at least one return route preset for the target flight sub-area is determined as the target return route.

In this embodiment, according to the position information of the drone, a flight sub-area that matches the current position of the drone is determined from among multiple flight sub-areas as the target flight sub-area, for example: according to the position information of the drone , Determining the flying sub-area where the UAV is currently located from the multiple flying sub-areas, and then determining the flying sub-area where the UAV is currently located as the target flying sub-area. Optionally, if it is determined based on the location information of the drone that the drone is not currently in any one of the multiple flight sub-areas, then the closest flight sub-area of the drone can be determined as the target. Flight sub-area. Or, if it is determined based on the position information of the drone that the drone is not currently in any one of the multiple flight sub-areas, the drone can be controlled to return home according to the method in the prior art.

After determining the target flight sub-area, if the preset return route for the target flight sub-area is one, then the preset return route for the target flight sub-area is determined as the target return route. If there are multiple return routes preset for the target flight sub-area, the target return route is determined from the multiple return routes preset for the target flight sub-area.

Optionally, the home point corresponding to the at least one return route for the first flight sub-area of the plurality of flight sub-areas is different from the return point corresponding to the at least one return route for the second flight sub-area of the plurality of flight sub-areas Home point. That is, the return home point of the drone when the target sub-area is the first flight sub-area is different from the return home point of the drone when the target sub-area is the second flight sub-area. If the determined target sub-areas are different, the UAV may return to a different position, and different return points are preset for the UAV to provide multiple options for the UAV to return safely. It should be noted that the home point corresponding to at least one return route in the same flight sub-area can be the same home point, and the user can set at least one return route in advance to allow the drone to return to the same location. The home points corresponding to multiple return routes in the same flight sub-area may not be the same home point. The user can preset multiple return routes in the same flight sub-area so that the drone can choose to return to different positions.

Optionally, the starting waypoint of at least one return route in the flight sub-area is located in the flight sub-area. Among them, the starting waypoint of the target return route is generally located in the flying sub-area where the drone is currently located. Therefore, it can be ensured that the drone can fly from the current position to the starting waypoint of the target return route as soon as possible for faster control. The drone returns.

The home point of the return route of the flight sub-area may be located in the flight sub-area, or may be located in another flight sub-area, or may not be located in any flight sub-area.

The following examples illustrate the return routes in different flight sub-areas. Fig. 4 is a schematic diagram of the return route of the flight sub-areas provided by an embodiment of the application, as shown in Fig. 4, which shows 4 flight sub-areas. , Respectively, are the flight sub-area 1, the flight sub-area 2, the flight sub-area 3 and the flight sub-area 4. At least one return route is preset for each flight sub-area. In Figure 4, the return route of flight sub-area 1 and the return route of flight sub-area 4 are taken as an example, and a return route of flight sub-area 1 is taken as an example. And take a return route in flight sub-area 4 as an example.

As shown in Figure 4, the starting waypoint of the return route of flight subarea 1 is located in flight subarea 1, and the return point of the return route is also located in flight subarea 1. All the waypoints of this return route are located in Within flight sub-area 1. The starting waypoint of the return route of flight subarea 4 is located in flight subarea 4. The return point of this return route is located in flight subarea 3. Part of the waypoint of this return route is located in flight subarea 4, and the other part of the waypoint is located in flight subarea 4. Located in other flight sub-area (for example, flight sub-area 3).

If the drone is currently located in flight sub-area 1, after obtaining the return-to-home instruction, in response to the return-to-home instruction, obtain the location information of the drone, and determine the current flight sub-area of the drone according to the location information of the drone It is the flight sub-area 1, and the flight sub-area 1 is determined to be the target flight sub-area, and then a return route set in advance for the flight sub-area 1 is determined as the target return route. The target return route is, for example, the flight shown in Figure 4 The return route of subarea 1, and then control the drone to fly from the current position to the waypoint 1 of the return route, from waypoint 1 to waypoint 2, from waypoint 2 to waypoint 3, and from waypoint 3 Go to waypoint 4, which is the last waypoint of the return route, and then control the drone to land and reach the return point.

The following is a detailed description of how to determine the target return route from multiple return routes.

In a possible implementation, the priority of each return route is preset by the user. The drone of this embodiment can obtain the priority of each return route. According to the priority of each return route, Determine the target return route among multiple return routes.

Optionally, the target return route is the return route with the highest priority among multiple return routes. Since the priority of each return route can be obtained, according to the priority of each return route, the multiple return routes are sorted in the order of priority from high to low or from low to high. Obtain the return route with the highest priority among multiple return routes in, and determine the return route with the highest priority as the target return route.

In another possible implementation manner, the location information of the drone can be obtained, so that the current location of the drone can be obtained. According to the current position of the UAV, the estimated power consumed by the UAV to return to home on each return route among multiple return routes can be called the power consumption corresponding to each return route. The power consumption corresponding to each return route includes the power consumed by the drone flying from the current position to the starting waypoint of the return route and the power consumed by the drone flying along the return route from the starting waypoint. After the power consumption corresponding to each return route is estimated, the target return route is determined from the multiple return routes according to the power consumption corresponding to each return route.

Among them, the remaining power of the drone is available. Compare the power consumption of each return route in the multiple return routes with the remaining power of the drone, and determine from the multiple return routes that the power consumption is less than or equal to that of no one. The return route of the remaining battery power of the aircraft. Then determine the target return route from the return route whose power consumption is less than or equal to the remaining power of the drone, so as to prevent the drone from crashing due to exhaustion of power when returning.

Optionally, the target return route consumes the least power. For example: after determining the return route with power consumption less than or equal to the remaining power of the drone from multiple return routes, sort the determined return routes according to the order of power consumption from high to low or from low to high. Determine the return route with the lowest power consumption among the sorted return routes, and determine the return route with the lowest power consumption as the target return route. or,

According to the current position of the drone, after estimating the amount of electricity consumed by the drone according to each return route in the multiple return routes, the amount of electricity consumed will be calculated in the order from high to low or from low to high. Sort the return routes, obtain the return route with the lowest power consumption from the sorted multiple return routes, and determine the return route with the lowest power consumption as the target return route. Optionally, the minimum power consumption can be compared with the remaining power of the drone, and if the minimum power consumption is less than or equal to the remaining power of the drone, the return route with the lowest power consumption is determined as the target return route.

Optionally, the target return route is the return route that consumes less than or equal to the remaining power of the drone and has the highest priority. For example: after determining the return route with power consumption less than or equal to the remaining power of the drone from multiple return routes, sort the determined return routes in order of priority from high to low or from low to high. Determine the return route with the highest priority from the sorted return routes, and determine the return route with the highest priority as the target return route.

In another possible implementation, since the priority of each return route can be obtained, the priority of each return route can be in the order of priority from high to low or from low to high. Multiple return routes are sorted, and the return route with the highest priority is obtained from the sorted multiple return routes. According to the current position of the drone, it is estimated that the power consumed by the drone to return home according to the highest priority return route. If the power consumption is less than or equal to the remaining power of the drone, the target return route of the drone is determined to be The return route with the highest priority. If the power consumption of the return route with the highest priority is greater than the remaining power of the drone, according to the current position of the drone, it is estimated that the power consumed by the drone on the return route with the second highest priority is estimated. If the power is less than or equal to the remaining power of the drone, it is determined that the target return route of the drone is the return route with the second highest priority. If the power consumption of the return route with the second highest priority is greater than the remaining power of the drone, based on the current position of the drone, the power consumed by the return route with the third highest priority is estimated. By analogy, I won't repeat them here. In this implementation method, the target return route can be determined without estimating the power consumption corresponding to all the return routes, which improves the efficiency of determining the target return route, and also ensures that the power of the drone reaches the return point according to the target return route. Will not be exhausted.

Optionally, if the target return route is not obtained from multiple return routes according to the above methods, the return route can be carried out according to the return route of the prior art.

In other embodiments, another possible implementation manner of determining the target return route from the multiple return routes preset by the user may be that the multiple return routes are preset with identifications. If the return instruction is sent by the control terminal, the user can determine a return route from multiple return routes as the target return route. Accordingly, the return instruction sent by the control terminal can include the target return route identification. Then the UAV determines the target return route from multiple return routes according to the identification of the target return route. Therefore, the user can control the actual return route of the drone.

In the foregoing embodiments, the range of each return route is less than the maximum range of the UAV, ensuring that the UAV can return smoothly according to the return route.

In the above-mentioned embodiments, the distance between each return route and the obstacle is less than or equal to the preset distance to ensure that the UAV is in a known safe environment during the return route to ensure that the obstacle will not hinder the Return of man and machine.

In each of the above embodiments, the return altitude of each return route is less than or equal to the highest flight altitude of the UAV, and the return altitude of each return route is greater than or equal to the minimum flight altitude of the UAV to ensure that the drone is at Return to the appropriate flight altitude.

Fig. 5 is a flowchart of a drone return control method according to another embodiment of the application. As shown in Fig. 5, the method of this embodiment can be applied to a control terminal of a drone. The method of this embodiment includes:

S501. Detect the user's return route setting operation, and generate multiple return routes for the drone according to the return route setting operation.

In this embodiment, when the user wants to set the return route for the drone, the user can perform the return route setting operation on the control terminal. Accordingly, the control terminal detects the user's return route setting operation, and the control terminal includes a remote control and a smart One or more of mobile phones, tablet computers, laptop computers, and wearable devices, which will not be repeated here. For example, the user can set the return route through the interactive device of the control terminal. The interactive device can be an important part of the control terminal and an interface for interacting with the user. The user can control the drone by operating the interactive device. Correspondingly, the control terminal will detect the user’s return route setting operation through the interactive device. The interaction device may be, for example, one or more of a touch screen, a keyboard, a joystick, and a wave wheel of the control terminal. Then, the control terminal operates according to the setting of the return route to generate multiple return routes of the UAV. Optionally, the user can set multiple return routes through one return route setting operation. Accordingly, the control terminal generates multiple return routes for the UAV according to one return route setting operation. Alternatively, the user can set a return route of the drone through one return route setting operation, and accordingly, the control terminal generates multiple return routes of the drone based on the multiple return route setting operations detected.

Each return route can include the three-dimensional coordinates (latitude, longitude and altitude) of multiple waypoints. Optionally, each return route may also include the return speed. The return speed of each return route may not be exactly the same. If the UAV selects the return route preset by the user as the target return route, the drone will return home with the return speed of the return route as the flight speed during the return process.

Among them, as shown in FIG. 6, FIG. 6 is a schematic diagram of a user's return route setting operation provided by an embodiment of the application. The display device of the control terminal can display an electronic map, and the user can manage the waypoints based on the electronic map. Correspondingly, the control terminal can obtain the information of each waypoint to generate a return route.

S502. Transmit the multiple return routes to the drone, so that the drone selects a target return route from the multiple return routes to return home after obtaining the return instruction.

In this embodiment, after generating multiple return routes of the drone, the control terminal transmits the multiple return routes to the drone. The drone obtains multiple return routes preset by the user, and then the drone can execute the solutions of the foregoing embodiments, which will not be repeated here.

In a possible implementation manner, after the control terminal generates multiple return routes preset by the user, the multiple return routes are sent to the drone through a wireless or wired communication connection. Correspondingly, the drone receives multiple return routes that are preset by the user and sent by the control terminal through a wireless or wired communication connection.

In another possible implementation manner, after the control terminal generates multiple return routes pre-set by the user, the multiple return routes are stored in a storage device, so that the drone can obtain information from the storage device. The multiple return routes. The storage device is, for example, a Secure Digital Memory Card (SD card), and this embodiment is not limited to this. The control terminal stores multiple return routes to the SD card, and then the user pulls out the SD card from the control terminal and inserts it into the drone. The drone obtains multiple return routes preset by the user from the inserted SD card. route.

Then, the drone obtains multiple return routes preset by the user through the above implementation methods and saves them locally. Even if the drone is powered off, the multiple return routes preset by the user will remain in the drone until the multiple return routes are deleted.

In this embodiment, by detecting the user's return route setting operation, according to the return route setting operation, multiple return routes of the drone are generated, and then the multiple return routes are transmitted to the drone, so that the After obtaining the return home instruction, the drone selects the target return route from the multiple return routes to return home. Since the return route is pre-set by the user, the user can ensure the safety of the return route when presetting the return route. The drone returns according to the return route set by the user to ensure the safe return of the drone. Moreover, the UAV does not need to plan the return route after receiving the return instruction, which improves the return efficiency.

FIG. 7 is a flowchart of a drone return control method provided by another embodiment of the application. As shown in FIG. 7, the method of this embodiment can be applied to the control terminal of the drone. In this embodiment, the user The preset multiple return routes include at least one route preset by the user for each of the multiple flight sub-areas. The method in this embodiment includes:

S701: Detect the user's flying sub-area selection operation.

S702. Select the multiple flight sub-areas from the target flight area according to the flight sub-areas selection operation.

The user can divide the target flight area into multiple flight sub-areas. For example, the user can perform a flight sub-area selection operation on the control terminal, and accordingly, the control terminal detects the user's flight sub-area selection operation. Then, the control terminal selects multiple flight sub-areas from the target flight area according to the flight sub-areas selection operation, indicating that the user wants to set the return route for these flight sub-areas.

As shown in Fig. 8, Fig. 8 is a schematic diagram of setting a return route for each flight sub-area provided by an embodiment of the application, wherein the selected flight sub-areas are shown in Fig. 8 as the flight sub-area 1 and the flight sub-area. 2. Flight sub-area 3 and flight sub-area 4.

S703. Detect the user's return route setting operation for each of the multiple flight sub-areas, and generate at least one return route preset by the user for each of the multiple flight sub-areas according to the return route setting operation.

When the user wants to set a return route for each flight sub-area, the user can perform a return route setting operation for each of the multiple flight sub-areas on the control terminal. Accordingly, the control terminal detects that the user is targeting the multiple flight sub-areas. The return route setting operation for each of the three flight sub-regions. Then, the control terminal generates at least one return route preset by the user for each of the multiple flight sub-regions according to the setting operation of the return route.

As shown in Figure 8, the control terminal can display the electronic map of the flight sub-area, and the user can make waypoints based on the electronic map. In Figure 8, the return route setting of the flight sub-area 4 is taken as an example. Inside, other waypoints can be located in other flight sub-area (for example, flight sub-area 3).

S704. Transmit the multiple return routes to the drone, so that the drone, after obtaining the return instruction, selects the target return route from the multiple return routes set by the user for multiple flight sub-areas. Return home.

In this embodiment, how to transmit at least one return route preset by the user for each of the multiple flight sub-areas to the UAV can be referred to the related description of S502 in FIG. 5, which will not be repeated here.

Correspondingly, the drone obtains the multiple return routes set by the user for multiple flight sub-areas, and then after the drone obtains the return instruction, selects the target from the multiple return routes set by the user for the multiple flight sub-areas For the return route on the return route, please refer to the implementation plan of the drone in the above-mentioned related embodiment, which will not be repeated here.

In this embodiment, multiple flight sub-areas are selected from the target flight area, and each flight sub-area is smaller than the target flight area. Then, at least one return route for each flight sub-region is generated according to the detection of the user's return route setting operation for each of the plurality of flight sub-regions. Since this embodiment sets at least one return route for the flight sub-areas of a smaller area, the accuracy of each return route is higher, and the environmental adaptability and safety of the return route are also enhanced.

Optionally, this embodiment further includes S700a and S700b before performing the foregoing S701:

S700a. Detect the user's target flight area selection operation.

S700b. Determine the target flight area according to the target flight area selection operation.

In this embodiment, before selecting multiple flight sub-areas from the target flight area, the user first selects the target flight area. The user can perform the target flight area selection operation on the control terminal, and accordingly, the control terminal detects the user's target flight area selection operation. Then, the control terminal selects and operates according to the target flight area to determine the target flight area.

Among them, the display interface of the control terminal can display an electronic map, and the user can perform a target flight area selection operation based on the displayed electronic map. As shown in FIG. 9, FIG. 9 is a schematic diagram of a selected target flight area provided by an embodiment of the application.

Optionally, the target flight area is the operating area of the drone, and multiple flight sub-regions are selected from the operating area of the drone to ensure that the drone is in a known area at any time as much as possible, so that The drone determines the target return route from multiple return routes preset by the user to ensure safe return.

In some embodiments, the user can also set the priority of each return route, and the user can perform a priority setting operation on the control terminal, and accordingly, the control terminal detects the user's priority setting operation. Then, the control terminal operates according to the priority setting, determines the priority of each route, and transmits the priority of multiple return routes to the UAV. Among them, the specific implementation process of how to transmit the priority of multiple return routes to the UAV can refer to the related description in S502 in FIG. 5, which will not be repeated here. Optionally, the control terminal can transmit the priority of multiple return routes and multiple return routes to the UAV.

After the drone obtains the multiple return routes preset by the user and the priority of each return route, if the drone obtains the return instruction, it will start from the multiple return routes according to the priority of the return route Select the target return route to return. For the specific implementation process, please refer to the description in the above-mentioned related embodiments, which will not be repeated here.

It should be noted that the priority of multiple return routes preset by the user is different. Or, the priority of at least one return route for the same flight sub-area preset by the user is different, and the priority of the return route for different flight sub-area may be the same.

In some embodiments, after generating the return route, the control terminal determines the range of each return route. If the range of the return route is greater than the maximum range of the drone, the range limit prompt information is displayed, and the range limit prompt information is used to prompt the return route. The range of the route is greater than the maximum range of the UAV, this return route cannot be used for the return of the UAV, and the range of the return route needs to be adjusted. Optionally, the range limit prompt message may also indicate that the range of the return route exceeds the range value of the maximum range of the UAV. Then the user can perform the return route adjustment operation to the user. For example, the user can change the position of the waypoint, the control terminal detects the user's return route adjustment operation, and generates a new return route according to the return route adjustment operation, ensuring that the new return route is generated The range is less than or equal to the maximum range of the drone.

In some embodiments, the control terminal can obtain the location information of the obstacle after generating the return route. Among them, the user performs the setting operation of the return route based on the map displayed by the control terminal. For example, the user sets the waypoint of the return route on the map displayed by the control terminal. The map includes information about each obstacle, such as the location information of each obstacle. . Then, according to the location information of the obstacle, the distance between each return route and the obstacle can be obtained. If the distance is less than the preset distance, an obstacle prompt message will be displayed. The obstacle prompt information is used to indicate that the distance between the return route and the obstacle is relatively short. The return route cannot be used for the return of the drone, and the range of the return route needs to be adjusted. Optionally, the obstacle prompt information may also indicate the distance between the return route and the obstacle. Then the user can perform the return route adjustment operation to the user. For example, the user can change the position of the waypoint, the control terminal detects the user's return route adjustment operation, and generates a new return route according to the return route adjustment operation to ensure the new return route and obstacles The distance between objects is greater than or equal to the preset distance.

In some embodiments, the control terminal may obtain the return altitude of the return route after generating the return route. Wherein, the return altitude is determined according to the user's return route setting operation, for example. If the return altitude of the return route is greater than the maximum flight altitude of the drone, or if the return altitude of the return route is less than the minimum flight altitude of the drone, the return altitude limit prompt message will be displayed. The return altitude limit prompt message is used to remind that the return altitude of the return route exceeds the maximum flight altitude of the drone, or the return altitude of the return route is lower than the minimum flight altitude of the drone, and the return route cannot be used for the return of the drone , The voyage of the return route needs to be adjusted. Optionally, the return altitude limit prompt message may also indicate that the return altitude exceeds the altitude value of the highest flight altitude, or the return altitude of the return route is lower than the altitude value of the UAV's minimum flight altitude. Then the user can perform the return route adjustment operation to the user. For example, the user can adjust the return altitude of the return route, the control terminal detects the user's return route adjustment operation, and generates a new return route according to the return route adjustment operation to ensure the new return route. The return altitude is greater than or equal to the minimum flight altitude of the drone and less than or equal to the maximum flight altitude.

An embodiment of the present invention also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the drone return control method in any of the above embodiments. step.

FIG. 10 is a schematic structural diagram of a return home control device for a drone provided by an embodiment of the application. As shown in FIG. 10, the return home control device 1000 for a drone in this embodiment may include a memory 1001 and a processor 1002. Optionally, the return-to-home control device 1000 of the unmanned aerial vehicle in this embodiment may further include: a positioning device 1003. Optionally, the return-to-home control device 1000 of the unmanned aerial vehicle in this embodiment may further include: a communication device 1004.

The memory 1001 is used to store program codes.

The processor 1002 calls the program code, and when the program code is executed, it is used to: obtain a return instruction; in response to the return instruction, determine a target return route from a plurality of return routes preset by the user; The return route of the target is used to control the return of the UAV.

Optionally, the positioning device 1003 is used to obtain location information of the drone. The processor 1002 is specifically configured to determine a target return route from multiple return routes according to the position information of the drone acquired by the positioning device.

Optionally, the multiple return routes preset by the user include at least one return route preset by the user for each of a plurality of flight sub-areas, and the multiple flight sub-areas are selected by the user, wherein ,

The processor 1002 is specifically configured to: determine a target flight sub-area from the multiple flight sub-areas according to the position information of the drone; and set at least one return route for the target flight sub-area in advance One of the return routes is determined as the target return route.

Optionally, the processor 1002 is specifically configured to: determine, from the multiple flight sub-areas, the flight sub-region where the UAV is currently located according to the position information of the UAV; The current flight sub-area is determined as the target flight sub-area.

Optionally, the home point corresponding to the at least one return route for the first flight sub-area of the plurality of flight sub-areas is different from the return point corresponding to the at least one return route for the second flight sub-area of the plurality of flight sub-areas Home point.

Optionally, the starting waypoint of at least one return route in the flight sub-area is located in the flight sub-area.

Optionally, at least two of the multiple return routes preset by the user correspond to different home points.

Optionally, the processor 1002 is specifically configured to: determine the target return route from the multiple return routes according to the priority of each return route in the multiple return routes, where each return route The priority of the return route is preset by the user.

Optionally, the target return route is the return route with the highest priority among the multiple return routes.

Optionally, the processor 1002 is specifically configured to: according to the current position of the drone, estimate the amount of electricity consumed by the drone to return home according to each of the multiple return routes; For the power consumption corresponding to each return route in the multiple return routes, the target return route is determined from the multiple return routes.

Optionally, the processor 1002 is specifically configured to: determine, from the multiple return routes, a return route whose power consumption is less than or equal to the remaining power of the drone; and determine the return route with the least power consumption as the target Return route.

Optionally, the processor 1002 is specifically configured to: obtain the return-to-home instruction sent by the control terminal of the drone, or, when it is detected that the remaining power of the drone is less than or equal to a preset power, generate The return home instruction; or, when the communication connection between the drone and the control terminal of the drone is detected to be disconnected, the return home instruction is generated.

Optionally, the communication device 1004 is configured to receive the return instruction sent by the control terminal of the drone. The processor 1002 is specifically configured to: obtain the return-to-home instruction received by the communication device 1004.

Optionally, the communication device 1004 is configured to receive the multiple return routes sent by the control terminal through a wireless or wired communication connection, wherein the multiple return routes are set by the control terminal by detecting the user’s return route The operation is OK.

The return-to-home control device of the drone of this embodiment can be used to implement the technical solutions of the drone in the foregoing method embodiments of this application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 11 is a schematic structural diagram of a control terminal provided by an embodiment of this application. As shown in FIG. 11, the control terminal 1100 in this embodiment may include: an interactive device 1101 and a processor 1102. Optionally, the control terminal 1100 may further include: a communication device 1103. Optionally, the control terminal 1100 may further include: a display device 1104.

The interactive device 1101 is used to detect the user's return route setting operation.

The processor 1102 is configured to generate multiple return routes for the drone according to the return route setting operation detected by the interactive device 1101, and transmit the multiple return routes to the drone, so that the unmanned After obtaining the return instruction, the aircraft selects the target return route from the multiple return routes to return home.

Optionally, the multiple return routes include at least one route preset by the user for each of the multiple flight sub-areas.

The interaction device 1101 is also used to detect the user's flying sub-region selection operation.

The processor 1102 is further configured to select the multiple flight sub-areas from the target flight area according to the flight sub-area selection operation.

When the interaction device 1101 detects the user's return route setting operation, it is specifically configured to detect the user's return route setting operation for each of the multiple flight sub-areas.

When the processor 1102 generates multiple return routes of the UAV according to the return route setting operation, it is specifically configured to: according to the return route setting operation, generate user presets for each of the multiple flight sub-regions. At least one return route.

When the processor 1102 transmits the multiple return routes to the drone, so that the drone, after obtaining the return instruction, selects the target return route from the multiple flight sub-regions to perform the return route , Specifically used to: transmit the multiple return routes to the drone, so that the drone can select targets from the multiple return routes set by the user for multiple flight sub-areas after obtaining the return instruction Return to the home route.

Optionally, the interaction device 1101 is further configured to: detect the user's target flight area selection operation.

The processor 1102 is further configured to determine the target flight area according to the target flight area selection operation.

Optionally, the interaction device 1101 is also used to detect the priority setting operation of the user.

The processor 1102 is further configured to determine the priority of each return route according to the priority setting operation of the user.

When the processor 1102 transmits the multiple return routes to the drone, so that the drone selects the target return route from the multiple return routes to return home after acquiring the return instruction, specifically using Yu: Transmit the priority of the multiple return routes and the multiple return routes to the drone, so that the drone can select from the multiple return routes according to the priority after obtaining the return instruction Return to the destination on the return route.

Optionally, the communication device 1103 is configured to send the multiple return routes to the drone through a wireless or wired communication connection.

The processor 1102 is specifically configured to: control the communication device 1103 to send the multiple return routes to the drone through a wireless or wired communication connection.

Optionally, the processor 1102 is specifically configured to store the multiple return routes in a storage device, so that the drone obtains the multiple return routes from the storage device.

Optionally, the display device 1104 is used to display the flight limit prompt information.

The processor 1102 is also used to determine the range of each return route; if the range of the return route is greater than the maximum range of the UAV, control the display device 1104 to display the range restriction prompt information.

Optionally, the display device 1104 is used to display obstacle prompt information.

The processor 1102 is also used to obtain the position information of the obstacle; obtain the distance between each return route and the obstacle according to the position information of the obstacle; if the distance is less than the preset distance, control the The display device 1104 displays obstacle prompt information.

Optionally, the display device 1104 is used to display prompt information about the height limit for returning home.

The processor 1102 is also used to obtain the return altitude of each return route; if the return altitude is greater than the maximum flight altitude of the drone, or the return altitude is less than the minimum flight altitude of the drone, then The display device 1104 is controlled to display the prompt information of the return altitude limit.

Optionally, the interaction device 1101 may be a touch screen, and the display device 1104 may be a display screen. The interaction device 1101 and the display device 1104 are respectively part of the touch display screen.

Optionally, the control terminal of this embodiment further includes a memory (not shown in the figure), the memory is used to store program codes, and when the program codes are executed, the control terminal enables the control terminal to implement the above solutions.

The control terminal of this embodiment can be used to implement the technical solutions of the control terminal in the foregoing method embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here.

FIG. 12 is a schematic structural diagram of a drone's return home control system provided by an embodiment of the application. As shown in FIG. 12, the drone's return home control system 1200 of this embodiment may include: drone 1201, drone The return home control equipment 1202 and the control terminal 1203.

Among them, the return-to-home control device 1202 of the drone can adopt the structure of the embodiment shown in FIG. No longer.

Wherein, the control terminal 1203 can adopt the structure of the embodiment shown in FIG. 11, which can correspondingly execute the technical solutions of the control terminal in the foregoing method embodiments. The implementation principles and technical effects are similar, and will not be repeated here.

It should be noted that the return home control device 1202 of the drone may be provided on the drone 1201, and the return home control device 1202 of the drone is, for example, a part of the drone 1201. Alternatively, a part of the drone's return home control device 1202 may be provided on the drone 1201, and another part of the drone's return home control device 1202 can be provided on the control terminal 1203.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. Scope.

Claims

An unmanned aerial vehicle's return home control method, characterized in that the method includes:

Get the return instruction;

In response to the return instruction, determine the target return route from the multiple return routes preset by the user;

According to the target return route, control the drone to return.
The method according to claim 1, wherein the method further comprises: obtaining location information of the drone;

Determine the target return route from the preset multiple return routes, including:

According to the position information of the drone, the target return route is determined from multiple return routes.
The method according to claim 2, wherein the multiple return routes preset by the user include at least one return route preset by the user for each of the multiple flight sub-regions, and the multiple flight sub-regions Is selected by the user, among which,

The determining the target return route from the multiple return routes according to the position information of the drone includes:

Determining a target flight sub-area from the multiple flight sub-areas according to the position information of the drone;

One of the at least one return route preset for the target flight sub-area is determined as the target return route.
The method according to claim 3, wherein the determining a target flight sub-area from the multiple flight sub-areas according to the position information of the UAV comprises:

Determine, from the multiple flight sub-areas, the flight sub-area where the UAV is currently located according to the position information of the drone;

The currently located flight sub-area is determined as the target flight sub-area.
The method according to claim 3 or 4, wherein the return point corresponding to the at least one return route of the first flight sub-area among the plurality of flight sub-areas is different from that of the first flight sub-areas in the plurality of flight sub-areas. 2. The return point corresponding to at least one return route in the flight sub-area.
The method according to any one of claims 3-5, wherein the starting waypoint of at least one return route in the flight sub-area is located in the flight sub-area.
The method according to any one of claims 1 to 6, wherein at least two of the multiple return routes preset by the user correspond to different return points.
The method according to any one of claims 1-7, wherein determining the target return route from the multiple return routes comprises:

According to the priority of each return route among the multiple return routes, the target return route is determined from the multiple return routes, wherein the priority of each return route is preset by the user.
The method according to claim 8, wherein the target return route is the return route with the highest priority among the multiple return routes.
The method according to any one of claims 1-7, wherein determining the target return route from the multiple return routes comprises:

According to the current position of the drone, estimate the amount of electricity consumed by the drone to return home according to each of the multiple return routes;

Determine the target return route from the multiple return routes according to the power consumption corresponding to each return route in the multiple return routes.
The method according to claim 10, wherein the determining the target return route from the plurality of return routes according to the power consumption corresponding to each return route in the plurality of return routes comprises:

Determine a return route whose power consumption is less than or equal to the remaining power of the drone from the multiple return routes;

Determine the return route with the least power consumption as the target return route.
The method according to any one of claims 1-11, wherein the obtaining a return instruction comprises:

Obtain the return-to-home instruction sent by the control terminal; or,

When it is detected that the remaining power of the drone is less than or equal to the preset power, the return-to-home instruction is generated; or,

When it is detected that the communication connection between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle is disconnected, the return home instruction is generated.
The method according to any one of claims 1-12, wherein the method further comprises:

The multiple return routes sent by the control terminal of the drone are received through a wireless or wired communication connection, wherein the multiple return routes are determined by the control terminal by detecting the setting operation of the return route of the user.
A return-to-home control method of an unmanned aerial vehicle is characterized in that it is applied to a control terminal of an unmanned aerial vehicle, and the method includes:

Detect the user's return route setting operation, and generate multiple return routes for the drone according to the return route setting operation;

The multiple return routes are transmitted to the drone, so that the drone selects the target return route from the multiple return routes to return after obtaining the return instruction.
The method according to claim 14, wherein the multiple return routes include at least one route preset by the user for each of the multiple flight sub-areas, and the method further comprises:

Detecting the user's flight sub-area selection operation;

Selecting the multiple flight sub-areas from the target flight area according to the flight sub-area selection operation;

Detect the user's return route setting operation, and generate multiple return routes for the drone based on the return route setting operation, including:

Detecting the user's return route setting operation for each of the multiple flight sub-areas, and generating at least one return route preset by the user for each of the multiple flight sub-areas according to the return route setting operation;

The transmitting the multiple return routes to the drone so that the drone selects the target return route from the multiple flight sub-regions to return to the home after obtaining the return instruction, including:

The multiple return routes are transmitted to the drone, so that the drone, after obtaining the return instruction, selects the target return route from the multiple return routes set by the user for multiple flight sub-areas to return.
The method according to claim 15, wherein the method further comprises:

Detecting the user's target flight area selection operation;

According to the target flight area selection operation, the target flight area is determined.
The method according to any one of claims 14-16, further comprising:

The user's priority setting operation is detected;

Determine the priority of each return route according to the user's priority setting operation;

The transmitting the multiple return routes to the drone, so that the drone selects the target return route from the multiple return routes to return after obtaining the return instruction, including:

The priority of the multiple return routes and the multiple return routes are transmitted to the drone, so that the drone, after obtaining the return instruction, selects the target return from the multiple return routes according to the priority The route will return.
The method according to any one of claims 14-17, wherein the transmitting the multiple return routes to the drone comprises:

Send the multiple return routes to the UAV via a wireless or wired communication connection; or,

The multiple return routes are stored in a storage device, so that the drone obtains the multiple return routes from the storage device.
The method according to any one of claims 14-18, further comprising:

Determine the voyage of each return route;

If the range of the return route is greater than the maximum range of the UAV, the range limitation prompt message will be displayed.
The method according to any one of claims 14-18, further comprising:

Obtain the location information of obstacles;

Obtain the distance between each return route and the obstacle according to the location information of the obstacle;

If the distance is less than the preset distance, the obstacle prompt information is displayed.
The method according to any one of claims 14-18, further comprising:

Get the return altitude of each return route;

If the return altitude is greater than the maximum flight altitude of the drone, or the return altitude is less than the minimum flight altitude of the drone, a return altitude restriction prompt message is displayed.
An unmanned aerial vehicle's return home control equipment, which is characterized by comprising: a memory and a processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, it is used to:

Get the return instruction;

In response to the return instruction, determine the target return route from the multiple return routes preset by the user;

According to the target return route, control the drone to return.
The device according to claim 22, further comprising:

Positioning device, used to obtain the location information of the drone;

The processor is specifically configured to determine a target return route from a plurality of return routes according to the position information of the drone acquired by the positioning device.
The device according to claim 23, wherein the multiple return routes preset by the user include at least one return route preset by the user for each of the multiple flight sub-regions, and the multiple flight sub-regions Is selected by the user, among which,

The processor is specifically configured to: determine a target flight sub-area from the multiple flight sub-areas according to the position information of the UAV; One of the return routes is determined as the target return route.
The device according to claim 24, wherein the processor is specifically configured to:

Determine, from the multiple flight sub-areas, the flight sub-area where the UAV is currently located according to the position information of the drone;

The currently located flight sub-area is determined as the target flight sub-area.
The device according to claim 24 or 25, wherein the return point corresponding to the at least one return route of the first flight sub-area among the plurality of flight sub-areas is different from that of the first flight sub-areas in the plurality of flight sub-areas. 2. The return point corresponding to at least one return route in the flight sub-area.
The device according to any one of claims 24-26, wherein the starting waypoint of at least one return route in the flight sub-area is located in the flight sub-area.
The device according to any one of claims 22-27, wherein at least two of the multiple return routes preset by the user correspond to different return points.
The device according to any one of claims 22-28, wherein the processor is specifically configured to: according to the priority of each return route in the plurality of return routes, from the plurality of return routes The target return route is determined in, wherein the priority of each return route is preset by the user.
The device according to claim 29, wherein the target return route is the return route with the highest priority among the multiple return routes.
The device according to any one of claims 22-30, wherein the processor is specifically configured to:

According to the current position of the drone, estimate the amount of electricity consumed by the drone to return home according to each of the multiple return routes;

Determine the target return route from the multiple return routes according to the power consumption corresponding to each return route in the multiple return routes.
The device according to claim 31, wherein the processor is specifically configured to:

Determine a return route whose power consumption is less than or equal to the remaining power of the drone from the multiple return routes;

Determine the return route with the least power consumption as the target return route.
The device according to any one of claims 22-32, wherein:

The processor is specifically configured to: obtain the return-to-home instruction sent by the control terminal, or generate the return-to-home instruction when it is detected that the remaining power of the drone is less than or equal to a preset power; or, When it is detected that the communication connection between the drone and the control terminal of the drone is disconnected, the return-to-home instruction is generated.
The device according to any one of claims 22-33, further comprising:

The communication device is configured to receive the multiple return routes sent by the control terminal of the drone through a wireless or wired communication connection, wherein the multiple return routes are determined by the control terminal by detecting the setting operation of the return route of the user.
A control terminal, characterized in that it comprises:

Interactive device, used to detect the user's return route setting operation;

The processor is configured to generate multiple return routes of the drone according to the setting operation of the return route, and transmit the multiple return routes to the drone, so that the drone obtains the return instruction , Select the target return route from the multiple return routes to return home.
The control terminal according to claim 35, wherein the multiple return routes include at least one route preset by the user for each of the multiple flight sub-areas;

The interaction device is also used to detect the user's flying sub-region selection operation;

The processor is further configured to select the multiple flight sub-areas from the target flight area according to the flight sub-areas selection operation;

When the interactive device detects the user's return route setting operation, it is specifically used to: detect the user's return route setting operation for each of the multiple flight sub-areas;

When the processor generates multiple return routes of the UAV according to the return route setting operation, it is specifically used for: according to the return route setting operation, generate a user preset for each of the multiple flight sub-areas. At least one return route;

When the processor transmits the multiple return routes to the drone, so that the drone selects the target return route from the multiple flight sub-regions to return to the home after obtaining the return instruction, Specifically used to: transmit the multiple return routes to the drone, so that the drone, after obtaining the return instruction, selects the target return route from the multiple return routes set by the user for multiple flight sub-areas The route will return.
The control terminal according to claim 36, wherein the interaction device is further configured to: detect a target flight area selection operation of the user;

The processor is further configured to determine the target flight area according to the target flight area selection operation.
The control terminal according to any one of claims 35-37, wherein the interactive device is further configured to detect a user's priority setting operation;

The processor is further configured to determine the priority of each return route according to the priority setting operation of the user;

When the processor transmits the multiple return routes to the drone, so that the drone selects the target return route from the multiple return routes to return home after obtaining the return instruction, specifically for :

The priority of the multiple return routes and the multiple return routes are transmitted to the drone, so that the drone, after obtaining the return instruction, selects the target return from the multiple return routes according to the priority The route will return.
The control terminal according to any one of claims 35-38, further comprising: a communication device, and the processor is specifically configured to: control the communication device to transmit the multiple return routes through wireless or wired communication Connect and send to the drone; or,

The processor is specifically configured to store the multiple return routes in a storage device, so that the drone obtains the multiple return routes from the storage device.
The control terminal according to any one of claims 35-39, further comprising: a display device;

The processor is also used to determine the range of each return route; if the range of the return route is greater than the maximum range of the UAV, control the display device to display range limit prompt information.
The control terminal according to any one of claims 35-39, further comprising: a display device;

The processor is also used to obtain the position information of the obstacle; obtain the distance between each return route and the obstacle according to the position information of the obstacle; if the distance is less than a preset distance, control the display The device displays obstacle reminders.
The control terminal according to any one of claims 35-39, further comprising: a display device;

The processor is also used to obtain the return altitude of each return route; if the return altitude is greater than the maximum flight altitude of the drone, or the return altitude is less than the minimum flight altitude of the drone, control The display device displays prompt information about the height limit for returning home.
A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, it implements any one of claims 1-13 or any one of claims 14-21. The return control method of the unmanned aerial vehicle described above.