WO2022099803A1

WO2022099803A1 - Return control method and apparatus, electronic device, and storage medium

Info

Publication number: WO2022099803A1
Application number: PCT/CN2020/132137
Authority: WO
Inventors: 卡米尔·梅森; 黄继华; 辻田圭佑
Original assignee: 苏州极目机器人科技有限公司
Priority date: 2020-11-11
Filing date: 2020-11-27
Publication date: 2022-05-19
Also published as: CN112379691A

Abstract

A return control method and apparatus, an electronic device, and a storage medium, relating to the technical field of unmanned operations, and applied in an unmanned operation device. An unmanned operation device operates along consecutive operation route segments. The method comprises: continuously and respectively determining a return point of a current operation route segment as a first return point and a return point of the next operation route segment as a second return point according to a target landing point of the unmanned operation device (S102), the return point being a position point on the operation route segment closest to the target landing point; and when the unmanned operation device operates at the first return point or distant from the first return point, and it is determined that the unmanned operation device cannot reach the second return point, returning from the current position to the target landing point (S106).

Description

Return-to-home control method, device, electronic device and storage medium

This application claims the priority of the Chinese Patent Application No. 202011257408.9 filed with the China Patent Office on November 11, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of drone operations, for example, to a return-to-home control method, device, electronic device, and storage medium.

Background technique

At present, unmanned control equipment such as Unmanned Aerial Vehicle (UAV) is widely used in actual production to improve work efficiency. However, in practical applications of similar unmanned control equipment, it is often necessary to return to the landing point for subsequent operations due to insufficient power or abnormality.

However, in the return-to-home control, the return point closest to the landing point is generally determined by changing the flight operation path. However, for the field of plant protection operations, the UAV after the flight operation path is changed cannot continue to operate on the crops in a fixed position, resulting in Low work efficiency. On the premise of keeping the flight operation path unchanged, although the operation efficiency is guaranteed, the return point of the shortest path from the landing point cannot be determined, that is, the purpose of returning the drone cannot be achieved through the shortest path, which makes the return of the drone inefficient. .

SUMMARY OF THE INVENTION

The present application provides a return-to-home control method, device, electronic device and storage medium. By determining the return-to-home point closest to the landing point on the original planned path, and to predict whether the unmanned operation equipment can reach the return-to-home in the next operation segment point, shorten the return route, improve operational efficiency, and avoid energy loss in non-operational segments.

A return-to-home control method is provided, which is applied to unmanned operation equipment, and the unmanned operation equipment operates along continuous operation segments, and the method includes:

Continuously determine the return point of the current operation segment as the first return point and the return point of the next operation segment as the second return point according to the target landing point of the unmanned operation equipment, wherein the return point is at The closest position point on the operating flight segment to the target landing point;

Until the unmanned operation equipment is operating at the first home point or far from the first home point, and when it is judged that the unmanned operation equipment cannot reach the second home point, it returns from the current position. the target landing point.

A return-to-home control device is also provided, which is applied to unmanned operation equipment, and the unmanned operation equipment operates along continuous operation segments, and the device includes:

The determining module is configured to continuously determine the return point of the current operation segment as the first return point and the return point of the next operation segment as the second return point according to the target landing point of the unmanned operation equipment, wherein all the The return point is the closest position between the operation segment and the target landing point;

Judging module, set to until when the unmanned operation equipment is at the first home point or far from the first return point, when it is judged that the unmanned operation equipment cannot reach the second home point , return to the target landing point from the current position.

Embodiments of the present application further provide an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the return-to-home control method provided by the above embodiments is implemented.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the return-to-home control method provided by the foregoing embodiment is executed.

Description of drawings

Fig. 1 is a kind of application schematic diagram of unmanned operation equipment returning home;

Fig. 2 is another application schematic diagram of unmanned operation equipment returning home;

3 is a schematic flowchart of a return-to-home control method provided by an embodiment of the present application;

4 is an application schematic diagram of a return-to-home control method provided by an embodiment of the present application;

FIG. 5 is an application schematic diagram of another return-to-home control method provided by an embodiment of the present application;

FIG. 6 is an application schematic diagram of another return-to-home control method provided by an embodiment of the present application;

FIG. 7 is an application schematic diagram of still another return-to-home control method provided by an embodiment of the present application;

FIG. 8 is a functional block diagram of a return-to-home control device provided by an embodiment of the present application.

Detailed ways

The technical solutions of the present application will be described below with reference to the accompanying drawings, and the described embodiments are part of the embodiments of the present application, but not all of the embodiments.

The return-to-home control method changes the flight operation path of the unmanned operation equipment, so that the return point is closer to the starting point (landing point) and reaches the starting point through a shorter flight distance. As shown in Figure 1, the UAV operating equipment normally flies according to the planned path in the early stage. When the remaining power is not suitable for flying on the current first planned path, the flight operation path of the unmanned operating equipment is changed to form the second planned path (as shown in the figure). 1), and obtained two first and second return points that are relatively close to the starting point. The unmanned operation equipment can choose the first return point that is closer to the starting point as the return point to achieve return, but The path of the first home point does not cover the original plot, and a changeable flight path needs to be formed for subsequent operations, as shown in the upper right side of Figure 1.

This way of returning home, in the scenario shown in Figure 1, that is, the starting point is on the left side of the plot, the drone operation equipment flies to the right, and a second path is planned in the unoperated area of the plot to generate a path close to the starting point. path of. In order to determine the return point close to the starting point on the left, the unmanned operation equipment needs to plan more and more flight paths in the bending section, resulting in shorter and shorter flight operation sections, and the turning section will increase the total flight time, which will greatly Affect work efficiency and increase energy consumption at the same time.

In addition, due to the change of the flight path of the unmanned operation equipment, the efficient operation of crop rows that are fixedly planted in the plot cannot be carried out. As shown in Figure 1, when the operation is resumed from the first home point, and the tank is full of chemicals, the battery is sufficient, but the direction toward the starting point is preferred to operate. At this time, the flight path and the position of the crop row are If it does not match, the spraying efficiency of the liquid medicine will be low and a lot of battery power will be wasted.

On this basis, even if the unmanned operation equipment is about to return, it needs to retain the original planned path. The reasons include the following two points: (1) Considering the entire plot environment and the given take-off/landing position, the planned path is usually The result of global optimization; (2) Some plots require the planned path to follow the direction of the plant row direction/plot geometry, and changing the path direction will easily reduce the operation effect.

Therefore, the present application provides a return-to-home control method without changing the operation path. As shown in Figure 2, the power status and flight position of the unmanned operation equipment are monitored. When flying away from the point R0 (where R0, R1, R2 ...is the point closest to the landing point H in each operation segment), if the flight reaches the W1 point of the operation segment P0P1, when it is detected that the battery level is less than the first battery level threshold, it will return to the home directly. At this time, the return home The point is W1, and the return path is W1H. Since the return point W1 is far from the landing point H, the return path will be very long (for example, W1 is extremely close to the P1 point), and the drone cannot be guaranteed to return according to the shortest path, that is Operational energy efficiency cannot be guaranteed to be optimal.

Based on this, a return-to-home control method, device, electronic device, and storage medium provided by the embodiments of the present application determine the return-home point closest to the landing point on the original planned path, and predict whether the unmanned operation equipment can reach the next home point. The method of returning to the home point in the operation segment can realize the shortest return path, improve the operation efficiency, and avoid the energy loss of the non-operation segment.

In order to facilitate the understanding of this embodiment, a return-to-home control method disclosed in the embodiment of the present application is first introduced.

FIG. 3 is a schematic flowchart of a return-to-home control method provided by an embodiment of the present application.

The return-to-home control method is applied to unmanned operation equipment, the unmanned operation equipment operates according to a planned path, the planned path of the unmanned operation equipment includes continuous operation segments, and the operation segments include the current operation segment and the next operation segment , the current operation segment and the next operation segment are connected by the flight segment, and various operation operations (including sowing, spraying, shooting and picking, etc.) are performed on the operation segment, and the adjacent operation segment is realized on the flight segment. The transition of the operation segment (generally, no operation is required, but in some embodiments, the operation can also be performed), so as to realize the operation covering all the land parcels. Therefore, generally speaking, compared with the flight segment, the operation segment is relatively long, which can reduce the path length of the segment with attitude changes such as turning, reduce energy consumption, and improve operational efficiency.

The method of this embodiment is shown with reference to FIG. 3, and the steps are as follows:

Step S102, continue to respectively determine the return point of the current operation segment as the first return point and the return point of the next operation segment as the second return point according to the target landing point of the unmanned operation equipment, wherein the return point The point is the closest position to the target landing point on the operation segment.

Unmanned operation equipment includes unmanned control equipment such as drones and unmanned vehicles. The target landing point is a position set by the unmanned operation equipment in advance according to the take-off point, the planned path and the actual situation and other factors for the return landing, that is, the unmanned operation equipment reaches the target landing point to land and land after returning from the return point.

Step S104, when the unmanned operation equipment is at the first return point of the current operation segment or is operating away from the first return point, determine whether the unmanned operation equipment can reach the first return point of the next operation segment. Second home point.

Step S106, until when the unmanned operation equipment is operating at the first home point or far from the first return point, it is determined that the unmanned operation equipment cannot reach the second return point and returns to the target from the current position landing point.

In step S108, if it is determined that the unmanned operation equipment can reach the second home point, the operation is continued, and the process returns to step S102 to continue to determine the home point.

The embodiment of the present application provides a return-to-home control method, wherein the return point on the current operation segment and the next operation segment is determined according to the target landing point, wherein the shortest distance between the return point on the operation segment and the landing point is Return path; when it reaches the first return point on the current operation segment or is far away from the first return point, judge whether the unmanned operation equipment can reach the second return point of the next operation segment, and if it can reach it, continue to follow the planned path If the operation cannot be achieved, it will return from the current position to the landing point, so as to achieve the shortest return path and improve the operation efficiency.

In practical application embodiments, the return point on the current operation segment and the next operation segment is determined according to the target landing point, wherein the shortest return path is between the return point on the operation segment and the landing point; when When it reaches the first return point on the current operating segment or is far away from the first return point, judge whether the unmanned operation equipment can reach the second return point of the next operation segment. If it can reach the second return point, continue to follow the plan. If the second home point cannot be reached, it will return to the target landing point from the current position, so as to achieve the shortest return path and improve energy efficiency. In some embodiments, when it is determined that it is necessary to return home, it is at the first return point, and returns to the target landing point from the first return point. To the target landing point, avoid returning to the first home point and then returning, saving energy and improving efficiency.

In some embodiments, the target landing point includes a flight landing point and a flight safety point, wherein the unmanned operation equipment passes through the flight safety point to reach the flight landing point, and the flight safety point is used to determine the flight landing point. home point. The safety point is the point that must be passed before reaching the landing point. The path between the safety point and the landing point is a safe path without obstacles. Setting the safety point can improve the safety of flight and avoid hitting obstacles. At this time, take the safety point as the target landing point to set the return point, so as to realize the shortest path return.

As an example, as shown in FIG. 4 , the target landing point is the flight landing point X, POP1, P2P3, and P4P5 are longer operating segments, and P1P2 and P3P4 are shorter flight segments. The flight segment realizes operations covering the entire land area. Determine the return points R0, R1, R2, etc. on multiple operation segments according to the flight landing point X, and the unmanned operation equipment predicts whether it can reach the next operation segment when it is at or away from the first return point on the operation segment to determine the shortest return path between the return point and the flight landing point X. For example, after continuous judgment, the unmanned operation equipment determines that it can reach the return points R0, R1 and R2, but cannot reach R3, that is, from the return point R2 Return nearby.

Figure 4 shows the planned path, the take-off point location and the landing point location of the planned path are marked with X off the field. When there is no safety point (the safety point can be a function selected by the operator), the unmanned operation equipment will go from the take-off point position to the first waypoint of P0P1 and start operation. Similarly, when it is determined that it is necessary to return at the first home point or away from the first home point, directly enter the take-off point position from the current position. Therefore, the takeoff point position (equal to the landing point position) is the target landing point. When the unmanned operation equipment enters the operation segment P2P3, the first return point on the current operation segment is updated to be R1, and the second return point on the next operation segment P4P5 is R2. At this time, when the unmanned operation equipment flies from P2 to R1, it will continue to fly as it gets closer and closer to the target landing point and return point. When the unmanned equipment reaches or moves away from R1, it will determine if there is enough energy to reach R2, if so, it will continue to fly; otherwise, it will return to the landing point X from its current position.

The unmanned operation equipment travels to the following several routes (not shown in the figure), which is similar to the return process of the above-mentioned return point R1, and will not be repeated here.

In step S102, when the unmanned operation equipment is continuously traveling, when the unmanned operation equipment enters the current operation segment, the return point of the current operation segment is determined according to the target landing point of the unmanned operation equipment and Update the return point of the current operation segment to the first return point, and determine the return point of the next operation segment according to the target landing point of the unmanned operation equipment and update the return point of the next operation segment to the second return point home point. Through the steps of continuously updating the first return point of the current operation segment and the second return point of the next operation segment, it is continuously judged whether the second return point of the next operation segment can be reached, and the subsequent operation situation is predicted. When reaching the second return point, return directly from the current position. This method achieves the shortest return path and saves energy to the greatest extent, avoids the return of the unmanned operation equipment when the operation reaches a long distance, and saves energy so as to reduce the subsequent storage. time and improve work efficiency. Here, it is not necessary to continuously judge whether the unmanned operation equipment is in the current operation segment, and it is only necessary to update the first return point and the second return point once when entering the current operation route, so as to realize the optimized judgment method and improve the operation efficiency.

When the unmanned operation equipment travels along the planned route, it will update the first return point and the second return point when entering different operation segments. In an embodiment, as shown in FIG. 4 , when the aircraft reaches P0, P2 and P4, etc., the first home point and the second home point should be updated to improve the computing efficiency. When the unmanned operation equipment reaches P4, it will update the first home point from R1 to R2 and the second home point from R2 to R3. Similarly, when the unmanned operation equipment reaches P6, it will update the first and second home points again, update the first home point from R2 to R3, and update the second home point from R3 to R4.

Once the drone has a planned path to fly, the landing point (same as the takeoff point by default) and the flight safety point (if enabled), the target landing point can be set to the landing point (if the flight safety point is not enabled) or the flight safety point point (if activated). As an example, as shown in FIG. 6 , the path between the flight safety point S and the take-off point/landing point x is a safe path, so that the aircraft can safely enter and exit the field operation area. In other words, the unmanned operation equipment will fly from the take-off point to the flight safety point before reaching the first waypoint of the path P0P1. Similarly, when returning to the landing site, the unmanned equipment will first reach the flight safety point and then the landing site. In this case, the target landing point is the flight safety point S. Based on the flight safety point S, the unmanned operation equipment determines the return points R0, R1, R2, etc. with the shortest distances from the operation segment, and returns from the return point to the flight safety point S, and then flies from the flight safety point S. To the take-off point/landing point x of the unmanned operation equipment (the landing point can be the same as the take-off point).

In some embodiments, the above method further includes the following steps:

When the unmanned operation equipment operates in a direction close to the first home point, the unmanned operation equipment continues to operate.

As an optional embodiment, when the unmanned operation equipment travels in the direction of the first home point on the current operation segment, the unmanned operation equipment will continue to travel because it is getting closer and closer to the home point and the target landing point. close. When the unmanned equipment is operating at or away from the first home point on the current operating segment, it will determine whether there is still enough energy to reach the next home point. If it is, it will continue to fly; otherwise, it will determine to return and land. In order to ensure that the return path is always the shortest, the unmanned operation equipment in the embodiment of the present application always returns to the landing point from the vicinity of the return point, so that the path is the shortest, so that the battery usage efficiency is the highest, and the operation path does not need to be changed to affect the operation energy consumption and efficiency.

The home point is determined by the projection of the target landing point to the operation segment or the tangent of the operation segment.

In some embodiments, step S102 includes:

Through the projection of the target landing point to the operation segment or the tangent of the operation segment, the first return point on the current operation segment and the second return point on the next operation segment are determined.

The unmanned operation equipment finds the return point closest to the target landing point on the operation segment according to the type of the operation segment. If the operating segment is a straight segment, the return point closest to the target landing point can be found by finding the projection of the target landing point on the operating segment.

As an optional embodiment, if the projection direction of the target landing point to the operating segment is parallel to the operating segment, the return point closer to the target landing point is the endpoints P0 and P3 on the side of the operating segment close to the target landing point or P4, as shown in Figure 5. If the operating segment is a curved segment, the closest home point can be found by a minimization problem of the distance between the target landing point and the tangent of the curved segment.

Therefore, the planned path to which the return-to-home control method provided by the present application can be applied includes straight line segments, curved segments, and various paths composed of two types of straight line segments and curved segments.

As an optional embodiment, as shown in Fig. 7, the operation area may include two plots to be operated, and the landing point of the unmanned operation equipment is X. In the actual application process, due to the difference between the two plots to be operated The positional relationship is not fixed, and it is necessary to project to the two plots to be operated separately to determine different home points of the two plots to be operated.

In some embodiments, taking FIG. 6 as an example, the method in this embodiment of the present application further includes:

Step 1.1), if the first return point is a point R2 of the current operation segment P5P4, then when reaching the return point R2 of the current operation segment or far away from the return point R2, determine whether the unmanned operation equipment can reach the next operation segment. The segment's home point R3.

Step 1.2), if the return point R3 of the next operation segment cannot be reached, return to the target landing point x from the current position.

Step 1.3), if the return point R3 of the next operation segment can be reached, continue the operation to the next operation segment according to the planned path.

Referring to Figure 5, the position closest to the takeoff/landing point is the end point of the operational segment. Therefore, when the unmanned equipment flies towards P4 on P5P4, it will continue to fly as it gets closer and closer to the target landing point. When the unmanned operation equipment reaches P3 or moves away from P3, it will determine whether it can reach P0, if so, it will continue to fly; otherwise, it will return to the landing position from the current position.

The step of judging that the unmanned operation equipment cannot reach the second home point in step S106 includes:

Step 2.1), based on the allowable operation time and required operation time of the unmanned operation equipment, determine whether the unmanned operation equipment can reach the second home point.

The allowable operation time is determined by the operation demand current information, current power information and landing power information of the unmanned operation equipment; the required operation time is determined by the remaining operation distance and operation speed of the unmanned operation equipment.

The step of judging that the unmanned operation equipment cannot reach the second home point further includes:

Step 2.2), if the allowable operation time is greater than or equal to the required operation time, it is judged that the unmanned operation equipment can reach the second return point; if the allowable operation time is less than the required operation time, it is judged that the unmanned operation equipment cannot reach the second return point.

In some embodiments, the embodiments of the present application can determine whether the unmanned operation equipment can reach the second return point of the next operation segment, that is, the distance between the current position and the next operation segment to the target landing point and the power information. However, in the process of continuing the operation, there is no need to detect the status data of the unmanned operation equipment in real time, such as the return power, the algorithm is simpler, and it can predict whether it can return to the home in advance, thus ensuring that the return path is shortened and the energy utilization rate is improved.

In some embodiments, the method for judging that the unmanned operation equipment cannot reach the second home point includes:

Step 3.1), determine the allowable operation time of the unmanned operation equipment based on the operation demand current information, current power information and landing power information of the unmanned operation equipment, and the power information is the remaining battery capacity and/or charging state information.

In one embodiment, the allowable working time is determined by the remaining battery capacity, and the allowable working time allowed by the battery is determined based on the current remaining battery capacity of the battery, the landing battery capacity when reaching the landing site, and the working demand current; The current state of charge information of the battery, the information of the state of charge of the landing when reaching the target landing point, and the operation demand current are used to determine the allowable operation time, for example: allowable operation time = (current state of charge information - information of the state of charge of the landing) / operation demand current; Alternatively, the minimum allowable operating time is determined based on the remaining battery capacity and state-of-charge information to improve calculation accuracy.

Step 3.2), according to the remaining operation distance and operation speed of the unmanned operation equipment, determine the required operation time of the unmanned operation equipment, wherein the remaining operation distance includes reaching the destination from the current position of the unmanned operation equipment along the operation segment. the second return point and the distance from the second return point to the target landing point; in one embodiment, the target landing point includes a flight landing point and a flight safety point, and the remaining operating distance includes the distance from the The distance from the current position of the human work equipment to the second home point along the work segment, from the second home point to the flight safety point, and from the flight safety point to the flight landing point.

The working speed is fitted according to the constant change of working direction, acceleration of working speed and deceleration of working speed.

Step 3.3), judge whether the unmanned operation equipment can reach the second return point according to the allowable operation time and the required operation time. When the allowable operation time is greater than or equal to the required operation time, the unmanned operation equipment can reach the second return point. If the operation time is less than the required operation time, it is determined that the unmanned operation equipment cannot reach the second home point.

For example, if the landing state of charge information when reaching the target landing point is 20%, and the current state of charge information is 40%. The allowable operation time is (40%-20%)*total capacity/operation demand current. Given a 20Ah battery and a working demand current of 100A, the allowable working time is: 20%*20/100 hours=0.04 hours=2.4 minutes=144 seconds. According to the operation speed of the current unmanned operation equipment along the planned path in the operation segment and the flight segment, the current position of the unmanned operation equipment and the target landing point position, and the planned path, it can be calculated to reach the second home point and from The required operation time required for the second home point to reach the target landing point. If the required operation time is less than 144 seconds, the second home point can be reached; otherwise, the second home point cannot be reached.

In some embodiments, the step of judging that the unmanned operation equipment cannot reach the second home point further includes:

Step 2.3) If the battery voltage is lower than the battery voltage threshold, control the unmanned operation equipment to return to the target landing point.

In addition to the aforementioned power-based return-to-home decision, unmanned equipment can also determine a return-to-home strategy purely based on battery status or voltage. For example, even if the unmanned equipment is flying in the direction of the first home point, as long as the voltage is below a warning threshold, the unmanned equipment will still control the return. This approach facilitates increased safety against abnormal battery conditions (eg, the battery creates a voltage difference between cells).

In some embodiments, the step of returning to the target landing point from the current position includes:

According to the shortest path between the current position and the target landing point, the unmanned operation equipment is controlled to return to the target landing point from the current position.

In some embodiments, step S102 further includes:

If the current operation segment is the last operation segment of the continuous operation segment, the current operation segment is determined as the next operation segment, and the end point of the current operation segment or the current operation segment is determined. The end point of the connected flight segment is the second home point.

In some embodiments, if the current operation segment is the last operation segment of the continuous operation segment, when the unmanned operation equipment is at the first return point of the current operation segment or is far away from the first operation segment When operating at the home point, determine whether the unmanned operation equipment can reach the end point of the current operation segment or the end point of the flight segment connected to the current operation segment; if it can be reached, return to the target landing from the end point If it cannot be reached, return to the target landing point from the current position.

Taking Figure 4 as an example, if the current operation segment P4P5 is the last operation segment, then R3 does not exist, then the next operation segment is still P4P5, and the second return point is determined to be P5, and it is determined whether the unmanned operation equipment can be used. Reach the end point P5 of the current operation segment. If the operation task cannot be completed completely, the shortest return route is determined by the current position to return to the target landing point.

In some embodiments, as shown in FIG. 8 , an embodiment of the present application further provides a return-to-home control device, which is applied to unmanned operation equipment. The unmanned operation equipment operates along continuous operation segments according to a planned path, so The device includes:

The determining module 802 is configured to continuously determine the return point of the current operation segment as the first return point and the return point of the next operation segment as the second return point according to the target landing point of the unmanned operation equipment, wherein, The home point is the position with the closest distance to the target landing point on the operation segment;

The judging module 804 is set to determine that the unmanned operation equipment cannot reach the second return point until the unmanned operation equipment is at the first return point or is operating away from the first return point, and returns from the current position the target landing point.

The return-to-home control device provided by the embodiment of the present application has the same technical features as the return-to-home control method provided by the above-mentioned embodiment, so it can also solve the same technical problem and achieve the same technical effect.

The computer program product of the return-to-home control method and device provided by the embodiments of the present application includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods described in the foregoing method embodiments to achieve For the process, reference may be made to the method embodiment, which will not be repeated here.

For the working process of the system and apparatus described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. The present application may be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the multiple functions of the present application. All or part of the steps of the method described in each example. The aforementioned storage medium includes: Universal Serial Bus flash disk (U disk), mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) , disk or optical disk and other media that can store program code.

Embodiments of the present application further provide an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the return-to-home control method provided by the above embodiments when the computer program is executed.

Claims

A return-to-home control method is applied to unmanned operation equipment, the unmanned operation equipment operates along continuous operation segments, and the method includes:

Continuously determine the return point of the current operation segment as the first return point and the return point of the next operation segment as the second return point according to the target landing point of the unmanned operation equipment, wherein the return point is at The closest position point on the operating flight segment to the target landing point;

Until the unmanned operation equipment is operating at the first home point or far away from the first home point, when it is judged that the unmanned operation equipment cannot reach the second return point, from the current The position returns to the target landing point.
The return-to-home control method according to claim 1, wherein the continuous determination of the return-to-home point of the current operation segment as the first return-to-home point and the return-to-home of the next operation segment according to the target landing point of the unmanned operation equipment respectively point is the second home point, including:

When the unmanned operation equipment enters the current operation segment, the return point of the current operation segment is determined according to the target landing point of the unmanned operation equipment and the return point of the current operation segment is updated as The first return point is determined, and the return point of the next operation segment is determined according to the target landing point of the unmanned operation equipment, and the return point of the next operation segment is updated to the second return point.
The return-to-home control method according to claim 1, further comprising: when the unmanned operation equipment operates in a direction close to the first return point, the unmanned operation equipment continues to operate.
The return-to-home control method according to claim 1, wherein the judging that the unmanned operation equipment cannot reach the second return-to-home point comprises:

Determine whether the unmanned operation equipment can reach the second return point based on the allowable operation time and the required operation time of the unmanned operation equipment;

Wherein, the allowable operation time is determined by the operation demand current information, current power information and landing power information of the unmanned operation equipment; the required operation time is determined by the remaining operation distance and operation speed of the unmanned operation equipment, The remaining operating distance includes the distance from the current position of the unmanned operation equipment to the second home point along the operating segment and from the second home point to the target landing point.
The return-to-home control method according to claim 4, wherein the judging that the unmanned operation equipment cannot reach the second return-to-home point further comprises:

In the case that the allowable operation time is greater than or equal to the required operation time, it is determined that the unmanned operation equipment can reach the second return point, and in the case that the allowable operation time is less than the required operation time, It is determined that the unmanned operation equipment cannot reach the second return point.
The return-to-home control method according to claim 4, wherein the judging that the unmanned operation equipment cannot reach the second return-to-home point further comprises:

When the battery voltage is lower than the battery voltage threshold, the unmanned operation equipment is controlled to return to the target landing site.
The return-to-home control method according to claim 1, wherein the returning from the current position to the target landing point comprises:

According to the shortest path between the current position and the target landing point, the unmanned operation equipment is controlled to return to the target landing point from the current position.
The return-to-home control method according to claim 1, wherein the continuous determination of the return-to-home point of the current operation segment as the first return-to-home point and the return-to-home of the next operation segment according to the target landing point of the unmanned operation equipment respectively point is the second home point, including:

When the current operation segment is the last operation segment of the continuous operation segment, the current operation segment is determined as the next operation segment, and the current operation segment is determined as the next operation segment. The end point or the end point of the flight segment connected with the current operation segment is the second home point.
The return-to-home control method according to claim 1, wherein the return-to-home point is determined by the projection of the target landing point to the operation segment or the tangent of the operation segment.
The return-to-home control method according to claim 1, wherein the target landing point includes a flight landing point and a flight safety point, wherein the unmanned operation equipment passes through the flight safety point to reach the flight landing point, and passes through the flight safety point. The flight safety point determines the return point.
A return-to-home control device is applied to unmanned operation equipment, and the unmanned operation equipment operates along continuous operation segments, and the device includes:

The determining module is configured to continuously determine the return point of the current operation segment as the first return point and the return point of the next operation segment as the second return point according to the target landing point of the unmanned operation equipment, wherein all the The return point is the closest position between the operation segment and the target landing point;

The judging module is set to until when the unmanned operation equipment is operating at the first home point or far away from the first home point, when it is judged that the unmanned operation equipment cannot reach the second home point. case, return to the target landing point from the current position.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, when the processor executes the computer program, any one of claims 1-10 is implemented The return-to-home control method described in item.
A computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the return-to-home control method according to any one of claims 1-10 is executed.