WO2023044897A1 - 无人机的控制方法、装置、无人机及存储介质 - Google Patents

无人机的控制方法、装置、无人机及存储介质 Download PDF

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Publication number
WO2023044897A1
WO2023044897A1 PCT/CN2021/120899 CN2021120899W WO2023044897A1 WO 2023044897 A1 WO2023044897 A1 WO 2023044897A1 CN 2021120899 W CN2021120899 W CN 2021120899W WO 2023044897 A1 WO2023044897 A1 WO 2023044897A1
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Prior art keywords
return
uav
power threshold
height
drone
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PCT/CN2021/120899
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English (en)
French (fr)
Inventor
赵力尧
吴宇豪
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深圳市大疆创新科技有限公司
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Priority to CN202180101378.9A priority Critical patent/CN117836735A/zh
Priority to PCT/CN2021/120899 priority patent/WO2023044897A1/zh
Publication of WO2023044897A1 publication Critical patent/WO2023044897A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present application relates to the technical field of unmanned aerial vehicle control, in particular, to a control method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium.
  • the UAV When the UAV receives the return control signal sent by the remote control, loses contact with the remote control, and the power is lower than a certain threshold, it will trigger automatic return. However, during the return process of the UAV, affected by many factors such as environmental factors and power factors, there are still potential safety hazards and poor user experience in some scenarios.
  • one of the objectives of the present application is to provide a control method and device for a drone, a drone and a storage medium.
  • the UAV will adopt the strategy of returning at the current altitude. This strategy may cause the UAV to hit an obstacle or be blocked by an obstacle during the return process, resulting in the return failure.
  • an embodiment of the present application provides a method for controlling a drone, including:
  • the UAV is controlled to rise to the return altitude.
  • the strategy of raising the UAV can be adopted to reduce or avoid the UAV hitting the obstacle; and the height of the UAV can be determined according to the height of the return point and the preset safe height difference
  • the return height, the preset safe height difference can provide error compensation, further reduce the probability of the drone encountering obstacles, and ensure the smooth return of the drone.
  • the user if the remaining power of the UAV is less than or equal to the safe power for returning, the user will be prompted to return. If the user confirms the return, the UAV will return in response to the user’s return command. During the return process In , if the power of the drone is less than or equal to the power threshold for low battery landing, the drone will be triggered to land. That is to say, there will be a problem that the user is prompted to return, but the drone lands during the return process.
  • an embodiment of the present application provides a method for controlling a drone, the method comprising:
  • the first return-home power threshold characterizes the minimum power required for the UAV to return from the current position
  • the second return-home power threshold characterizes the UAV from the current position
  • the safe power required for returning to the current position, the second returning power threshold is greater than the first returning power threshold
  • a low-battery return-to-home prompt message is output to prompt the user to execute the UAV return to home.
  • the first return-to-home power threshold is set, and the first return-to-home power threshold represents the minimum power required for the UAV to return from the current position.
  • the remaining power of the UAV is less than the second return-to-home power
  • the embodiment of the present application provides a control device for a drone, including:
  • processors one or more processors
  • the one or more processors execute the executable instructions, they are individually or collectively configured to execute the method as described in the first aspect or the second aspect.
  • the embodiment of the present application provides a drone, including:
  • a power system arranged in the fuselage, for providing power for the unmanned aerial vehicle
  • control device according to the third aspect provided in the fuselage.
  • the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the first aspect or the second aspect is implemented. the method described.
  • Fig. 1 is a schematic structural diagram of an unmanned aerial system provided by an embodiment of the present application
  • Fig. 2 is a schematic flow chart of a method for controlling a drone provided in an embodiment of the present application
  • FIG. 3 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • FIG. 4 is a schematic flow diagram of a second control method for a drone provided in an embodiment of the present application.
  • FIG. 5 is a schematic flow diagram of a third control method for a drone provided in an embodiment of the present application.
  • FIG. 6A and Figure 6B are schematic diagrams of different return routes provided by the embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a fourth control method for a drone provided in an embodiment of the present application.
  • Fig. 8 is a schematic diagram of the return prompt information provided by the embodiment of the present application.
  • FIG. 9 is a schematic flow chart of a fifth control method for a drone provided in an embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of a control device for a drone provided by an embodiment of the present application.
  • the embodiment of the present application proposes solutions to potential safety hazards encountered by unmanned aerial vehicles (UAVs) in the process of returning to the voyage.
  • UAVs unmanned aerial vehicles
  • the unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by a plurality of propulsion devices through the air, the embodiments of the present application are not limited thereto, the unmanned aerial vehicle Other types of drones are also possible.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • a rotor drone is taken as an example for illustration.
  • the unmanned aerial system 100 may include a drone 110 , a display device 130 and a remote control device 140 .
  • the unmanned aerial vehicle 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 communicate wirelessly with the remote control device 140 and the display device 130 .
  • the UAV 110 can be an agricultural UAV or an industrial application UAV, and there is a need for cyclic operations.
  • the frame may include the fuselage and undercarriage (also known as landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage and is used for supporting the UAV 110 when it lands.
  • the power system 150 may include one or more electronic governors (abbreviated 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 machine 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 .
  • ESCs electronic governors
  • the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the UAV 110 , and the power enables the UAV 110 to realize movement of one or more degrees of freedom.
  • drone 110 may rotate about one or more axes of rotation.
  • the rotation axis may include a roll axis (Roll), a yaw axis (Yaw) and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 can be a brushless motor or a brushed motor.
  • Flight control system 160 may include flight controller 161 and sensing system 162 .
  • the sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and state information of the UAV 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 (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the flight controller 161 is used to control the flight of the UAV 110 , for example, the flight of the UAV 110 can be controlled according to the attitude information measured by the sensing system 162 . It should be understood that the flight controller 161 can control the UAV 110 according to pre-programmed instructions, or can control the UAV 110 by responding to one or more remote control signals from the remote control device 140 .
  • the gimbal 120 may include a motor 122 .
  • the pan-tilt is used to carry the photographing device 123 .
  • the flight controller 161 can control the movement of the gimbal 120 through the motor 122 .
  • the pan-tilt 120 may further include a controller for controlling the movement of the pan-tilt 120 by controlling the motor 122 .
  • the gimbal 120 may be independent of the UAV 110 or be a part of the UAV 110 .
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the gimbal can be located on top of the drone or on the bottom of the drone.
  • the photographing device 123 can be, for example, a camera or a video camera or other equipment for capturing images.
  • the photographing device 123 can communicate with the flight controller and take pictures under the control of the flight controller.
  • the photographing device 123 of this embodiment includes at least a photosensitive element, such as a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor or a charge-coupled device (Charge-coupled Device, CCD) sensor. It can be understood that the camera device 123 can also be directly fixed on the drone 110, so that the pan-tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD charge-coupled Device
  • the display device 130 is located at the ground end of the UAV 100 , can communicate with the UAV 110 wirelessly, and can be used to display the attitude information of the UAV 110 .
  • the image captured by the capturing device 123 may also be displayed on the display device 130 .
  • the display device 130 may be an independent device, or may be integrated in the remote control device 140 .
  • the remote control device 140 is located at the ground end of the unmanned aerial system 100 , and can communicate with the UAV 110 in a wireless manner for remote control of the UAV 110 .
  • the UAV will adopt the strategy of returning at the current altitude. This strategy may cause the UAV to hit an obstacle or be blocked by an obstacle during the return process, resulting in failure to return; or, the UAV may Use the obstacle avoidance strategy to avoid obstacles and continue flying, but in the case of many obstacles, the power required to execute the obstacle avoidance strategy multiple times will cause the return flight to fail.
  • the present application provides a control method of the drone, which can be executed by a control device of the drone.
  • the control device may be the flight controller in the embodiment in Fig. 1 .
  • Fig. 2 shows a schematic flow chart of a method for controlling an unmanned aerial vehicle, the method comprising:
  • step S101 in response to the trigger of the return of the drone, the current height of the drone and the height of the return point are acquired.
  • step S102 if the current height of the UAV is lower than the height of the return point, the return height of the UAV is determined according to the difference between the height of the return point and a preset safe height.
  • step S103 during the process of returning the UAV, the UAV is controlled to ascend to the return altitude.
  • the strategy of raising the UAV can be adopted to reduce or avoid the UAV hitting the obstacle; and the return of the UAV can be determined according to the height of the return point and the preset safe height difference Height, the preset safe height difference can provide height error compensation, further reduce the probability of the UAV encountering obstacles and reduce the number of times to execute obstacle avoidance strategies, avoid the power loss of the UAV, and ensure that the UAV has sufficient power Returned smoothly.
  • step S101 if the UAV receives the return instruction generated by the user operation, the UAV return process is triggered; or the UAV can automatically trigger the UAV return process due to the set program or instruction. Then, in response to the UAV return trigger, the UAV obtains the current altitude of the UAV and the height of the return point.
  • the current altitude of the UAV can be measured using an altitude measurement device in the UAV;
  • the altitude measurement device includes but is not limited to a barometer, a visual sensor and/or an ultrasonic wave, etc., this The embodiments do not impose any limitation on the specific type of height measuring device.
  • the return point includes the take-off point of the drone or the return point set by the user.
  • the UAV may use the height measuring device to measure the height of the take-off point and store the height of the take-off point when the UAV is at the take-off point. If the return point is a return point set by the user that is different from the take-off point, the height of the return point can be input by the user, or the UAV can also obtain the altitude from a server that has pre-stored the height information of the return point. obtained from .
  • step S102 after obtaining the current height of the UAV and the height of the return point, compare the current height of the UAV with the height of the return point, if the current height of the UAV is lower than
  • the height of the return point can determine the return height of the UAV according to the height of the return point and the preset safety height difference, that is, the return height of the UAV has a height relative to the height of the return point.
  • a certain safety height difference considering that there may be an altitude error in the acquired current altitude of the drone, a preset safety altitude difference is provided, which can provide altitude error compensation, and further reduce the probability and probability of the drone encountering obstacles. Reduce the number of times to execute the obstacle avoidance strategy, avoid the power loss of the drone, and ensure that the drone has enough power to return home smoothly.
  • the difference between the return altitude and the current altitude is greater than or equal to the sum of the difference between the altitude of the return home point and the current altitude and the preset safety altitude difference, so that This enables the unmanned aerial vehicle to return home safely.
  • the preset safe altitude difference is determined according to the size of the drone and/or the measurement accuracy of the height measuring device in the drone. Wherein, the larger the size of the drone, the higher the risk of collision, then the preset safety height difference can be set larger to reduce the risk of collision, on the contrary, the smaller the size of the drone Smaller, the smaller the risk of collision, the preset safe altitude difference can be set smaller to save the power loss caused by the rise of the drone, that is, the preset safe altitude and the drone size is positively correlated.
  • the preset safety height difference can be set, on the contrary, the measurement of the height measuring device The lower the accuracy, the lower the current height accuracy of the drone.
  • the preset safe height difference can be set larger, that is, the preset safe height difference is the same as the The measurement accuracy of the height measuring device is negatively correlated.
  • step S103 after the return altitude of the drone is determined, the drone is controlled to rise to the return altitude during the return process of the drone, thereby improving the safety of the return flight of the drone sex.
  • the drone may first rise to the return height, then fly straight above the return point according to the return height, and finally land at the return point.
  • the UAV first rises to the return altitude, and then flies a certain distance according to the return altitude, in order to save power consumption, it can fly obliquely to the return point or above the return point Land again.
  • the UAV may first fly at the current altitude for a certain distance, and then ascend to the return altitude to return in the event of encountering an obstacle.
  • the height difference determines the return height of the UAV, and the return height of the UAV has a certain safety height difference with respect to the height of the return point.
  • the UAV is raised
  • the strategy of the flight height, control the UAV to rise to the return altitude, for example, the return route can be carried out according to the return path shown in the dotted line in Figure 3, further reducing the probability of the UAV hitting an obstacle, and improving the unmanned altitude. safety of the return flight.
  • a return distance is usually preset, for example, the return distance is determined based on the visual distance of the human eye; the distance between the current position of the drone and the return point is greater than the preset In the case of the return distance, in order to avoid the risk of collision, the drone will be controlled to rise during the return process; the distance between the current position of the drone and the return point is less than or equal to the preset return distance In the case of the drone, it will return at the current altitude, thus the above-mentioned problem occurs (that is, the current altitude of the drone is lower than the altitude of the return point, resulting in a risk of collision).
  • FIG. 4 is a schematic flow diagram of a method for controlling a drone provided in an embodiment of the present application, and the method includes:
  • step S201 in response to the drone’s return trigger, it is detected whether the distance between the current position of the drone and the return point is less than or equal to the preset return distance; if not, perform step S202, and if so, perform step S203.
  • step S202 during the process of returning the drone, the drone is controlled to rise to a second return altitude.
  • step S203 the current altitude of the drone and the altitude of the home point are acquired.
  • step S204 it is detected whether the current height of the drone is lower than the height of the return point; if not, execute step S205, and if yes, execute step S206.
  • step S205 the UAV is controlled to return at the current altitude.
  • step S206 according to the height of the return point and the preset safety altitude difference, determine the first return altitude of the UAV; during the return process of the UAV, control the UAV to ascend to the first return altitude; wherein, the first return altitude is different from the second return altitude.
  • the second return-to-home altitude is usually set in advance by the user based on the judgment of the environment.
  • the UAV can be controlled to return at the current altitude, thereby reducing the length of the return path as much as possible.
  • the UAV When the distance between the current position of the UAV and the return point is less than or equal to the preset return distance, and the current height of the UAV is lower than the height of the return point, the UAV During the return process, the UAV is controlled to rise to the first return altitude, so as to ensure the safe return of the UAV.
  • the return strategy in the related art is: if the remaining power of the UAV is less than or equal to the return safety power, the user is prompted to return, and if the user confirms the return, the UAV responds to the user's return Command to return.
  • the power of the drone if the power of the drone is less than or equal to the power threshold for low battery landing, the drone will be triggered to land. That is to say, there will be a problem that the user is prompted to return, but the drone lands during the return process.
  • the inventor's research found that this is because the return-to-home strategy in the related art only considers the return-to-home safety power with a certain margin, but does not consider the minimum power required for the actual return. Therefore, when the power is less than the minimum power required for returning to the voyage, the user will still be prompted to perform the return operation.
  • the present application provides a control method of the drone, which can be executed by a control device of the drone.
  • the control device may be the flight controller in the embodiment in Fig. 1 .
  • Fig. 5 shows a schematic flow chart of a method for controlling an unmanned aerial vehicle, the method comprising:
  • step S301 the first return-home power threshold and the second return-home power threshold are acquired, the first return-home power threshold characterizes the minimum power needed by the UAV to return from the current position, and the second return-home power threshold represents the The safety power required for the UAV to return from the current position, and the second return power threshold is greater than the first return power threshold.
  • step S302 if the remaining power of the UAV is greater than or equal to the first return-to-home power threshold and less than the second return-to-home power threshold, a low-battery return-to-home prompt message is output to prompt the user to execute the UAV return to home .
  • a first return-to-home power threshold is also set.
  • the first return-to-home power threshold represents the minimum power required by the UAV to return from the current position.
  • the remaining power of the UAV is less than the second return power threshold, it is necessary to further satisfy that the remaining power of the UAV is greater than or equal to the first return power threshold, which is conducive to ensuring the smooth operation of the UAV. return flight.
  • the first return power threshold and the second return power threshold corresponding to the current position of the UAV can be calculated in real time according to the current position of the UAV.
  • the first return power threshold and the second return power threshold corresponding to the current position of the drone may also be calculated in response to the UAV return trigger.
  • the different positions of the UAV have corresponding first return power thresholds and second return power thresholds, and the first return power thresholds and second return power thresholds corresponding to different positions are different.
  • the first return power threshold represents the minimum power required for the UAV to return from the current position
  • the first return power threshold is determined based on the return path of the UAV
  • the UAV The return path includes at least one or more of the following: the path of the UAV rising to the return altitude, the path of the UAV flying to the return point at the return altitude or the current altitude, the UAV The path from landing above the home point to the home point, or the drone flying obliquely from the current altitude or the return altitude to the home point or the path above the home point, and the like.
  • the UAV returns at the current height
  • the first return power threshold may include the path of the UAV flying above the return point at the current height The sum of the minimum power required for a and the minimum power required for path b from above the home point to the home point.
  • the UAV needs to ascend to the return height to return
  • the first return power threshold may include the path c of the UAV ascending to the return height.
  • the minimum power required the minimum power required for the UAV to fly a certain distance at the return altitude, the minimum power required for the UAV to fly obliquely to the path e above the return point, and the The sum of the minimum power required for the UAV to land from above the home point to the path f of the home point.
  • the first return power threshold can be comprehensively determined based on the UAV's return path and environmental wind sensing data, so that it can be based on the The return strategy of the first return power threshold ensures the smooth return of the UAV.
  • the second return power threshold represents the safe power required for the UAV to return from the current position
  • the second return power threshold may be a preset power difference superimposed on the basis of the first return power threshold , that is, the difference threshold between the second return-to-home electric quantity threshold and the first return-to-home electric quantity is a preset electric quantity difference.
  • the preset power difference is used to provide the user with a space for manual control during the return process of the UAV.
  • the size of the preset power difference can be specifically set according to the actual application scenario, and this implementation does not impose any restrictions on it.
  • the preset power difference can be one-third of the first return power threshold.
  • FIG. 7 shows a schematic flowchart of another method for controlling a drone, and the method includes:
  • step S401 the first return-home power threshold and the second return-home power threshold are acquired, the first return-home power threshold characterizes the minimum power required by the UAV to return from the current position, and the second return-home power threshold represents the The safety power required for the UAV to return from the current position, and the second return power threshold is greater than the first return power threshold.
  • step S402 it is judged whether the remaining power of the drone is less than the second return power threshold; if so, execute step S403, if not, execute step S401;
  • step S403 it is judged whether the remaining power of the drone is greater than or equal to the first return power threshold; if so, execute step S404, if not, execute step S405;
  • step S404 output a low-battery return-to-home prompt message to prompt the user to perform the return-to-home of the drone;
  • step S405 it is judged whether the remaining power of the drone is greater than or equal to the landing power threshold; if so, execute step S406, if not, execute step S407;
  • step S406 the prompt message of failure to return is output, and the user is prompted to operate the drone to land as soon as possible;
  • step S407 the drone is controlled to land.
  • first return power threshold the relationship between the first return power threshold, the second return power threshold and the landing power threshold is: landing power threshold ⁇ first return power threshold ⁇ second return power threshold.
  • step S404 if the remaining power of the UAV is greater than or equal to the first return power threshold and less than the second return power threshold, then output low power return prompt information to remind the user Execute the return flight of the drone; the user can trigger the return flight of the drone according to the low battery return prompt information, for example, the user clicks the return control provided by the control device, so that the control device generates a return instruction sent to the drone, and the drone In response to the return instruction, the drone performs a return operation according to the return path of the UAV, thereby ensuring the smooth return of the UAV.
  • the UAV may not respond For the return-to-home instruction, that is, the UAV does not perform a return-to-home action.
  • the output cannot return to the voyage prompt information, and prompts the user to operate the UAV to land as soon as possible, and the user can trigger the drone according to the prompt information.
  • the user clicks on the landing control provided by the control device so that the control device generates a landing command sent to the drone, and the drone responds to the landing command and lands on a landing surface (such as the ground or other planes) ), thereby ensuring the smooth landing of the unmanned aerial vehicle. If the remaining power of the UAV is less than the landing power threshold, the UAV is directly controlled to land.
  • the UAV can output a prompt message that it may not be able to reach the return point through the control device.
  • the preset duration can be specifically set according to the actual application scenario, and this implementation does not impose any restrictions on this.
  • the control device is a device with a rocker component
  • the user can The rod part controls the flight of the UAV.
  • the preset duration is 3s.
  • the remaining power of the UAV at this time is If it is relatively low, there is not enough power to support the drone to perform other flight tasks. If the manual control command sent by the control device is obtained within the preset duration, it will output a prompt message that it may not be able to reach the home point, and it can Does not respond to said manual control commands.
  • the UAV during the return process of the UAV, if the manual control instruction sent by the control device is obtained, in a possible implementation, during the continuous receipt of the manual control instruction, the The manual control command and the automatic return control command of the UAV are superimposed, and the UAV is controlled based on the superimposed control command, that is, the UAV does not completely deviate from the return path. In another possible implementation, during the continuous receipt of the manual control instruction, the UAV can also be controlled only based on the manual control instruction without executing the unmanned The aircraft's automatic return control command. After the manual control command is released, the UAV is controlled to return to the return route.
  • the UAV can output return prompt information, and the return prompt information is used to remind the user that the unmanned The aircraft will automatically return to the voyage, and the user needs to confirm to continue to return to the voyage.
  • the return prompt information shown in Figure 8 can be displayed on the control device.
  • the drone in order to ensure the safety of the UAV during the landing process, if the sensor used to detect the safety of the landing surface in the UAV fails or It is detected that the landing surface is not suitable for landing, and the drone is controlled to hover at a specified height, and the specified height is greater than 2 meters. In this embodiment, hovering the drone at a height greater than 2 meters can effectively prevent damage to people or other animals caused by propeller rotation, reduce the possibility of contact between the aircraft and people in space and time, and increase the human safety.
  • the sensor used to detect the safety of the landing surface can be one or more sensors installed on the bottom of the drone. These sensors can detect the safety of the landing surface during the landing process of the drone. For example, if the landing surface is detected If there are sharp objects or the landing surface is a water surface, it is determined that the landing surface is not suitable for landing.
  • the sensors used to detect the safety of the landing surface include but are not limited to visual sensors, thermal imaging cameras or laser radars, etc., which can be set according to actual application scenarios.
  • the failure of the sensor used to detect the safety of the landing surface includes, but is not limited to, the surface of the sensor is dirty or damaged, internal components of the sensor are damaged, or the current ambient light is too dark for the sensor (such as a vision sensor) to detect, and so on.
  • the hovering function of the UAV needs to be realized when the horizontal positioning function of the UAV is available. If the horizontal positioning function of the UAV is not available, the UAV is directly controlled Land and avoid the risk of crashing.
  • the horizontal positioning function of the drone can be realized based on a GPS receiver or a visual sensor, etc., and when the position of the drone on the horizontal plane cannot be determined, it can be considered that the horizontal positioning function is unavailable.
  • Figure 9 shows the operation logic of the drone during landing:
  • step S501 the drone is controlled to land in response to a landing trigger of the drone.
  • the landing process of the UAV can be triggered after receiving the landing command triggered by the user; or the UAV can automatically trigger the UAV landing process due to the set program or instruction, for example, the UAV is in the process of automatic return landing.
  • step S502 during the landing process of the drone, it is determined whether the sensor used for detecting the safety of the landing surface is invalid. If yes, execute step S503; if not, execute step S504.
  • the sensor for detecting the safety of the landing surface is invalid when the UAV approaches the landing surface.
  • the drone starts the process of judging whether the sensor used to detect the safety of the landing surface is invalid.
  • step S503 it is determined whether the horizontal positioning function of the drone is available; if yes, execute step S505; if not, execute step S506.
  • step S504 use a sensor for detecting the safety of the landing surface to detect whether the landing surface is suitable for landing; if yes, perform step S506; if not, perform step S505.
  • step S505 the drone is controlled to hover at a specified height, and the specified height is greater than 2 meters.
  • step S506 the drone is controlled to land directly.
  • hovering or landing methods are adopted based on different situations, which is conducive to ensuring the safety of the UAV or the crowd or animals on the landing surface .
  • the UAV during the flight of the UAV or in response to the UAV return trigger, determine the return path of the UAV at the current position to the home point, and use the return path Calculate the first return-to-home power threshold and the second return-to-home power threshold.
  • the return path may include a path for the UAV to ascend from the current position to a second return altitude, a path for flying above the home point at the second return altitude, and a path for landing from above the home point to the home point.
  • the UAV returns at the current height during the return process, for example, the return path may include the path of the UAV flying from the current position to the top of the return point at the current height and from the return point The path above to land to the home point in question.
  • the first return height of the UAV is determined according to the height of the return point and the preset safety height difference, and the unmanned If the aircraft needs to rise to the first return altitude during the return process to avoid the risk of collision, for example, the return path may include the path of the UAV rising from the current position to the first return altitude, flying to the return point at the first return altitude The path above and the path from above the home point to the home point; wherein, the first return altitude is different from the second return altitude.
  • the UAV can determine a first return electric quantity threshold and a second return electric quantity threshold according to the return path and ambient wind sensing data;
  • the first return electric quantity threshold represents the The minimum power required for the man-machine to return from the current position
  • the second return power threshold represents the safe power required for the UAV to return from the current position
  • the second return power threshold is greater than the first return power threshold .
  • the remaining power of the drone is greater than or equal to the first return power threshold and less than the second return power threshold, then output low battery return prompt information to prompt the user to perform the return of the drone, or can respond to no
  • the human-machine return is triggered, and the UAV is controlled to return.
  • the output cannot return prompt information, and prompts the user to operate the drone to land as soon as possible; or after receiving the user-triggered return In the case of an instruction, do not respond to the return instruction, that is, do not execute the return action.
  • the UAV is directly controlled to land to prevent the risk of crashing.
  • the UAV can check the Whether the permanent sensor fails, if the sensor used to detect the safety of the landing surface in the UAV fails or detects that the landing surface is not suitable for landing, control the UAV to hover at a height greater than 2 meters, and wait User's manual control operation. If the sensor used to detect the safety of the landing surface in the UAV fails and the horizontal positioning function of the UAV is unavailable, or it is detected that the landing surface is suitable for landing, the UAV is directly controlled to land, Avoid crash risk.
  • control device 60 for a drone including:
  • processors one or more processors
  • the one or more processors execute the executable instructions, they are individually or collectively configured to perform any one of the methods described above.
  • the processor 61 executes the executable instructions included in the memory 62, and the processor 61 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor) Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory 62 stores the executable instructions of the control method of the unmanned aerial vehicle, and the memory 62 can include at least one type of storage medium, and the storage medium includes flash memory, hard disk, multimedia card, card type memory (for example, SD or DX memory etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic Memory , Disk, CD, etc. Also, the device may cooperate with a web storage which performs a storage function of the memory through a network connection.
  • the storage 62 may be an internal storage unit of the device 60 , such as a hard disk or a memory of the device 60 .
  • Storage device 62 also can be the external storage device of device 60, for example the plug-in type hard disk equipped on device 60, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card) wait. Further, the memory 62 may also include both an internal storage unit of the device 60 and an external storage device. The memory 62 can also be used to temporarily store data that has been output or will be output.
  • smart memory card Smart Media Card, SMC
  • flash memory card Flash Card
  • the memory 62 may also include both an internal storage unit of the device 60 and an external storage device. The memory 62 can also be used to temporarily store data that has been output or will be output.
  • processor 61 when the processor 61 executes the executable instructions, it is individually or jointly configured to:
  • the UAV is controlled to rise to the return altitude.
  • the processor 61 is further configured to: if the distance between the current position of the drone and the return point is less than or equal to the preset return distance, obtain the current altitude and the return point of the drone the height of.
  • the return-to-home altitude is a first return-to-home altitude
  • the processor 61 is further configured to: if the distance between the current position of the drone and the home-to-home point is greater than the preset return-to-home distance, at the During the process of returning the UAV, the UAV is controlled to rise to a second return altitude, and the second return altitude is different from the first return altitude.
  • the processor 61 is further configured to: if the distance between the current position of the UAV and the return point is less than or equal to the preset return distance, and the current height of the UAV is higher than the set the altitude of the return point, and control the UAV to return at the current altitude.
  • the return point includes the take-off point of the drone or a return point set by the user.
  • the difference between the return altitude and the current altitude is greater than or equal to the sum of the difference between the altitude of the return home point and the current altitude and the preset safety altitude difference.
  • the preset safe altitude difference is determined according to the size of the drone and/or the measurement accuracy of the height measuring device in the drone.
  • the preset safe height difference is negatively correlated with the measurement accuracy of the height measuring device, and/or, the preset safe height is positively correlated with the size of the drone.
  • processor 61 when the processor 61 executes the executable instructions, it is individually or jointly configured to:
  • the first return-home power threshold characterizes the minimum power required for the UAV to return from the current position
  • the second return-home power threshold characterizes the UAV from the current position
  • the safe power required for returning to the current position, the second returning power threshold is greater than the first returning power threshold
  • a low-battery return-to-home prompt message is output to prompt the user to execute the UAV return to home.
  • processor 61 is also configured to:
  • the remaining power of the drone is less than the first return power threshold and greater than or equal to the landing power threshold, then output a prompt message that cannot return, and prompt the user to operate the drone to land as soon as possible;
  • the UAV is controlled to land.
  • the first return power threshold is determined based on the UAV's return path, and the difference between the second return power threshold and the first return power threshold is a preset power difference.
  • the first return power threshold is determined based on the return path of the UAV and ambient wind sensing data.
  • the processor 61 is further configured to: during the landing process of the UAV, if the sensor for detecting the safety of the landing surface in the UAV fails or detects that the landing surface is not suitable for landing, The drone is controlled to hover at a designated height, and the designated height is greater than 2 meters.
  • the processor 61 is further configured to: during the landing process of the UAV, if the UAV is out of control and the horizontal positioning function of the UAV is unavailable, control the UAV straight down.
  • the processor 61 is further configured to: during the return process of the UAV, if the manual control instruction sent by the control device is obtained within a preset duration, then output a prompt that the return point may not be reached information.
  • the processor 61 is also configured to: during the return process of the UAV, if the manual control instruction sent by the control device is obtained, during the continuous receipt of the manual control instruction, the The manual control instruction and the automatic return control instruction of the UAV are superimposed, and the UAV is controlled based on the superimposed control instruction; or, the UAV is controlled based on the manual control instruction;
  • the UAV After the manual control command is released, the UAV is controlled to return to the return route.
  • Various implementations described herein can be implemented using a computer readable medium such as computer software, hardware, or any combination thereof.
  • the embodiments described herein can be implemented by using Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays ( FPGA), processors, controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein.
  • ASICs Application Specific Integrated Circuits
  • DSPs Digital Signal Processors
  • DSPDs Digital Signal Processing Devices
  • PLDs Programmable Logic Devices
  • FPGA Field Programmable Gate Arrays
  • processors controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein.
  • an embodiment such as a procedure or a function may be implemented with a separate software module that allows at least one function or operation to be performed.
  • the software codes can be implemented by a software application (or program
  • non-transitory computer-readable storage medium including instructions, such as a memory including instructions, which are executable by a processor of an apparatus to perform the above method.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, among others.
  • a non-transitory computer-readable storage medium enabling the terminal to execute the above method when instructions in the storage medium are executed by a processor of the terminal.
  • the embodiment of the present application also provides a drone, including:
  • a power system arranged in the fuselage, for providing power for the unmanned aerial vehicle
  • control device may be a flight controller in an unmanned aerial vehicle.

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Abstract

一种无人机的控制方法、装置、无人机及存储介质，所述方法包括：响应于无人机返航触发，获取所述无人机的当前高度以及返航点的高度；如果所述无人机的当前高度低于所述返航点的高度，根据所述返航点的高度和预设的安全高度差，确定所述无人机的返航高度；在所述无人机返航的过程中，控制所述无人机上升至所述返航高度。本实施例有利于减少或者避免无人机撞到障碍物，提高无人机返航的安全性。

Description

无人机的控制方法、装置、无人机及存储介质 技术领域
本申请涉及无人机控制技术领域，具体而言，涉及一种无人机的控制方法、装置、无人机及存储介质。
背景技术
无人机在接收到遥控器发送的返航控制信号，与遥控器失联，电量低于一定阈值等情况下会触发自动返航。然而，在无人机返航的过程中，受到如环境因素、电量因素等诸多因素的影响，仍在一些场景下存在安全隐患，用户体验不好的问题。
发明内容
有鉴于此，本申请的目的之一是提供一种无人机的控制方法、装置、无人机及存储介质。
第一方面，在一些返航场景中，无人机会采用以当前高度返航的策略，该种策略可能使无人机在返航过程中撞到障碍物或者被障碍物遮挡失控，导致返航失败。
因此，本申请实施例提供了一种无人机的控制方法，包括：
响应于无人机返航触发，获取所述无人机的当前高度以及返航点的高度；
如果所述无人机的当前高度低于所述返航点的高度，根据所述返航点的高度和预设的安全高度差，确定所述无人机的返航高度；
在所述无人机返航的过程中，控制所述无人机上升至所述返航高度。
本申请实施例中，考虑到无人机的当前高度与返航点的高度之间的差异，在无人机的当前高度低于返航点的高度的情况下，为了避免无人机在返航过程中撞到障碍物，则可以采用升高无人机的策略，从而减少或者避免无人机撞到障碍物；并且可以根据所述返航点的高度和预设的安全高度差来决定无人机的返航高度，所述预设的安全高度差可以提供误差补偿，进一步降低无人机遇到障碍物的概率，保证无人机顺利返航。
第二方面，相关技术中，如果无人机的剩余电量小于或等于返航安全电量，则提 示用户返航，如果用户进行了确认返航，无人机响应于用户的返航指令进行返航，在返航的过程中，如果无人机的电量小于或等于低电量降落的电量阈值，会触发无人机降落。也即，会出现提示用户返航但是无人机在返航过程中降落的问题。
因此，本申请实施例提供了一种无人机的控制方法，所述方法包括：
获取第一返航电量阈值和第二返航电量阈值，所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值；
如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息，以提示用户执行无人机返航。
本申请实施例中，设置了第一返航电量阈值，该第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，在所述无人机的剩余电量小于第二返航电量阈值的情况下，还需进一步满足所述无人机的剩余电量大于或等于所述第一返航电量阈值，从而有利于保证无人机的顺利返航。
第三方面，本申请实施例提供了一种无人机的控制装置，包括：
用于存储可执行指令的存储器；
一个或多个处理器；
其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成执行如第一方面或第二方面所述的方法。
第四方面，本申请实施例提供了一种无人机，包括：
机身；
动力系统，设于所述机身中，用于为所述无人机提供动力；
以及，设于所述机身中的如第三方面所述的控制装置。
第五方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有可执行指令，所述可执行指令被处理器执行时实现如第一方面或第二方面所述的方法。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种无人飞行系统的结构示意图；
图2是本申请实施例提供的一种无人机的控制方法的流程示意图；
图3是本申请实施例提供的一种应用场景的示意图；
图4是本申请实施例提供的第二种无人机的控制方法的流程示意图；
图5是本申请实施例提供的第三种无人机的控制方法的流程示意图；
图6A和图6B是本申请实施例提供的不同返航路径的示意图；
图7是本申请实施例提供的第四种无人机的控制方法的流程示意图；
图8是本申请实施例提供的返航提示信息的示意图；
图9是本申请实施例提供的第五种无人机的控制方法的流程示意图；
图10是本申请实施例提供的一种无人机的控制装置的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例针对于无人机(UAV)在返航过程中遇到的安全隐患问题提出解决方式。
其中，对于本领域技术人员将会显而易见的是，可以不受限制地使用任何类型的无人机，本申请的实施例可以应用于各种类型的无人机。例如，无人机可以是小型或大型的无人机。在某些实施例中，无人机可以是旋翼无人机(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼无人机，本申请的实施例并不限于此，无人机也可以是其它类型的无人机。
图1是根据本申请的实施例的无人飞行系统的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行系统100可以包括无人机110、显示设备130和遥控设备140。其中，无人机110可以包括动力系统150、飞行控制系统160、机架和承载在机架上的云台120。无人机110可以与遥控设备140和显示设备130进行无线通信。无人机110可以是农业无人机或行业应用无人机，有循环作业的需求。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连 接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上；电子调速器151用于接收飞行控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
飞行控制系统160可以包括飞行控制器161和传感系统162。传感系统162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(Global Positioning System，GPS)。飞行控制器161用于控制无人机110的飞行，例如，可以根据传感系统162测量的姿态信息控制无人机110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自遥控设备140的一个或多个遥控信号对无人机110进行控制。
云台120可以包括电机122。云台用于携带拍摄装置123。飞行控制器161可以通过电机122控制云台120的运动。可选的，作为另一实施例，云台120还可以包括控制器，用于通过控制电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，电机122可以是直流电机，也可以是交流电机。另外，电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD) 传感器。可以理解，拍摄装置123也可直接固定于无人机110上，从而云台120可以省略。
显示设备130位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示拍摄装置123拍摄的图像。应理解，显示设备130可以是独立的设备，也可以集成在遥控设备140中。
遥控设备140位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。
应理解，上述对于无人飞行系统各组成部分的命名仅是出于标识的目的，并不应理解为对本申请的实施例的限制。
在一些返航场景中，无人机会采用以当前高度返航的策略，该种策略可能使无人机在返航过程中撞到障碍物或者被障碍物遮挡失控，导致返航失败；或者，无人机可能使用避障策略来绕开障碍物继续飞行，而在障碍物较多的情况下，多次执行避障策略所需的电量较多，从而导致返航失败。
针对于上述问题，本申请提供了一种无人机的控制方法，所述控制方法可以由无人机的控制装置来执行。示例性的，所述控制装置可以是图1实施例中的飞行控制器。
请参阅图2，图2示出了一种无人机的控制方法的流程示意图，所述方法包括：
在步骤S101中，响应于无人机返航触发，获取所述无人机的当前高度以及返航点的高度。
在步骤S102中，如果所述无人机的当前高度低于所述返航点的高度，根据所述返航点的高度和预设的安全高度差，确定所述无人机的返航高度。
在步骤S103中，在所述无人机返航的过程中，控制所述无人机上升至所述返航高度。
本实施例中，考虑到无人机的当前高度与返航点的高度之间的差异，在无人机的当前高度低于返航点的高度的情况下，为了避免无人机在返航过程中撞到障碍物，则可以采用升高无人机的策略，从而减少或者避免无人机撞到障碍物；并且可以根据所述返航点的高度和预设的安全高度差来决定无人机的返航高度，所述预设的安全高度差可以提供高度误差补偿，进一步降低无人机遇到障碍物的概率和减少执行避障策略的次数，避免无人机电量损耗，保证无人机有足够的电量顺利返航。
对于步骤S101，如果无人机接收到用户操作生成的返航指令，则触发无人机返航流程；或者无人机可以因设定的程序或者指令自动触发无人机返航流程。则响应于无 人机返航触发，所述无人机获取所述无人机的当前高度以及返航点的高度。
其中，所述无人机的当前高度可以使用所述无人机中的高度测量装置来测量；示例性的，所述高度测量装置包括但不限于气压计、视觉传感器和/或超声波等，本实施例对于高度测量装置的具体类型不做任何限制。
其中，所述返航点包括所述无人机的起飞点或者用户设置的返航点。在所述返航点为无人机的起飞点的情况下，所述无人机可以在起飞点时使用所述高度测量装置测量所述起飞点的高度并存储该起飞点的高度。如果所述返航点为用户设置的不同于所述起飞点的返航点，所述返航点的高度可以是用户输入的、或者所述无人机也可以从预存有该返航点的高度信息的服务器中获取。
对于步骤S102，在获取所述无人机的当前高度以及返航点的高度，将所述无人机的当前高度与所述返航点的高度进行比较，如果所述无人机的当前高度低于所述返航点的高度，则可以根据所述返航点的高度和预设的安全高度差，确定所述无人机的返航高度，即所述无人机的返航高度相对于返航点的高度具有一定的安全高度差。本实施例中，考虑到获取的所述无人机的当前高度可能存在高度误差，因此提供一预设的安全高度差，其可以提供高度误差补偿，进一步降低无人机遇到障碍物的概率和减少执行避障策略的次数，避免无人机电量损耗，保证无人机有足够的电量顺利返航。
在一些实施例中，所述返航高度与所述当前高度的差值大于或等于所述返航点的高度与所述当前高度两者的差值与所述预设的安全高度差之和，从而使得所述无人机能够安全返航。
在一些实施例中，所述预设的安全高度差根据所述无人机的尺寸和/或所述无人机中的高度测量装置的测量精度确定。其中，所述无人机的尺寸越大，撞机风险越高，则可以将所述预设的安全高度差设置得大一些，以降低撞机风险，反之，所述无人机的尺寸越小，撞机风险越小，则可以将所述预设的安全高度差设置得小一些，以节省无人机上升带来的电量损耗，即所述预设的安全高度与所述无人机的尺寸成正相关关系。所述高度测量装置的测量精度越高，表示所述无人机的当前高度准确度更高，则可以将所述预设的安全高度差设置得越小，反之，所述高度测量装置的测量精度越低，表示所述无人机的当前高度准确度更低，为了保证安全性，则可以将所述预设的安全高度差设置得越大，即所述预设安全高度差与所述高度测量装置的测量精度成负相关关系。
对于步骤S103，在确定了所述无人机的返航高度之后，在所述无人机在返航过程中，控制所述无人机上升至所述返航高度，从而提高了无人机返航的安全性。
其中，所述无人机基于所述返航高度的返航路径可以有多种，可依据实际应用场景进行具体设置，本实施例对此不做任何限制。示例性的，所述无人机可以首先上升至所述返航高度，然后按照所述返航高度直线飞行到所述返航点上方，最后降落至所述返航点。示例性的，所述无人机首先上升至所述返航高度，然后按照所述返航高度飞行一定距离之后，为了节省电量损耗，可以斜飞至所述返航点或者斜飞至所述返航点上方再降落。示例性的，所述无人机可以先以当前高度飞行一段距离之后，在遇到障碍物的情况下，再上升至所述返航高度返航。
在一示例性的应用场景中，以所述返航点为所述无人机的起飞点为例，假如所述无人机的起飞点为山顶，用户控制无人机从山顶往下飞，以拍摄山下的风景，在无人机拍摄完需要返航时，请参阅图3，会出现所述无人机的当前高度低于所述返航点的高度的情况，此时如果仍然按照当前高度返航会出现撞机风险，因此可以使用本申请实施例提供的控制方法，在所述无人机的当前高度低于所述返航点的高度的情况下，根据所述返航点的高度和预设的安全高度差确定所述无人机的返航高度，所述无人机的返航高度相对于返航点的高度具有一定的安全高度差，在所述无人机返航的过程中，采用升高无人机的飞行高度的策略，控制所述无人机上升至所述返航高度，比如可以按照如图3的虚线所示的返航路径进行返航，进一步降低无人机撞到障碍物的概率，提高无人机返航的安全性。
考虑到在一些返航场景中，通常会预设一返航距离，比如该返航距离是基于人眼的可视距离确定的；在无人机的当前位置与返航点之间的距离大于所述预设的返航距离的情况下，为了避免撞机风险，会返航过程中会控制所述无人机上升；在无人机的当前位置与返航点之间的距离小于或等于所述预设的返航距离的情况下，会以当前高度返航，从而出现了上述问题(即所述无人机的当前高度低于所述返航点的高度导致存在撞机风险)。
因此，请参阅图4，图4为本申请实施例提供的无人机的控制方法的流程示意图，所述方法包括：
在步骤S201中，响应于无人机返航触发，检测所述无人机的当前位置与返航点之间的距离是否小于或等于预设的返航距离；若否，执行步骤S202，若是，执行步骤S203。
在步骤S202中，在所述无人机返航的过程中，控制所述无人机上升至第二返航高度。
在步骤S203中，获取所述无人机的当前高度以及返航点的高度。
在步骤S204中，检测所述无人机的当前高度是否低于所述返航点的高度；若否， 执行步骤S205，若是，执行步骤S206。
在步骤S205中，控制所述无人机以当前高度返航。
在步骤S206中，根据所述返航点的高度和预设的安全高度差，确定所述无人机的第一返航高度；在所述无人机返航的过程中，控制所述无人机上升至所述第一返航高度；其中，所述第一返航高度不同于所述第二返航高度。
其中，如果所述无人机的当前位置与返航点之间的距离大于所述预设的返航距离，在所述无人机返航的过程中，控制所述无人机上升至第二返航高度，所述第二返航高度通常是用户基于对环境的判断提前设置的。
在所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离、且所述无人机的当前高度高于所述返航点的高度时，表示无人机在返航时遇到障碍物的概率较低，则可以控制所述无人机以当前高度返航，从而尽量减少返航路径的长度。
在所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离、且所述无人机的当前高度低于所述返航点的高度时，在所述无人机返航的过程中，控制所述无人机上升至第一返航高度，从而保证所述无人机安全返航。
在一些实施例中，考虑到相关技术中的返航策略为：如果无人机的剩余电量小于或等于返航安全电量，则提示用户返航，如果用户进行了确认返航，无人机响应于用户的返航指令进行返航，在返航的过程中，如果无人机的电量小于或等于低电量降落的电量阈值，会触发无人机降落。也即，会出现提示用户返航但是无人机在返航过程中降落的问题。发明人研究发现，这是由于相关技术中的返航策略只考虑了带有一定余量的返航安全电量，而没有考虑实际返航所需的最低电量。因此，在电量小于返航所需的最低电量时仍然会出现提示用户执行返航操作的情况。
针对于上述问题，本申请提供了一种无人机的控制方法，所述控制方法可以由无人机的控制装置来执行。示例性的，所述控制装置可以是图1实施例中的飞行控制器。
请参阅图5，图5示出了一种无人机的控制方法的流程示意图，所述方法包括：
在步骤S301中，获取第一返航电量阈值和第二返航电量阈值，所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值。
在步骤S302中，如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息，以提示用户执行无人机 返航。
本实施例中，除了如相关技术设置第二返航电量阈值之外，还设置了第一返航电量阈值，该第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，在所述无人机的剩余电量小于第二返航电量阈值的情况下，还需进一步满足所述无人机的剩余电量大于或等于所述第一返航电量阈值，从而有利于保证无人机的顺利返航。
在一些实施例中，在所述无人机的飞行过程，可以根据所述无人机的当前位置实时计算所述无人机的当前位置对应的第一返航电量阈值和第二返航电量阈值，或者，也可以响应于无人机返航触发，计算所述无人机的当前位置对应的第一返航电量阈值和第二返航电量阈值。所述无人机所处的不同位置均有对应的第一返航电量阈值和第二返航电量阈值，不同位置对应的第一返航电量阈值和第二返航电量阈值不同。
其中，所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第一返航电量阈值是基于所述无人机的返航路径确定的，所述无人机的返航路径包括以下至少一种或多种：所述无人机上升至返航高度的路径、所述无人机以所述返航高度或者当前高度飞行至返航点上方的路径、所述无人机从返航点上方降落至返航点的路径、或者所述无人机从当前高度或返航高度斜飞至返航点或者返航点上方的路径等等。
示例性地，以如图6A所示的返航路径为例，所述无人机以当前高度返航，所述第一返航电量阈值可以包括所述无人机以当前高度飞行至返航点上方的路径a所需的最低电量和从返航点上方降落至返航点的路径b所需的最低电量之和。
示例性的，以如图6B所示的返航路径为例，所述无人机需要上升至返航高度返航，所述第一返航电量阈值可以包括所述无人机上升至返航高度的路径c所需的最低电量、所述无人机以返航高度平飞一定距离的路径d所需的最低电量、所述无人机斜飞至所述返航点上方的路径e所需的最低电量和所述无人机从返航点上方降落至返航点的路径f所需的最低电量之和。
考虑到所述无人机所处的环境情况对于无人机返航的电量损耗也会有所影响，比如所述无人机所处环境的风力较强，为了抵消风力影响，所述无人机返航所需耗费的电量更多，如所述无人机所处环境的风力较弱，则不需要另外耗费过多的电力用于抵御风力，所述无人机返航所需耗费的电量更少，因此，为了提高所确定的第一返航电量阈值的准确性，所述第一返航电量阈值可以是基于所述无人机的返航路径和环境风感测数据综合确定的，从而可以基于所述第一返航电量阈值的返航策略保证所述无人机顺利返航。
其中，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值可以是在第一返航电量阈值的基础上叠加一预设电量差值，即所述第二返航电量阈值与所述第一返航电量的差值阈值为预设电量差值。所述预设电量差值用于在所述无人机返航的过程中，为用户提供手动控制的空间。所述预设电量差值的大小可以依据实际应用场景进行具体设置，本实施对此不做任何限制，比如所述预设电量差值可以是所述第一返航电量阈值的三分之一。
在一些实施例中，请参阅图7，图7示出了另一种无人机的控制方法的流程示意图，所述方法包括：
在步骤S401中，获取第一返航电量阈值和第二返航电量阈值，所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值。
在步骤S402中，判断所述无人机的剩余电量是否小于第二返航电量阈值；若是，执行步骤S403，若否，执行步骤S401；
在步骤S403中，判断所述无人机的剩余电量是否大于或等于所述第一返航电量阈值；若是，执行步骤S404，若否，执行步骤S405；
在步骤S404中，输出低电量返航提示信息，以提示用户执行无人机返航；
在步骤S405中，判断所述无人机的剩余电量是否大于或等于降落电量阈值；若是，执行步骤S406，若否，执行步骤S407；
在步骤S406中，输出无法返航提示信息，并提示用户尽快操作无人机降落；
在步骤S407中，控制所述无人机降落。
其中，对于所述第一返航电量阈值、第二返航电量阈值和降落电量阈值的大小关系为：降落电量阈值＜第一返航电量阈值＜第二返航电量阈值。
在本实施例中，对于步骤S404，如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息，以提示用户执行无人机返航；用户可以根据低电量返航提示信息触发无人机返航，比如用户点击控制设备提供的返航控件，以使得控制设备生成发送给所述无人机的返航指令，所述无人机响应于所述返航指令，按照所述无人机的返航路径执行返航操作，从而保证所述无人机的顺利返航。
如果所述无人机的剩余电量小于所述第一返航电量阈值，则所述无人机的剩余电量不足以返航，如果此时接收到用户触发的返航指令，所述无人机可以不响应于所述 返航指令，即所述无人机不执行返航动作。
如果所述无人机的剩余电量小于所述第一返航电量阈值并且大于或等于降落电量阈值，则输出无法返航提示信息，并提示用户尽快操作无人机降落，用户可以根据提示信息触发无人机降落，比如用户点击控制设备提供的降落控件，以使得控制设备生成发送给所述无人机的降落指令，所述无人机响应于所述降落指令降落至降落面(比如地面或者其他平面)，从而保证所述无人机的顺利降落。如果所述无人机的剩余电量小于所述降落电量阈值，则直接控制所述无人机降落。
在一些实施例中，在所述无人机返航过程中，如果在预设持续时长内获取到控制设备发送的手动控制指令，考虑到基于手动控制指令控制无人机飞行可能导致无人机返航的路径变长，从而导致无人机的剩余电量不足以返航，因此所述无人机可以通过所述控制设备输出可能无法到达返航点的提示信息。可以理解的是，所述预设持续时长可依据实际应用场景进行具体设置，本实施对此不做任何限制，比如针对于所述控制设备为具有摇杆部件的设备，用户可通过所述摇杆部件对无人机进行飞行控制，例如所述预设持续时长为3s，在用户持续操作遥控部件达到3s时，则所述无人在3s内持续接收到手动控制指令，则可以输出可能无法到达返航点的提示信息。
在一个例子中，如果所述无人机是在剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值的情况下返航，此时所述无人机的剩余电量是比较低的，没有足够的电量支撑所述无人机再执行其他飞行任务，如果在预设持续时长内获取到控制设备发送的手动控制指令，则输出可能无法到达返航点的提示信息，并且可以不响应于所述手动控制指令。
在一些实施例中，在所述无人机返航过程中，如果获取到控制设备发送的手动控制指令，在一种可能的实现方式中，在持续收到所述手动控制指令期间，可以将所述手动控制指令和所述无人机的自动返航控制指令进行叠加，基于叠加后的控制指令对所述无人机进行控制，即在不完全偏离返航路径的前提下所述无人机按照所述手动控制指令飞行；在另一种可能的实现方式中，在持续收到所述手动控制指令期间，也可以仅基于所述手动控制指令对无人机进行控制，而不执行所述无人机的自动返航控制指令。在所述手动控制指令释放后，控制所述无人机返回返航路径。示例性的，为了让用户了解无人机当前的电量情况等，在所述手动控制指令释放后，所述无人机可以输出返航提示信息，所述返航提示信息用于提示用户所述无人机将自动返航，需用户进行确认以继续返航，比如可以在控制设备上显示如图8所示的返航提示信息。
在一些实施例中，为了保证所述无人机在降落过程中的安全性，在所述无人机降落的过程中，如果所述无人机中用于检测降落面安全性的传感器失效或者检测到所述降落面不适合降落，控制所述无人机悬停在指定高度，所述指定高度大于2米。本实施例中，将所述无人机悬停在大于2米的高度，能够有效防止螺旋桨转动对人群或者其他动物的伤害，减少了空间上和时间上飞机与人接触的可能性，增加了人的安全性。
其中，用于检测降落面安全性的传感器可以是安装在无人机底面的一个或多个传感器，这些传感器可以在无人机降落的过程中探测降落面的安全性，比如如果探测到降落面存在尖锐物体或者降落面为水面，则判定降落面不适合降落。所述用于检测降落面安全性的传感器包括但不限于视觉传感器、红外热像仪或者激光雷达等，可依据实际应用场景进行具体设置。所述用于检测降落面安全性的传感器失效包括但不限于传感器表面脏污或者破损、传感器内部元件损坏、或者当前环境光线过暗使得传感器(如视觉传感器)无法探测等等。
另外，所述无人机的悬停功能需要在所述无人机的水平定位功能可用的情况下才能实现，如果所述无人机的水平定位功能不可用，则直接控制所述无人机降落，避免坠机风险。其中，所述无人机的水平定位功能可以基于GPS接收器或者视觉传感器等实现，当无法确定无人机在水平面上的位置时，可以认为水平定位功能不可用。
如图9所示，本申请实施例提供了一种无人机的控制方法的流程示意图，图9示出了无人机在降落过程中的操作逻辑：
在步骤S501中，响应于无人机降落触发，控制无人机进行降落。
其中，可以在接收到用户触发的降落指令后，触发无人机的降落流程；或者无人机可以因设定的程序或者指令自动触发无人机降落流程，例如无人机在自动返航过程中的降落。
在步骤S502中，在所述无人机降落的过程中，判断用于检测降落面安全性的传感器是否失效。若是，执行步骤S503，若否，执行步骤S504。
其中，可以在所述无人机接近降落面时判断用于检测降落面安全性的传感器是否失效。示例性的，比如在离降落面10米处无人机启动用于检测降落面安全性的传感器是否失效判断流程。
在步骤S503中，判断所述无人机的水平定位功能是否可用；若是，执行步骤S505，若否，执行步骤S506。
在步骤S504中，使用用于检测降落面安全性的传感器检测降落面是否适合降落；若是，执行步骤S506；若否，执行步骤S505。
在步骤S505中，控制所述无人机悬停在指定高度，所述指定高度大于2米。
在步骤S506中，控制所述无人机直接降落。
本实施例中，综合考虑无人机在降落过程中的各种可能出现的情况，基于不同的情况采用悬停或者降落方式，有利于保证无人机或者降落面上的人群或者动物的安全性。
在一示例性的实施例中，所述无人机在飞行过程中或者响应于无人机返航触发，确定所述无人机在当前位置返航至返航点的返航路径，并以所述返航路径计算第一返航电量阈值和第二返航电量阈值。
在确定所述返航路径时，如果所述无人机的当前位置与返航点之间的距离大于预设的返航距离，所述无人机在返航过程中需上升至第二返航高度，则例如所述返航路径可以包括无人机从当前位置上升至第二返航高度的路径、以第二返航高度飞行至返航点上方的路径和从返航点上方降落至所述返航点的路径。
如果所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离，获取所述无人机的当前高度以及返航点的高度，如果所述无人机的当前高度高于所述返航点的高度，所述无人机在返航过程中以当前高度返航，则比如所述返航路径可以包括无人机以当前高度从当前位置飞行至返航点上方的路径和从返航点上方降落至所述返航点的路径。
如果所述无人机的当前高度低于所述返航点的高度，则根据所述返航点的高度和预设的安全高度差，确定所述无人机的第一返航高度，所述无人机在返航过程中需上升至第一返航高度以避免撞机风险，则例如所述返航路径可以包括无人机从当前位置上升至第一返航高度的路径、以第一返航高度飞行至返航点上方的路径和从返航点上方降落至所述返航点的路径；其中，所述第一返航高度不同于所述第二返航高度。
则在确定所述返航路径之后，所述无人机可以根据所述返航路径和环境风感测数据确定第一返航电量阈值和第二返航电量阈值；所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值。
如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息以提示用户执行无人机返航，或者可以响应于无人机返航触发，控制所述无人机返航。
如果所述无人机的剩余电量小于所述第一返航电量阈值并且大于或等于降落电量 阈值，则输出无法返航提示信息，并提示用户尽快操作无人机降落；或者在接收到用户触发的返航指令的情况下，不响应于所述返航指令，即不执行返航动作。
如果所述无人机的剩余电量小于所述降落电量阈值，则直接控制所述无人机降落，以防止坠机风险。
为了保证所述无人机在降落过程中的安全性，在所述无人机降落的过程中，在所述无人机接近降落面时，所述无人机可以检查用于检测降落面安全性的传感器是否失效，如果所述无人机中用于检测降落面安全性的传感器失效或者检测到所述降落面不适合降落，控制所述无人机悬停在大于2米的高度，等待用户的手动控制操作。如果所述无人机中用于检测降落面安全性的传感器失效且所述无人机的水平定位功能不可用、或者检测到所述降落面适合降落，则直接控制所述无人机降落，避免坠机风险。
相应地，请参阅图10，本申请实施例还提供了一种无人机的控制装置60，包括：
用于存储可执行指令的存储器；
一个或多个处理器；
其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成执行上述任意一项所述的方法。
所述处理器61执行所述存储器62中包括的可执行指令，所述处理器61可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器62存储无人机的控制方法的可执行指令，所述存储器62可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，设备可以与通过网络连接执行存储器的存储功能的网络存储装置协作。存储器62可以是装置60的内部存储单元，例如装置60的硬盘或内存。存储器62也可以是装置60的外部存储设备，例如装置60上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，存储器62还可以既包括装置60的内部存储单元也包 括外部存储设备。存储器62还可以用于暂时地存储已经输出或者将要输出的数据。
在一些实施例中，所述处理器61执行所述可执行指令时，被单独地或共同地配置成：
响应于无人机返航触发，获取所述无人机的当前高度以及返航点的高度；
如果所述无人机的当前高度低于所述返航点的高度，根据所述返航点的高度和预设的安全高度差，确定所述无人机的返航高度；
在所述无人机返航的过程中，控制所述无人机上升至所述返航高度。
示例性的，所述处理器61还用于：如果所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离，获取所述无人机的当前高度以及返航点的高度。
示例性的，所述返航高度为第一返航高度，所述处理器61还用于：如果所述无人机的当前位置与返航点之间的距离大于所述预设的返航距离，在所述无人机返航的过程中，控制所述无人机上升至第二返航高度，所述第二返航高度不同于所述第一返航高度。
示例性的，所述处理器61还用于：如果所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离、且所述无人机的当前高度高于所述返航点的高度，控制所述无人机以当前高度返航。
示例性的，所述返航点包括所述无人机的起飞点或者用户设置的返航点。
示例性的，所述返航高度与所述当前高度的差值大于或等于所述返航点的高度与所述当前高度两者的差值与所述预设的安全高度差之和。
示例性的，所述预设的安全高度差根据所述无人机的尺寸和/或所述无人机中的高度测量装置的测量精度确定。
示例性的，所述预设安全高度差与所述高度测量装置的测量精度成负相关关系，和/或，所述预设的安全高度与所述无人机的尺寸成正相关关系。
在一些实施例中，所述处理器61执行所述可执行指令时，被单独地或共同地配置成：
获取第一返航电量阈值和第二返航电量阈值，所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值；
如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息，以提示用户执行无人机返航。
示例性的，所述处理器61还用于：
如果所述无人机的剩余电量小于所述第一返航电量阈值并且大于或等于降落电量阈值，则输出无法返航提示信息，并提示用户尽快操作无人机降落；
如果所述无人机的剩余电量小于所述降落电量阈值，则控制所述无人机降落。
示例性的，所述第一返航电量阈值是基于所述无人机的返航路径确定的，所述第二返航电量阈值与所述第一返航电量阈值的差值为预设电量差值。
示例性的，所述第一返航电量阈值是基于所述无人机的返航路径和环境风感测数据确定的。
示例性的，所述处理器61还用于：在所述无人机降落的过程中，如果所述无人机中用于检测降落面安全性的传感器失效或者检测到降落面不适合降落，控制所述无人机悬停在指定高度，所述指定高度大于2米。
示例性的，所述处理器61还用于：在所述无人机降落的过程中，如果所述无人机失控且所述无人机的水平定位功能不可用，控制所述无人机直接降落。
示例性的，所述处理器61还用于：在所述无人机返航的过程中，如果在预设持续时长内获取到控制设备发送的手动控制指令，则输出可能无法到达返航点的提示信息。
示例性的，所述处理器61还用于：在所述无人机返航的过程中，如果获取到控制设备发送的手动控制指令，则在持续收到所述手动控制指令期间，将所述手动控制指令和所述无人机的自动返航控制指令进行叠加，基于叠加后的控制指令对所述无人机进行控制；或者，基于所述手动控制指令对无人机进行控制；
在所述手动控制指令释放后，控制所述无人机返回返航路径。
这里描述的各种实施方式可以使用例如计算机软件、硬件或其任何组合的计算机可读介质来实施。对于硬件实施，这里描述的实施方式可以通过使用特定用途集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理装置(DSPD)、可编程逻辑装置(PLD)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器、被设计为执行这里描述的功能的电子单元中的至少一种来实施。对于软件实施，诸如过程或功能的实施方式可以与允许执行至少一种功能或操作的单独的软件模块来实施。软件代码可以由以任何适当的编程语言编写的软件应用程序(或程序)来实施，软件代码可以存储在存储器中并且由控制器执行。
上述设备中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器，上述指令可由装置的处理器执行以完成上述方法。例如，非临 时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当存储介质中的指令由终端的处理器执行时，使得终端能够执行上述方法。
在一些实施例中，本申请实施例还提供了一种无人机，包括：
机身；
动力系统，设于所述机身中，用于为所述无人机提供动力；
以及，设于所述机身中的上述的控制装置。
示例性的，请参阅图1，所述控制装置可以是无人机中的飞行控制器。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (27)

  1. 一种无人机的控制方法，其特征在于，包括：
    响应于无人机返航触发，获取所述无人机的当前高度以及返航点的高度；
    如果所述无人机的当前高度低于所述返航点的高度，根据所述返航点的高度和预设的安全高度差，确定所述无人机的返航高度；
    在所述无人机返航的过程中，控制所述无人机上升至所述返航高度。
  2. 根据权利要求1所述的方法，其特征在于，所述获取所述无人机的当前高度以及返航点的高度，包括：
    如果所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离，获取所述无人机的当前高度以及返航点的高度。
  3. 根据权利要求2所述的方法，其特征在于，所述返航高度为第一返航高度，所述方法还包括：
    如果所述无人机的当前位置与返航点之间的距离大于所述预设的返航距离，在所述无人机返航的过程中，控制所述无人机上升至第二返航高度，所述第二返航高度不同于所述第一返航高度。
  4. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    如果所述无人机的当前位置与返航点之间的距离小于或等于预设的返航距离、且所述无人机的当前高度高于所述返航点的高度，控制所述无人机以当前高度返航。
  5. 根据权利要求1所述的方法，其特征在于，所述返航点包括所述无人机的起飞点或者用户设置的返航点。
  6. 根据权利要求1所述的方法，其特征在于，所述返航高度与所述当前高度的差值大于或等于所述返航点的高度与所述当前高度两者的差值与所述预设的安全高度差之和。
  7. 根据权利要求1所述的方法，其特征在于，所述预设的安全高度差根据所述无人机的尺寸和/或所述无人机中的高度测量装置的测量精度确定。
  8. 根据权利要求7所述的方法，其特征在于，所述预设安全高度差与所述高度测量装置的测量精度成负相关关系，和/或，所述预设的安全高度与所述无人机的尺寸成正相关关系。
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述方法还包括：
    获取第一返航电量阈值和第二返航电量阈值，所述第一返航电量阈值表征所述无人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前 位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值；
    如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息，以提示用户执行无人机返航。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    如果所述无人机的剩余电量小于所述第一返航电量阈值并且大于或等于降落电量阈值，则输出无法返航提示信息，并提示用户尽快操作无人机降落；
    如果所述无人机的剩余电量小于所述降落电量阈值，则控制所述无人机降落。
  11. 根据权利要求9所述的方法，其特征在于，所述第一返航电量阈值是基于所述无人机的返航路径确定的，所述第二返航电量阈值与所述第一返航电量阈值的差值为预设电量差值。
  12. 根据权利要求11所述的方法，其特征在于，所述第一返航电量阈值是基于所述无人机的返航路径和环境风感测数据确定的。
  13. 根据权利要求1-8任一项所述的方法，其特征在于，还包括：
    在所述无人机返航的过程中，如果在预设持续时长内获取到控制设备发送的手动控制指令，则输出可能无法到达返航点的提示信息。
  14. 根据权利要求13所述的方法，其特征在于，还包括：
    在所述无人机返航的过程中，如果获取到控制设备发送的手动控制指令，则在持续收到所述手动控制指令期间，将所述手动控制指令和所述无人机的自动返航控制指令进行叠加，基于叠加后的控制指令对所述无人机进行控制；或者，基于所述手动控制指令对无人机进行控制；
    在所述手动控制指令释放后，控制所述无人机返回返航路径。
  15. 根据权利要求1-8任一项所述的方法，其特征在于，所述方法还包括：
    在所述无人机降落的过程中，如果所述无人机中用于检测降落面安全性的传感器失效或者检测到降落面不适合降落，控制所述无人机悬停在指定高度，所述指定高度大于2米。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    在所述无人机降落的过程中，如果所述无人机失控且所述无人机的水平定位功能不可用，控制所述无人机直接降落。
  17. 一种无人机的控制方法，其特征在于，所述方法包括：
    获取第一返航电量阈值和第二返航电量阈值，所述第一返航电量阈值表征所述无 人机从当前位置返航所需的最低电量，所述第二返航电量阈值表征所述无人机从当前位置返航所需的安全电量，所述第二返航电量阈值大于所述第一返航电量阈值；
    如果所述无人机的剩余电量大于或等于所述第一返航电量阈值并且小于所述第二返航电量阈值，则输出低电量返航提示信息，以提示用户执行无人机返航。
  18. 根据权利要求17所述的方法，其特征在于，还包括：
    如果所述无人机的剩余电量小于所述第一返航电量阈值并且大于或等于降落电量阈值，则输出无法返航提示信息，并提示用户尽快操作无人机降落；
    如果所述无人机的剩余电量小于所述降落电量阈值，则控制所述无人机降落。
  19. 根据权利要求17所述的方法，其特征在于，所述第一返航电量阈值是基于所述无人机的返航路径确定的，所述第二返航电量阈值与所述第一返航电量阈值的差值为预设电量差值。
  20. 根据权利要求19所述的方法，其特征在于，所述第一返航电量阈值是基于所述无人机的返航路径和环境风感测数据确定的。
  21. 根据权利要求17至20任意一项所述的方法，其特征在于，所述方法还包括：
    在所述无人机降落的过程中，如果所述无人机中用于检测降落面安全性的传感器失效或者检测到降落面不适合降落，控制所述无人机悬停在指定高度，所述指定高度大于2米。
  22. 根据权利要求21所述的方法，其特征在于，所述方法还包括：
    在所述无人机降落的过程中，如果所述无人机失控且所述无人机的水平定位功能不可用，控制所述无人机直接降落。
  23. 根据权利要求17至20任意一项所述的方法，其特征在于，还包括：
    在所述无人机返航的过程中，如果在预设持续时长内获取到控制设备发送的手动控制指令，则输出可能无法到达返航点的提示信息。
  24. 根据权利要求23所述的方法，其特征在于，还包括：
    在所述无人机返航的过程中，如果获取到控制设备发送的手动控制指令，则在持续收到所述手动控制指令期间，将所述手动控制指令和所述无人机的自动返航控制指令进行叠加，基于叠加后的控制指令对所述无人机进行控制；或者，基于所述手动控制指令对无人机进行控制；
    在所述手动控制指令释放后，控制所述无人机返回返航路径。
  25. 一种无人机的控制装置，其特征在于，包括：
    用于存储可执行指令的存储器；
    一个或多个处理器；
    其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成执行如权利要求1至24任意一项所述的方法。
  26. 一种无人机，其特征在于，包括：
    机身；
    动力系统，设于所述机身中，用于为所述无人机提供动力；
    以及，设于所述机身中的如权利要求25所述的控制装置。
  27. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有可执行指令，所述可执行指令被处理器执行时实现如权利要求1至24任一项所述的方法。
PCT/CN2021/120899 2021-09-27 2021-09-27 无人机的控制方法、装置、无人机及存储介质 WO2023044897A1 (zh)

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