CN109240329B - Unmanned aerial vehicle return control method and device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle return control method and device and unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle return control method, an unmanned aerial vehicle return control device and an unmanned aerial vehicle, wherein the method comprises the following steps: receiving a return flight instruction which is sent by a control terminal or automatically triggered by lost connection protection or low-power protection; judging whether the prestored displacement correction quantity is effective or not; if not, controlling the unmanned aerial vehicle to return according to the prestored return point; if yes, controlling the unmanned aerial vehicle to return according to the prestored deviation point. The invention can ensure that the unmanned aerial vehicle accurately navigates back, and avoid the loss of the unmanned aerial vehicle or other safety accidents caused by the fact that the unmanned aerial vehicle fails to navigate back to the takeoff position.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle return control method and device and an unmanned aerial vehicle.
Background
At present, in spacious region, return to the position sky of taking off through GPS (or GLONASS/big dipper), in addition look down the image matching, unmanned aerial vehicle can realize accurate landing well, ensures to take off and land offset about 10 cm.
However, if the unmanned aerial vehicle takes off from the surrounding high-rise building environment, the GPS has multi-path interference, the GPS positioning accuracy error of the low-altitude aircraft is very large, the difference of the take-off point position of the unmanned aerial vehicle can be larger than 20m through the GPS return, and the unmanned aerial vehicle is easy to land in an unknown unsafe place or cause safety accidents.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned aerial vehicle return control method, an unmanned aerial vehicle return control device and an unmanned aerial vehicle, aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: an unmanned aerial vehicle return control method is constructed, and comprises the following steps:
receiving a return flight instruction which is sent by a control terminal or automatically triggered by lost connection protection or low-power protection;
judging whether the prestored displacement correction quantity is effective or not;
if not, controlling the unmanned aerial vehicle to return according to the prestored return point;
if yes, controlling the unmanned aerial vehicle to return according to the prestored deviation point.
In one embodiment, before controlling the unmanned aerial vehicle to return according to the pre-stored return points, the method includes:
acquiring the position information of the prestored return point;
according to the return journey point control unmanned aerial vehicle who prestores return journey and return journey include:
controlling the unmanned aerial vehicle to return to the sky above the prestored return point according to the acquired position information of the prestored return point;
and controlling the unmanned aerial vehicle to automatically land.
In one embodiment, before controlling the drone to return according to the pre-stored offset point, the method includes:
acquiring the position information of the pre-stored offset point;
the control unmanned aerial vehicle according to the skew point of prestoring returns to the journey includes:
and controlling the unmanned aerial vehicle to return to the sky above the pre-stored offset point according to the acquired position information of the pre-stored offset point.
In one embodiment, the method further comprises:
when the unmanned aerial vehicle navigates back to the pre-stored offset point, reverse correction is carried out on the unmanned aerial vehicle according to the pre-stored displacement correction amount, so that the unmanned aerial vehicle navigates from the upper part of the pre-stored offset point to the upper part of the pre-stored return point.
In one embodiment, the pre-stored displacement correction amount, the pre-stored re-navigation point and the pre-stored offset point are obtained by the following steps:
receiving a takeoff instruction sent by a control terminal;
controlling the unmanned aerial vehicle to take off according to the take-off instruction;
in the takeoff process of the unmanned aerial vehicle, judging whether the positioning precision of the unmanned aerial vehicle meets a preset condition;
if so, recording the current takeoff point of the unmanned aerial vehicle, wherein the current takeoff point is the prestored return trip point;
if not, starting a displacement monitoring module to monitor the horizontal displacement of the unmanned aerial vehicle in real time;
judging whether the positioning precision of the unmanned aerial vehicle meets the preset condition or not;
if so, recording the current horizontal displacement of the unmanned aerial vehicle and the current flying point of the unmanned aerial vehicle; the current horizontal displacement is the pre-stored displacement correction, and the current flight point is the pre-stored offset point.
In one embodiment, the positioning accuracy of the drone meeting the preset condition includes:
and in the takeoff process of the unmanned aerial vehicle, the positioning precision is within a preset range.
The invention also provides an unmanned aerial vehicle return control device, which comprises:
the receiving unit is used for receiving a return flight instruction sent by the control terminal;
the judging unit is used for judging whether the pre-stored displacement correction is effective or not;
the control unit is used for controlling the unmanned aerial vehicle to carry out return voyage according to a prestored return voyage point when the prestored displacement correction is invalid; and when the pre-stored displacement correction is effective, controlling the unmanned aerial vehicle to return according to the pre-stored offset point.
In one embodiment, the control unit includes:
and the correction module is used for performing reverse correction on the unmanned aerial vehicle according to the pre-stored displacement correction when the unmanned aerial vehicle navigates back to the pre-stored offset point, so that the unmanned aerial vehicle navigates from the upper part of the pre-stored offset point to the upper part of the pre-stored navigation point.
In one embodiment, the receiving unit is further configured to receive a takeoff instruction sent by the control terminal;
the control unit is also used for controlling the unmanned aerial vehicle to take off according to the take-off instruction;
the device for controlling the return flight of the unmanned aerial vehicle further comprises:
the judging module is used for judging whether the positioning precision of the unmanned aerial vehicle meets a preset condition or not in the take-off process of the unmanned aerial vehicle;
the displacement monitoring module is used for starting and monitoring the horizontal displacement of the unmanned aerial vehicle in real time when the positioning precision of the unmanned aerial vehicle does not meet a preset condition in the unmanned take-off process;
the recording module is used for recording the current flying point, the current horizontal displacement and the current flying point of the unmanned aerial vehicle;
the current flying point is the prestored return flight point, the current horizontal displacement is the prestored displacement correction quantity, and the current flying point is the prestored offset point.
The invention also provides an unmanned aerial vehicle, comprising: at least one processor; and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to cause the at least one processor to perform the drone return control method described above.
The unmanned aerial vehicle return control method and the device have the following beneficial effects: according to the unmanned aerial vehicle return control method, when a return instruction for controlling sending or automatic triggering of unconnection protection or automatic triggering of low-power protection is received, the prestored displacement correction is judged, the unmanned aerial vehicle is controlled to return according to the prestored return point when the prestored displacement correction is invalid, or the unmanned aerial vehicle is controlled to return according to the prestored deviation point when the prestored displacement correction is valid, so that the unmanned aerial vehicle can take off even in an environment with high GPS multipath interference, the unmanned aerial vehicle can still accurately return, the unmanned aerial vehicle cannot accurately return to a take-off position under the condition, the unmanned aerial vehicle is lost or other safety accidents are avoided, and meanwhile, under the condition that a GPS satellite is in a good environment in an open area, the unmanned aerial vehicle can still accurately return under the condition that the unmanned aerial vehicle searches for the satellite and is not ready to take off.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic flow chart of a return control method of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram illustrating a flow of acquiring a pre-stored displacement correction amount, a pre-stored re-navigation point, and a pre-stored offset point according to the present invention;
fig. 3 is a schematic view of an application scenario of the unmanned aerial vehicle return control method of the present invention;
FIG. 4 is a schematic block diagram of a return control device of an unmanned aerial vehicle according to the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle according to the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In order to solve the problem that when the unmanned aerial vehicle takes off from the surrounding high-rise building environment, the GPS positioning precision error is very large when the unmanned aerial vehicle flies at low altitude due to the multipath interference of the GPS, so that the unmanned aerial vehicle cannot accurately return, the invention provides the return control method of the unmanned aerial vehicle, which can still ensure that the unmanned aerial vehicle can accurately return when taking off in the environment with the large multipath interference of the GPS, and avoid the problem that the unmanned aerial vehicle is lost or other safety accidents are caused because the aircraft cannot return to the take-off position under the condition; or, under the good environment of the GPS satellite in an open area, the unmanned aerial vehicle can still be guaranteed to accurately return to the ground under the condition that the unmanned aerial vehicle searches for the satellite and is not ready to take off.
Referring to fig. 1, a schematic flow chart of a first embodiment of a return control method for an unmanned aerial vehicle according to the present invention is shown.
As shown in fig. 1, the method for controlling return flight of an unmanned aerial vehicle according to this embodiment includes the following steps:
and step S1, receiving a return flight instruction which is sent by the control terminal or automatically triggered by the lost connection protection or the low-power protection.
In the embodiment of the invention, the loss of continuity protection is a protection mechanism arranged for the unmanned aerial vehicle, namely, when the unmanned aerial vehicle is disconnected with the control terminal, the unmanned aerial vehicle automatically triggers a return flight instruction and returns flight. Through setting up this protection mechanism that loses continuous, can avoid the accident that unmanned aerial vehicle lost that leads to at unmanned aerial vehicle and control terminal disconnection.
The low-power protection also is the protection mechanism that unmanned aerial vehicle itself set up, when unmanned aerial vehicle detected the electric quantity of self and reached the low-power threshold value promptly, the automatic triggering instruction of returning a voyage promptly to return a voyage. Through setting up this low power protection mechanism, can avoid unmanned aerial vehicle to lead to losing or the problem of other incident because of the electric quantity is not enough to return a journey.
Here, the control terminal includes, but is not limited to, a smart phone, a tablet computer, a desktop computer, or other mobile internet access device. The control terminal may also be an operating device provided with functions usable for remote control of the unmanned aerial vehicle.
And step S2, judging whether the prestored displacement correction quantity is effective.
By judging whether the pre-stored displacement correction is effective or not, whether correction is needed or not can be determined after a return flight instruction which is sent by a control terminal or automatically triggered by lost connection protection or low-power protection is received.
The pre-stored displacement correction is preset according to the specific situation of the unmanned aerial vehicle during takeoff, when the unmanned aerial vehicle is not interfered in positioning during takeoff, and the positioning precision meets the precision requirement, no deviation exists during takeoff of the unmanned aerial vehicle, at the moment, the displacement correction can be set to be 0, the fact that no deviation exists during takeoff of the unmanned aerial vehicle is shown, namely the pre-stored displacement correction is invalid; when the unmanned aerial vehicle is disturbed in the location when taking off, the positioning accuracy does not satisfy the accuracy requirement, then show that unmanned aerial vehicle takes off the occasionally deviation, the displacement correction volume of prestoring promptly is effectual, at this moment, record unmanned aerial vehicle starts from the moment of taking off, horizontal displacement when reaching the positioning accuracy and satisfying the accuracy requirement to store this horizontal displacement, wherein, this horizontal displacement is the displacement correction volume of prestoring promptly. The size of displacement correction volume of prestoring promptly indicates the size of unmanned aerial vehicle horizontal displacement deviation in the process of taking off.
If the determination result in the step S2 is no, go to step S3; if the answer in step S2 is yes, step S4 is executed.
And step S3, controlling the unmanned aerial vehicle to return according to the prestored return points.
When the unmanned aerial vehicle determines that the pre-stored displacement correction amount is invalid, the positioning of the unmanned aerial vehicle is not interfered when the unmanned aerial vehicle takes off, and the positioning precision meets the precision requirement, so that the unmanned aerial vehicle can return to the air above the pre-stored return point according to the set air route. The pre-stored return point is a flying point of the unmanned aerial vehicle; the pre-stored overhead of the return points refers to the vertical overhead of the pre-stored return points, wherein the vertical height between the overhead and the pre-stored return points is preset.
Further, after determining that the pre-stored displacement correction amount is invalid, the following steps are performed:
and step S3-0, obtaining the position information of the prestored return point.
The prestored position information of the return point comprises coordinate information of the return point, such as x of the return point0、y0And height information h of the waypoints0。
Step S3 includes:
and step S31, controlling the unmanned aerial vehicle to fly back to the air above the prestored return point according to the acquired prestored position information of the return point.
Here, after receiving a return flight instruction sent by the control terminal or automatically triggered by the lost connection protection or the low power protection, the unmanned aerial vehicle also acquires current coordinate information of the unmanned aerial vehicle in real time, determines the current height of the unmanned aerial vehicle, and compares the current height (h) with the current height (h)1) Comparing and judging with the set return flight height (h), and if the current height is greater than or equal to the set return flight height, controlling the unmanned aerial vehicle to return to the air above a pre-stored return flight point according to the current height; when the unmanned aerial vehicle arrives at the prestored return flight point to be empty, the height difference between the unmanned aerial vehicle and the prestored return flight point is as follows: current altitude of drone-altitude of return point, i.e. h1-h0. If the current height is smaller than the set return flight height, controlling the unmanned aerial vehicle to ascend to the set return flight height, and controlling the unmanned aerial vehicle to return to the air above a pre-stored return flight point according to the set return flight height; when the unmanned aerial vehicle arrives at the prestored return flight point to be empty, the height difference between the unmanned aerial vehicle and the prestored return flight point is as follows: setting the difference between the return flight height and the return flight point, i.e. h-h0。
And step S32, controlling the unmanned aerial vehicle to automatically land.
And step S4, controlling the unmanned aerial vehicle to return according to the pre-stored offset point.
In the embodiment of the invention, the unmanned aerial vehicle adopts the GPS positioning module to perform real-time positioning.
When the displacement correction amount that unmanned aerial vehicle prestores is confirmed effective, then show that unmanned aerial vehicle fixes a position when taking off and receives the interference, perhaps positioning module still is in cold start state when taking off, and at this moment, positioning module's positioning accuracy can not reach the required precision, can not accurately fix a position unmanned aerial vehicle's real-time position, so need control unmanned aerial vehicle according to the skew point of prestoring earlier at this moment and return to the offset point sky of prestoring. The pre-stored offset point is the position of the unmanned aerial vehicle deviating from the takeoff point during takeoff, and the position of the pre-stored offset point is the position of the unmanned aerial vehicle reaching the positioning precision of the positioning module during takeoff.
The pre-stored overhead of the offset point refers to the vertical overhead of the pre-stored offset point, wherein the vertical height between the overhead and the pre-stored offset point is preset.
Further, after determining that the pre-stored displacement correction amount is valid, the following steps are performed:
and step S4-0, obtaining the position information of the pre-stored offset point.
The pre-stored position information of the offset point includes coordinate information of the offset point, such as x2、y2And height information h of the offset point2。
Step S4 includes:
and step S41, controlling the unmanned aerial vehicle to return to the air above the prestored deviation point according to the acquired position information of the prestored deviation point.
Similarly, after receiving the return flight instruction sent by the control terminal, the unmanned aerial vehicle also acquires the current coordinate information of the unmanned aerial vehicle in real time, determines the current height of the unmanned aerial vehicle and compares the current height (h)1) Comparing and judging with the set return flight height (h), and controlling the unmanned aerial vehicle to return to the air above a pre-stored offset point according to the current height if the current height is greater than or equal to the set return flight height; when the unmanned aerial vehicle arrives the offset point that prestores and goes up the air, the difference in height of unmanned aerial vehicle and the offset point that prestores is: current altitude of the drone-the altitude of the offset point, h1-h2. If the current height is smaller than the set return flight height, controlling the unmanned aerial vehicle to ascend to the set return flight height, and controlling the unmanned aerial vehicle to return to the air above a pre-stored offset point according to the set return flight height; when the unmanned aerial vehicle arrives the offset point that prestores and goes up the air, the difference in height of unmanned aerial vehicle and the offset point that prestores is:setting the difference between the return flight height and the return flight point, i.e. h-h2。
Further, step S4 further includes:
and S42, when the unmanned aerial vehicle navigates back to the pre-stored offset point, reversely correcting the unmanned aerial vehicle according to the pre-stored displacement correction amount, so that the unmanned aerial vehicle navigates over the pre-stored offset point to the pre-stored return point.
Wherein, whether unmanned aerial vehicle navigates back to the offset point sky of prestoring can judge through following mode:
the method comprises the steps of acquiring current position information of the unmanned aerial vehicle in real time, comparing the coordinate information of the current position information with the coordinate information of a pre-stored offset point, and judging that the unmanned aerial vehicle arrives above the pre-stored offset point if the difference value between the coordinate information of the current position information of the unmanned aerial vehicle and the coordinate information of the pre-stored offset point is within an error range.
Further, when the unmanned aerial vehicle arrives the offset point sky that prestores, carry out reverse correction to unmanned aerial vehicle through the displacement correction volume that prestores, can make unmanned aerial vehicle sail to the return flight point sky that prestores by the offset point sky that prestores. Carry out reverse correction to unmanned aerial vehicle through the displacement correction according to prestoring promptly, can be so that unmanned aerial vehicle horizontal migration to the returning flight point sky of prestoring, realize the correction to unmanned aerial vehicle. In addition, the unmanned aerial vehicle is reversely corrected above the pre-stored offset point, so that on one hand, the safety is high in the correction process; on the other hand, high altitude GPS signal is good, and the error that the correction arouses is littleer, so, can ensure that unmanned aerial vehicle can accurate return voyage.
Further, step S4 further includes:
and step S43, controlling the unmanned aerial vehicle to automatically land when the unmanned aerial vehicle moves from the upper part of the prestored deviation point to the upper part of the prestored return point.
When the pre-stored displacement correction is effective (namely, when the unmanned aerial vehicle is subjected to large multipath interference or cold start in the take-off process, the GPS positioning precision cannot meet the precision requirement), the unmanned aerial vehicle is controlled to return to the pre-stored offset point (the pre-stored offset point is the position of the unmanned aerial vehicle when the GPS positioning precision meets the precision requirement in the take-off process) to be over the air firstly, the unmanned aerial vehicle is reversely corrected according to the pre-stored displacement correction, the unmanned aerial vehicle is transversely moved to the pre-stored return point (the pre-stored return point is the starting point of the unmanned aerial vehicle), and then the unmanned aerial vehicle is controlled to automatically land to complete return voyage. Thereby achieving the following steps: even if the unmanned aerial vehicle takes off under the environment with large GPS multipath interference (including under the mountain feet and near buildings), the unmanned aerial vehicle can still be ensured to accurately return to the take-off position, and the problem that the unmanned aerial vehicle is lost or has other safety accidents because the unmanned aerial vehicle cannot return to the take-off position under the condition is avoided; meanwhile, under the environment that the signals of the GPS satellites are good, the unmanned aerial vehicle can still be guaranteed to accurately return to the air under the condition that the unmanned aerial vehicle cold-start search satellite is not ready to take off.
Referring to fig. 2, a flowchart of an embodiment of obtaining a pre-stored displacement correction amount, a pre-stored re-navigation point, and a pre-stored offset point according to the present invention is shown.
The method specifically comprises the following steps:
step 201, receiving a takeoff instruction sent by a control terminal.
And step 202, controlling the unmanned aerial vehicle to take off according to the take-off instruction.
And 203, judging whether the positioning precision of the unmanned aerial vehicle meets a preset condition or not in the takeoff process of the unmanned aerial vehicle.
Unmanned aerial vehicle's positioning accuracy satisfies preset condition includes: in the take-off process of the unmanned aerial vehicle, the positioning precision is within a preset range.
Specifically, in the take-off process of the unmanned aerial vehicle, a built-in GPS positioning module detects the positioning precision of the unmanned aerial vehicle in real time.
And 204, if yes, recording the current takeoff point of the unmanned aerial vehicle, wherein the current takeoff point is a prestored return trip point.
Understandably, when unmanned aerial vehicle did not receive multipath interference (if be in spacious region and GPS satellite signal good) when taking off, or when unmanned aerial vehicle was not ready for the cold start state of non-, the positioning accuracy requirement can be satisfied to the inside GPS orientation module's of unmanned aerial vehicle positioning accuracy, can pinpoint unmanned aerial vehicle's position.
And step 205, if not, starting the displacement monitoring module 105 to monitor the horizontal displacement of the unmanned aerial vehicle in real time.
In the takeoff process of the unmanned aerial vehicle, if the positioning accuracy of the GPS positioning module does not meet the positioning accuracy requirement, the displacement monitoring module 105 is started immediately, and the horizontal displacement of the unmanned aerial vehicle in the takeoff process is monitored in real time through the displacement monitoring module 105.
Optionally, the displacement monitoring module 105 may be a visual velocity integrator, and the displacement of the drone on the horizontal plane, that is, the horizontal displacement, may be calculated through the visual velocity integrator. When the positioning accuracy of the GPS positioning module does not meet the positioning accuracy requirement, the visual speed integrator is always in a working state until the GPS positioning module meets the positioning accuracy requirement, the visual speed integrator stops, and the horizontal displacement of the unmanned aerial vehicle in the process is calculated.
And step 206, judging whether the positioning precision of the unmanned aerial vehicle meets the preset condition again.
Step 207, if yes, recording the current horizontal displacement of the unmanned aerial vehicle and the current flight point of the unmanned aerial vehicle; the current horizontal displacement is a prestored displacement correction quantity, and the current flight point is a prestored offset point.
Here, when the positioning accuracy of the GPS positioning module built in the drone is required (not subject to multipath interference or in a non-cold start state), the displacement monitoring module 105 is controlled to stop, and the current horizontal displacement of the drone and the current flight point of the drone currently calculated by the displacement monitoring module 105 are recorded and stored. The current horizontal displacement is the prestored displacement correction quantity, and the current flight point is the prestored offset point.
As shown in fig. 3, a return schematic view of the method for controlling return of an unmanned aerial vehicle according to the embodiment of the present invention is shown. As shown in fig. 3, the departure point is the return flight point that prestores promptly, and positioning accuracy satisfies the requirement when unmanned aerial vehicle takes off, can directly take notes this departure point as unmanned aerial vehicle's return flight point, and under this condition, when unmanned aerial vehicle received the instruction of returning a journey, unmanned aerial vehicle can directly return to the departure point and go to the air.
Or, as shown in the first mode of fig. 3, when the positioning accuracy of the unmanned aerial vehicle during takeoff does not meet the requirement, the horizontal displacement deviation of the unmanned aerial vehicle during takeoff when the positioning accuracy meets the requirement needs to be recorded, and the horizontal displacement deviation is used as a pre-stored displacement correction amount and records the position information at the time, where the position information is the pre-stored position information of the offset point; under this condition, when unmanned aerial vehicle received the instruction of returning to the air, unmanned aerial vehicle returned earlier to the drift point sky, carries out reverse correction according to the displacement correction volume that prestores again, makes unmanned aerial vehicle return to the flight starting point sky.
Or, as shown in a second mode of fig. 3, in another specific embodiment, in the takeoff process of the unmanned aerial vehicle, when the takeoff accuracy of the unmanned aerial vehicle does not meet the accuracy requirement, recording the current horizontal displacement of the unmanned aerial vehicle and the current flight point of the unmanned aerial vehicle, where the current horizontal displacement is the horizontal displacement from the takeoff point to the current flight point when the unmanned aerial vehicle starts from the takeoff time until the positioning accuracy meets the accuracy requirement, and the current flight point is a pre-stored offset point. And reverse correction is carried out through the recorded pre-stored offset point and the pre-stored displacement correction amount to obtain an updated takeoff point of the unmanned aerial vehicle, and the updated takeoff point is used as an updated return point. In this embodiment, when the unmanned aerial vehicle receives the return instruction, the unmanned aerial vehicle can directly return to the updated return point according to the updated return point.
Referring to fig. 4, a schematic structural diagram of a return control device 100 of an unmanned aerial vehicle according to the present invention is shown.
The device 100 for controlling the return journey of the unmanned aerial vehicle can be used for realizing the return journey control method of the unmanned aerial vehicle.
The device 100 for controlling the return journey of the unmanned aerial vehicle can comprise a receiving unit 101, a judging unit 102 and a control unit 103.
The receiving unit 101 is configured to receive a return flight instruction sent by the control terminal or automatically triggered by the lost connection protection or the low power protection.
The receiving unit 101 is further configured to receive a takeoff instruction sent by the control terminal.
The judging unit 102 is configured to judge whether the pre-stored displacement correction amount is valid.
The control unit 103 is used for controlling the unmanned aerial vehicle to carry out return voyage according to the prestored return voyage point when the prestored displacement correction is invalid; and when the pre-stored displacement correction is effective, controlling the unmanned aerial vehicle to return according to the pre-stored offset point. The control unit 103 is further configured to control the unmanned aerial vehicle to take off according to a take-off instruction sent by the control terminal when receiving the take-off instruction.
In the embodiment of the present invention, the control unit 103 includes:
and the correction module is used for reversely correcting the unmanned aerial vehicle according to the prestored displacement correction amount when the unmanned aerial vehicle navigates back to the prestored deviation point, so that the unmanned aerial vehicle navigates over the air to the prestored return point.
Further, the device 100 for controlling the return flight of the unmanned aerial vehicle further includes: a judging module 104, a displacement monitoring module 105 and a recording module 106.
And the judging module 104 is used for judging whether the positioning precision of the unmanned aerial vehicle meets the preset condition in the takeoff process of the unmanned aerial vehicle. Wherein, this judgement module 104 is divided into two stages to the judgement of unmanned aerial vehicle's positioning accuracy, and the first stage is: judging the positioning accuracy of the unmanned aerial vehicle when the unmanned aerial vehicle takes off; the second stage is as follows: starting the judgment of the displacement monitoring module 105 after horizontal displacement monitoring, in the second stage, until the judgment module 104 judges that the positioning precision of the unmanned aerial vehicle meets the preset condition, the displacement monitoring module 105 can be controlled to stop.
And the displacement monitoring module 105 is used for starting and monitoring the horizontal displacement of the unmanned aerial vehicle in real time when the positioning precision of the unmanned aerial vehicle does not meet the preset condition in the unmanned takeoff process.
Optionally, the displacement monitoring module 105 may be a visual velocity integrator, and the displacement of the drone on the horizontal plane, that is, the horizontal displacement, may be calculated through the visual velocity integrator. When the positioning accuracy of the GPS positioning module does not meet the positioning accuracy requirement, the visual speed integrator is always in a working state until the GPS positioning module meets the positioning accuracy requirement, the visual speed integrator stops, and the horizontal displacement of the unmanned aerial vehicle in the process is calculated.
And the recording module 106 is configured to record a current flying point, a current horizontal displacement, and a current flying point of the unmanned aerial vehicle.
Here, the current takeoff point of the unmanned aerial vehicle is a prestored return flight point, the current horizontal displacement is a prestored displacement correction amount, and the current flight point is a prestored offset point.
The information recorded by the recording module 106 includes coordinate information of the current departure point (i.e. coordinate information of the pre-stored return point, including x of the return point)0、y0And height information h of the waypoints0) Coordinate information of the current flight point (x including offset point)2、y2And height information h of the offset point2). When the current horizontal displacement is that the positioning accuracy of a GPS positioning module built in the unmanned aerial vehicle meets a preset condition, the displacement monitoring module 105 calculates the horizontal displacement of the unmanned aerial vehicle flying to the current moment.
The device 100 for controlling the return flight of the unmanned aerial vehicle can ensure that the unmanned aerial vehicle can accurately return flight even if the unmanned aerial vehicle takes off in an environment with large GPS multipath interference, and avoids the problem that the unmanned aerial vehicle is lost or other safety accidents are caused because the unmanned aerial vehicle fails to return to the take-off position under the condition; or under the state that the signal is good but unmanned aerial vehicle is cold start and the ready take-off of search satellite state of not preparing in spacious GPS satellite signal, also can guarantee that unmanned aerial vehicle can accurate return voyage.
As shown in fig. 5, the present invention also provides a drone, comprising: at least one processor 501; and a memory 502 communicatively connected to the at least one processor 501, wherein the memory 502 stores instructions executable by the at least one processor 501, and the stored instructions are executed by the at least one processor 501, so as to cause the at least one processor 501 to execute the aforementioned unmanned aerial vehicle return control method.
It is understood that, in the embodiment of the present invention, the Processor 501 may be a Central Processing Unit (CPU), and the Processor 501 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), other programmable logic devices (FPGAs), or the like.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (8)
1. An unmanned aerial vehicle return control method is characterized by comprising the following steps:
receiving a return flight instruction which is sent by a control terminal or automatically triggered by lost connection protection or low-power protection;
judging whether the prestored displacement correction quantity is effective or not;
if not, controlling the unmanned aerial vehicle to return according to the prestored return point;
if yes, controlling the unmanned aerial vehicle to return according to the prestored offset point;
the prestored displacement correction quantity, the prestored return point and the prestored offset point are obtained through the following steps:
receiving a takeoff instruction sent by a control terminal;
controlling the unmanned aerial vehicle to take off according to the take-off instruction;
in the takeoff process of the unmanned aerial vehicle, judging whether the positioning precision of the unmanned aerial vehicle meets a preset condition;
if so, recording the current flying start point of the unmanned aerial vehicle, wherein the current flying start point is used as the prestored return point;
if not, starting a displacement monitoring module to monitor the horizontal displacement of the unmanned aerial vehicle in real time;
judging whether the positioning precision of the unmanned aerial vehicle meets the preset condition or not;
if so, recording the current horizontal displacement sum of the unmanned aerial vehicle, and recording the current flying point of the unmanned aerial vehicle; the current horizontal displacement is the pre-stored displacement correction quantity, and the current flight point is used as the pre-stored offset point.
2. The unmanned aerial vehicle return control method according to claim 1, wherein before controlling the unmanned aerial vehicle to return according to the pre-stored return point, the method comprises:
acquiring the position information of the prestored return point;
according to the return journey point control unmanned aerial vehicle who prestores return journey and return journey include:
controlling the unmanned aerial vehicle to return to the sky above the prestored return point according to the acquired position information of the prestored return point;
and controlling the unmanned aerial vehicle to automatically land.
3. The unmanned aerial vehicle return control method according to claim 2, wherein before controlling the unmanned aerial vehicle to return according to the pre-stored offset point, the method comprises:
acquiring the position information of the pre-stored offset point;
the control unmanned aerial vehicle according to the skew point of prestoring returns to the journey includes:
and controlling the unmanned aerial vehicle to return to the sky above the pre-stored offset point according to the acquired position information of the pre-stored offset point.
4. The unmanned aerial vehicle return control method of claim 3, wherein the method further comprises:
when the unmanned aerial vehicle navigates back to the pre-stored offset point, reverse correction is carried out on the unmanned aerial vehicle according to the pre-stored displacement correction amount, so that the unmanned aerial vehicle navigates from the upper part of the pre-stored offset point to the upper part of the pre-stored return point.
5. The unmanned aerial vehicle return control method of claim 1, wherein the positioning accuracy of the unmanned aerial vehicle meeting the preset condition comprises:
and in the takeoff process of the unmanned aerial vehicle, the positioning precision is within a preset range.
6. The utility model provides an unmanned aerial vehicle controlling means that navigates back which characterized in that includes:
the receiving unit is used for receiving a return flight instruction which is sent by the control terminal or automatically triggered by the lost connection protection or the low-power protection;
the judging unit is used for judging whether the pre-stored displacement correction is effective or not;
the control unit is used for controlling the unmanned aerial vehicle to carry out return voyage according to a prestored return voyage point when the prestored displacement correction is invalid; and when the pre-stored displacement correction is effective, controlling the unmanned aerial vehicle to return according to the pre-stored offset point;
the receiving unit is also used for receiving a takeoff instruction sent by the control terminal;
the control unit is also used for controlling the unmanned aerial vehicle to take off according to the take-off instruction;
unmanned aerial vehicle control device that navigates back still includes:
the judging module is used for judging whether the positioning precision of the unmanned aerial vehicle meets a preset condition or not in the take-off process of the unmanned aerial vehicle;
the displacement monitoring module is used for starting and monitoring the horizontal displacement of the unmanned aerial vehicle in real time when the positioning precision of the unmanned aerial vehicle does not meet a preset condition in the unmanned take-off process;
the recording module is used for recording the current flying point, the current horizontal displacement and the current flying point of the unmanned aerial vehicle;
the current flying point is the prestored return flight point, the current horizontal displacement is the prestored displacement correction quantity, and the current flying point is the prestored offset point.
7. The unmanned aerial vehicle device of controlling that navigates back of claim 6, wherein said control unit comprises:
and the correction module is used for performing reverse correction on the unmanned aerial vehicle according to the pre-stored displacement correction when the unmanned aerial vehicle navigates back to the pre-stored offset point, so that the unmanned aerial vehicle navigates from the upper part of the pre-stored offset point to the upper part of the pre-stored navigation point.
8. An unmanned aerial vehicle, comprising: at least one processor; and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to cause the at least one processor to perform the drone return control method of any of claims 1-5.
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| CN110134144A (en) * | 2019-06-10 | 2019-08-16 | 王翊丞 | The multiple water exploding device of rotor wing unmanned aerial vehicle, control system, method and unmanned plane |
| CN110568860A (en) * | 2019-09-17 | 2019-12-13 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle return method and device and unmanned aerial vehicle |
| CN111240354B (en) * | 2020-01-09 | 2022-07-12 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle severe low-power protection method and unmanned aerial vehicle |
| CN111474567A (en) * | 2020-04-15 | 2020-07-31 | 北京共创晶桔科技服务有限公司 | Precise positioning system of unmanned aerial vehicle and take-off and landing method |
| CN112577472A (en) * | 2020-12-03 | 2021-03-30 | 上海振华重工电气有限公司 | Unmanned aerial vehicle photovoltaic inspection positioning system and method |
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