CN117991817A - Unmanned aerial vehicle flight control method and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle flight control method and unmanned aerial vehicle Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a flight control method of an unmanned aerial vehicle and the unmanned aerial vehicle, wherein the flight control method of the unmanned aerial vehicle comprises the following steps: in the flight process of the unmanned aerial vehicle, if the communication connection between the unmanned aerial vehicle and the control equipment of the unmanned aerial vehicle is detected to be interrupted, controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, and detecting whether the communication connection is restored (S301); judging whether a return flight condition is met in the process of backtracking flight (S302); if the return condition is not met and the communication connection is detected to be restored, controlling the unmanned aerial vehicle to fly in response to a control instruction of the control device (S303); if the return condition is satisfied, the unmanned aerial vehicle is controlled to fly to a return point (S304). The flight control method improves the autonomy of the unmanned aerial vehicle for solving the problem in the disconnection scene.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to a flight control method of an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
The unmanned aerial vehicle may have abnormal states during the flight, such as disconnection from a remote control. Typically, no one has the opportunity to wait in place for the user to adjust the angle of the remote control antenna to resume connection. This solution results in lack of autonomy of the unmanned aerial vehicle, and the escape effect of the unmanned aerial vehicle is poor when dealing with abnormal conditions.
Disclosure of Invention
The embodiment of the application provides a flight control method of an unmanned aerial vehicle and the unmanned aerial vehicle, which improve the autonomy of the unmanned aerial vehicle for solving the problem in a loss-of-connection scene.
In a first aspect, an embodiment of the present application provides a flight control method of an unmanned aerial vehicle, including:
in the flight process of the unmanned aerial vehicle, if the communication connection between the unmanned aerial vehicle and the control equipment of the unmanned aerial vehicle is detected to be interrupted, controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, and detecting whether the communication connection is restored or not;
Judging whether a return flight condition is met in the back-tracking flight process;
if the return condition is not met and the communication connection is detected to be restored, controlling the unmanned aerial vehicle to fly in response to a control instruction of the control equipment;
and if the return condition is met, controlling the unmanned aerial vehicle to fly to a return point.
In a second aspect, an embodiment of the present application provides a unmanned aerial vehicle, including: memory, processor, and transceiver;
The transceiver is used for communicating with other devices;
The memory is used for storing program codes;
The processor invokes the program code, which when executed, is operable to:
in the flight process of the unmanned aerial vehicle, if the communication connection between the unmanned aerial vehicle and the control equipment of the unmanned aerial vehicle is detected to be interrupted, controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, and detecting whether the communication connection is restored or not;
Judging whether a return flight condition is met in the back-tracking flight process;
if the return condition is not met and the communication connection is detected to be restored, controlling the unmanned aerial vehicle to fly in response to a control instruction of the control equipment;
and if the return condition is met, controlling the unmanned aerial vehicle to fly to a return point.
In a third aspect, embodiments of the present application provide a computer readable storage medium having stored therein a computer program which, when executed, implements a method as provided in the first aspect.
The embodiment of the application provides a flight control method of an unmanned aerial vehicle and the unmanned aerial vehicle, which are suitable for a scene of communication connection interruption with control equipment in the flight process of the unmanned aerial vehicle. By controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, detecting whether the communication connection is restored and detecting whether the return flight condition is met, controlling the unmanned aerial vehicle to fly according to the detection result, and improving the autonomy of the unmanned aerial vehicle in the unmanned aerial vehicle disconnection scene to solve the problem.
Drawings
FIG. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the present application;
fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present application;
fig. 3 is a flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a flight trajectory provided by an embodiment of the present application;
Fig. 5 is another flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present application;
Fig. 6 is a schematic diagram of a backtracking flight of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 7 is another schematic diagram of a backtracking flight of an unmanned aerial vehicle according to an embodiment of the present application;
Fig. 8 is another flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 9A to 9C are schematic diagrams of unmanned aerial vehicle flight provided by the embodiment of the application;
Fig. 10 is a schematic structural diagram of a unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described below with reference to the accompanying drawings.
Fig. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the present application. In this embodiment, a rotor unmanned aerial vehicle is described as an example.
Unmanned aerial system 100 may include unmanned aerial vehicle 110, display device 130, and control terminal 140. The unmanned aerial vehicle 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a cradle head 120 carried on the frame. Unmanned aerial vehicle 110 may communicate wirelessly with control terminal 140 and display device 130. The unmanned aerial vehicle 110 further includes a battery (not shown) that provides electrical power to the power system 150. Unmanned aerial vehicle 110 may be an agricultural unmanned aerial vehicle or an industrial unmanned aerial vehicle, with the need for cyclic operation. Accordingly, batteries also have a need for cyclic operation.
The frame may include a fuselage and a foot rest (also referred to as landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The foot rest is coupled to the fuselage for supporting the unmanned aerial vehicle 110 when landing.
The power system 150 may include one or more electronic speed governors (simply called electric governors) 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 between the electronic speed governors 151 and the propellers 153, the motors 152 and the propellers 153 being disposed on a horn of the unmanned aerial vehicle 110; the electronic governor 151 is configured to receive a driving signal generated by the flight control system 160 and provide a driving current to the motor 152 according to the driving signal, so as to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate to power the flight of the unmanned aerial vehicle 110, which enables the unmanned aerial vehicle 110 to achieve one or more degrees of freedom of motion. In certain embodiments, unmanned aerial vehicle 110 may rotate about one or more rotational axes. For example, the rotation shaft may include a Roll shaft (Roll), a Yaw shaft (Yaw), and a pitch shaft (pitch). It should be appreciated that the motor 152 may be a DC motor or an AC motor. The motor 152 may be a brushless motor or a brushed motor.
Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the unmanned aerial vehicle, that is, position information and state information of the unmanned aerial vehicle 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, three-dimensional angular speed, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110, for example, the flight of the unmanned aerial vehicle 110 may be controlled based on attitude information measured by the sensing system 162. It should be appreciated that the flight controller 161 may control the unmanned aerial vehicle 110 in accordance with preprogrammed instructions or may control the unmanned aerial vehicle 110 in response to one or more remote control signals from the control terminal 140.
Cradle head 120 may include a motor 122. The cradle head is used for carrying a load, which may be, for example, a camera 123. Flight controller 161 can control movement of pan-tilt 120 via motor 122. Alternatively, as another embodiment, the pan-tilt head 120 may further include a controller for controlling the movement of the pan-tilt head 120 by controlling the motor 122. It should be appreciated that cradle head 120 may be independent of unmanned aerial vehicle 110 or may be a part of unmanned aerial vehicle 110. It should be appreciated that the motor 122 may be a DC motor or an AC motor. The motor 122 may be a brushless motor or a brushed motor. It should also be appreciated that the cradle head may be located on top of the unmanned aerial vehicle or may be located on the bottom of the unmanned aerial vehicle.
The photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera, and the photographing device 123 may communicate with and photograph under the control of the flight controller. The photographing Device 123 of the present embodiment at least includes a photosensitive element, which is, for example, a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor) sensor or a Charge-coupled Device (CCD) sensor. It will be appreciated that camera 123 may also be directly affixed to unmanned aerial vehicle 110, and cradle head 120 may be omitted.
The display device 130 is located at the ground side of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 wirelessly, and can be used to display attitude information of the unmanned aerial vehicle 110. In addition, an image captured by the capturing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.
The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remotely maneuvering the unmanned aerial vehicle 110.
It should be understood that the above designations of the components of the unmanned air vehicle are for identification purposes only and should not be construed as limiting embodiments of the present application.
Fig. 2 is a schematic view of an application scenario provided in an embodiment of the present application, as shown in fig. 2, fig. 2 shows an unmanned aerial vehicle 201, and a control terminal 202 of the unmanned aerial vehicle. The control terminal 202 of the unmanned aerial vehicle 201 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, a wearable device (watch, bracelet). The embodiment of the present application is schematically illustrated taking the control terminal 202 as a remote controller 2021 and a terminal apparatus 2022 as examples. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.
The remote controller 2021 may communicate with the unmanned aerial vehicle 201, and a user may control a flight state of the unmanned aerial vehicle 201 by manipulating a control lever on the remote controller, where the control lever is generally divided into a pitch control lever, a yaw control lever, a roll control lever and an accelerator control lever, and controls forward and backward flight, yaw, left and right flight and up and down flight of the aircraft respectively, and lever amounts in all directions are independent of each other to control decoupling. 4 physical control levers, namely, 4 control levers of a pitch control lever, a yaw control lever, a roll control lever and an accelerator control lever which are respectively and physically independent from each other, can be arranged on the remote controller 2021; or 2 control levers of entities may be provided on the remote controller 2021, and each control lever of the entities may implement the functions of two control levers, and the remote controller 2021 is specifically provided with control levers of several entities, which is not limited in this embodiment.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 3 is a flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present application. According to the unmanned aerial vehicle flight control method provided by the embodiment, the execution main body can be the unmanned aerial vehicle. As shown in fig. 3, the flight control method of the unmanned aerial vehicle provided in this embodiment may include:
S301, in the flight process of the unmanned aerial vehicle, if communication connection interruption between the unmanned aerial vehicle and control equipment of the unmanned aerial vehicle is detected, controlling the unmanned aerial vehicle to fly back along a flight track before the communication connection interruption, and detecting whether the communication connection is restored.
Specifically, the unmanned aerial vehicle needs to detect whether the communication connection with the control device of the unmanned aerial vehicle is interrupted in the flight process. If the communication is interrupted, the communication environment of the current position of the unmanned aerial vehicle is poor, such as signal shielding or the distance between the unmanned aerial vehicle and the control equipment is long, at the moment, the unmanned aerial vehicle is controlled to fly back along the flight track before the communication connection is interrupted, and whether the communication connection with the control equipment is restored is detected in the process of the back-tracking flight.
Through flying back along the flight path, compare unmanned aerial vehicle in the prior art and wait in the spot, promoted unmanned aerial vehicle and control device and resume communication connection's success rate, promoted unmanned aerial vehicle in the autonomy of solving the problem with the scene of control device communication interruption, promoted the effect of getting rid of poverty.
The method for detecting whether the communication connection is interrupted is not limited in this embodiment. Alternatively, the unmanned aerial vehicle may periodically send a detection signal to the control device, and correspondingly, may periodically receive a response signal sent by the control device. If the response signal sent by the control device is not received continuously within the time period T1, it may be determined that the communication connection between the drone and the control device is interrupted. The detection period is not limited in this embodiment, and may be set according to the type of the unmanned aerial vehicle and the flight environment of the unmanned aerial vehicle. For example, the drone may set a smaller detection period in a scene with more obstruction in the forest. And in a scene with fewer shields, a larger detection period can be set. Alternatively, the control device may periodically send a detection signal to the unmanned aerial vehicle, and correspondingly, the unmanned aerial vehicle periodically sends a response signal to the control device.
The method for detecting whether the communication connection is restored is not limited in this embodiment. Alternatively, the drone may periodically send a detection signal to the control device. If the response signal sent by the control device is continuously received within the time period T2, it can be determined that the communication connection between the unmanned aerial vehicle and the control device is restored.
Optionally, the flight trajectory may include a plurality of waypoints, where the plurality of waypoints are waypoints that the unmanned aerial vehicle has traversed during a preset time period before the communication connection is interrupted. The specific value of the preset time period is not limited in this embodiment. Alternatively, the preset time period may be related to the manner in which the unmanned aerial vehicle records the waypoint.
The flight trajectory is exemplarily described below with reference to fig. 4, but fig. 4 is not limited to the flight trajectory formation.
As shown in fig. 4, the left vertical line represents the takeoff position of the unmanned aerial vehicle, and the right vertical line represents the current position where the unmanned aerial vehicle detects an interruption of the communication connection with the control device, which may be referred to as a disconnection position. The black filled circles represent waypoints recorded by the drone. In example 1, the unmanned aerial vehicle records waypoints from the takeoff position, and therefore, the flight trajectory before the communication connection is interrupted may be trajectory 1, the flight trajectory includes 9 waypoints, and the preset time period is the whole time period of flight of the unmanned aerial vehicle from the decoupling position to the takeoff position. In example 2, the unmanned aerial vehicle updates and records a preset number of waypoints, such as 5, that the unmanned aerial vehicle experiences before the current time during the flight. Thus, the flight trajectory before the communication connection is interrupted may be trajectory 2, which includes 5 waypoints. In example 3, the drone may segment the waypoints traversed to form different trajectories. Thus, the flight trajectory before the communication connection is interrupted may be trajectory 4, which comprises 4 waypoints.
Note that, in this embodiment, the interval between two waypoints is not limited. Optionally, the time interval between two adjacent waypoints is the same. Optionally, the distance between two adjacent waypoints is the same. Optionally, the interval between two adjacent waypoints can be adjusted according to the flight environment of the unmanned aerial vehicle. For example, the time interval or distance interval between two waypoints may be greater when flying in a region of flat topography. In a scene with more obstacles or obstacles, such as mountainous regions, canyons, forests, etc., the time interval or distance interval between two waypoints may be smaller.
Alternatively, the waypoints may correspond to identification information, which may uniquely distinguish between different waypoints. For example, in example 1 of fig. 4, the identification information of 9 waypoints may be 1 to 9, respectively. In example 3 of fig. 4, track 3 includes 5 waypoints, the identification information may be 1 to 5, respectively, track 4 includes 4 waypoints, and the identification information may be 6 to 9, respectively.
S302, judging whether a return flight condition is met in the backtracking flight process.
S303 or S304 is subsequently performed according to the determination result.
And S303, controlling the unmanned aerial vehicle to fly in response to a control instruction of the control equipment when the return condition is not met and the communication connection is detected to be restored.
And S304, controlling the unmanned aerial vehicle to fly to a return point if the return condition is met.
Specifically, in the process of backtracking the flight of the unmanned aerial vehicle along the flight track before the communication connection is interrupted, whether the return flight condition is met can also be detected, and the flight of the unmanned aerial vehicle is controlled according to whether the return flight condition is met and whether the communication connection between the unmanned aerial vehicle and the control equipment is recovered. The present embodiment does not limit the execution order of detecting whether the return condition is satisfied or not and detecting whether the communication connection is restored or not. For example, they may be performed simultaneously. For another example, the period detection is performed according to the respective detection periods, and the detection period is not limited in this embodiment.
In one scenario, if the communication connection between the drone and the control device is not restored, the drone is still in an uncoupled state. And if the return condition is met, controlling the unmanned aerial vehicle to return to the return point.
In another scenario, if a restoration of the communication connection between the drone and the control device is detected, the drone may then fly according to the control instructions sent by the control device. And if the return condition is not met, controlling the unmanned aerial vehicle to fly in response to the control instruction of the control equipment.
Based on the scheme of the embodiment, uncertain factors during in-situ waiting after disconnection of the unmanned aerial vehicle and the control equipment can be reduced, and the independence of the unmanned aerial vehicle in getting rid of the trouble is improved.
In one scheme, after the disconnection is determined, the unmanned aerial vehicle directly returns to the return point, and the unmanned aerial vehicle is in communication connection with the remote control equipment again after returning to the return point, if the flight task needs to be continued, the lead voyage needs to be flown again. This adds virtually to the cost of completing the flight mission.
In addition, the unmanned aerial vehicle flies in a long distance, the communication between the unmanned aerial vehicle and the control equipment is often blocked by obstacles, so that the signal quality is poor, even the unmanned aerial vehicle is frequently disconnected, but if the unmanned aerial vehicle is disconnected, the unmanned aerial vehicle returns to a return point directly, which is equivalent to ending the flight task, if the unmanned aerial vehicle is executing the aerial photographing task, the unmanned aerial vehicle can not be fully used for completing the aerial photographing task, if the unmanned aerial vehicle is executing the flight experience task (for example, the unmanned aerial vehicle is returned through an FPV picture of the unmanned aerial vehicle, and the unmanned aerial vehicle is fully used for experiencing the flight through an FPV visual angle), the unmanned aerial vehicle can not be fully used for experiencing the fun of playing the unmanned aerial vehicle.
Based on the scheme of the embodiment, the unmanned aerial vehicle is controlled to fly backwards after disconnection, whether the communication connection is reestablished is detected, the possibility of retrieving the communication signal can be improved to a certain extent, and then, if the communication connection is reestablished before the preset return condition is reached, the cost for continuously completing the flight task can be reduced, so that the flight safety is ensured, and the balanced flight cost is also ensured.
In an alternative embodiment, the step of determining the amount of power may be added after disconnection, for example: in the flight process of the unmanned aerial vehicle, if the communication connection between the unmanned aerial vehicle and the control equipment of the unmanned aerial vehicle is detected to be interrupted, whether the electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity threshold value is detected,
If the electric quantity is not lower than a preset electric quantity threshold value, controlling the unmanned aerial vehicle to fly back along a flight track before the communication connection is interrupted, and detecting whether the communication connection is restored; if the communication connection recovery is not detected when the return condition is met, controlling the unmanned aerial vehicle to fly to a return point; if the communication connection is detected to be recovered when the return condition is not met, controlling the unmanned aerial vehicle to fly in response to a control instruction of the control equipment;
And if the electric quantity is lower than a preset electric quantity threshold value, controlling the unmanned aerial vehicle to fly to a return point.
Therefore, under the condition that the power of the unmanned aerial vehicle is still sufficient, the unmanned aerial vehicle is focused on autonomously getting rid of poverty, and certain tolerance is given to the abnormal state, so that the flight task is completed better. Under the condition that the unmanned aerial vehicle is insufficient in power, the unmanned aerial vehicle is controlled to fly to a return voyage point, so that the flight safety of the unmanned aerial vehicle can be ensured. Compared with a simple execution of a single return control strategy, the method and the device can not improve the flexibility of the unmanned aerial vehicle in autonomously processing complex abnormal states.
Optionally, the flight control method of the unmanned aerial vehicle provided in this embodiment may further include:
And if the communication connection is detected to be restored and the return condition is met, controlling the unmanned aerial vehicle to respond to the control instruction of the control equipment to fly.
In this scenario, the drone may then fly in accordance with the control instructions sent by the control device, as it is detected that the communication connection between the drone and the control device has been restored. Even if the return condition is met, the unmanned aerial vehicle is controlled to respond to the control instruction of the control equipment to fly, so that the flying reliability of the unmanned aerial vehicle is improved.
In this embodiment, the return point is not limited. For example, the return point may be a predetermined location point. For another example, the return point may be a departure point of the drone.
Therefore, the flight control method of the unmanned aerial vehicle is suitable for the scene of communication connection interruption with the control equipment in the flight process of the unmanned aerial vehicle. By controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, detecting whether the communication connection is restored and detecting whether the return flight condition is met, controlling the unmanned aerial vehicle to fly according to the detection result, improving the autonomy of the unmanned aerial vehicle in the unmanned aerial vehicle disconnection scene, and improving the reliability of the unmanned aerial vehicle to fly and the escaping effect.
Optionally, the return conditions may include at least one of:
The distance between the current position of the unmanned aerial vehicle and the navigation point recorded at the beginning in the flight track is smaller than or equal to a first distance threshold.
The remaining capacity of the battery of the unmanned aerial vehicle is smaller than or equal to the preset electric capacity.
The accumulated flight time of the unmanned aerial vehicle after taking off is equal to or longer than the preset duration.
The accumulated flight distance of the unmanned aerial vehicle after taking off is equal to or greater than a second distance threshold.
The specific values of the first distance threshold, the preset electric quantity, the preset duration and the second distance threshold are not limited in this embodiment.
An exemplary description of the distance between the current position of the drone and the waypoint of the initial record in the flight trajectory is provided below in connection with fig. 4. In example 1, the waypoint initially recorded in the flight trajectory is waypoint 1, and the distance between the current position of the drone and the waypoint initially recorded in the flight trajectory is the distance between the unconnected position and waypoint 1. In example 2, the initially recorded waypoint in the flight trajectory is waypoint 1 in trajectory 2, and the distance between the current position of the drone and the initially recorded waypoint in the flight trajectory is the distance between the unconnected position and waypoint 1 in trajectory 2. In example 3, the distance between the current position of the drone and the waypoint of the start record in the flight trajectory is the distance between the unconnected position and waypoint 6 in trajectory 4.
Optionally, in S303, controlling the unmanned aerial vehicle to fly in response to the control instruction of the control device may include:
and controlling the unmanned aerial vehicle to hover, and waiting for receiving a control instruction sent by the control equipment.
By controlling the unmanned aerial vehicle to wait in situ for receiving the control instruction sent by the control equipment, the unmanned aerial vehicle can fly according to the control instruction subsequently, and the flight reliability of the unmanned aerial vehicle is improved.
Optionally, in S304, controlling the unmanned aerial vehicle to fly to the return point may include:
a first environmental image is acquired over the drone.
And determining whether the target space region above the unmanned aerial vehicle comprises an obstacle according to the first environment image.
And if the target space region does not comprise the obstacle, controlling the unmanned aerial vehicle to fly upwards to the first height, and horizontally flying above the return point at the first height.
Specifically, in the flight process of the unmanned aerial vehicle, the self-configured camera device can shoot an environment image in the flight environment where the unmanned aerial vehicle is located. When the unmanned aerial vehicle returns to the navigation, the unmanned aerial vehicle can hover at the current position, and a first environment image above the unmanned aerial vehicle is obtained through shooting by the camera device. The type and the mounting position of the imaging device are not limited in this embodiment. For example, the image pickup apparatus may include at least one of: monocular, binocular or infrared cameras. Optionally, the camera device may be mounted on a cradle head, and in this case, the up-looking function of the camera device may be implemented by means of the cradle head. After the first environment image is acquired, whether the target space area above the unmanned aerial vehicle comprises an obstacle is determined according to the first environment image. If the unmanned aerial vehicle does not comprise an obstacle, the unmanned aerial vehicle is controlled to fly upwards to a first height and fly horizontally to above a return point at the first height.
In this embodiment, the specific value of the first height is not limited.
Optionally, acquiring the first environmental image above the unmanned aerial vehicle may include:
and controlling the cradle head configured by the unmanned aerial vehicle to rotate so that the observation range of the sensing device loaded by the cradle head comprises the upper area of the unmanned aerial vehicle.
A first environmental image captured by a sensing device is obtained.
Optionally, determining whether the target space region above the unmanned aerial vehicle includes an obstacle according to the first environmental image may include:
And carrying out semantic recognition processing on the first environment image to obtain a semantic category corresponding to the pixel region in the first environment image.
Judging whether a pixel area with a semantic category belonging to a preset obstacle category exists in the first environment image.
And if the pixel region with the semantic category belonging to the preset obstacle category does not exist, determining that the target space region does not comprise the obstacle.
The preset obstacle category is not limited in this embodiment. For example, the setting may be made according to the kind of object in the unmanned plane flight area.
Optionally, the semantic recognition processing is performed on the first environmental image to obtain a semantic category corresponding to the pixel region in the first environmental image, which may be accomplished by means of a neural network model.
In particular, the neural network model may specifically be a convolutional neural network (Convolutional Neural Networks, CNN) model. The neural network model may include a plurality of computing nodes, each of which may include a convolution (Conv) layer, a batch normalization (Batch Normalization, BN), and an activation function ReLU, where the computing nodes may be connected by a Skip Connection (Skip Connection).
The input data of KXH XW can be input into a neural network model, and the output data of CXH XW can be obtained after the processing of the neural network model. Wherein K may represent the number of input channels, K may be equal to 4, corresponding to red (R, red), green (G, green), blue (B, blue), and depth (D, deep), respectively; h may represent the height of the input image (i.e., the first ambient image), W may represent the width of the input image, and C may represent the number of categories.
When the input image is excessively large, one input image may be cut into N sub-images, and accordingly, the input data may be n×k×h '×w', and the output data may be n×c×h '×w', where H 'may represent the height of the sub-image, and W' may represent the width of the sub-image. Of course, in other embodiments, the feature map may be obtained in other manners, which is not limited in this embodiment.
Processing the first environmental image by using the pre-trained neural network model to obtain a feature map, specifically, the method may include the following steps:
and step 1, inputting the first environment image into a neural network model to obtain a model output result of the neural network model.
The model output result of the neural network model may include a confidence feature map output by a plurality of output channels respectively, where the plurality of output channels may correspond to a plurality of object classes one by one, and a pixel value of the confidence feature map of a single object class is used to represent a probability that the pixel is the object class.
And step 2, obtaining a feature map containing semantic information according to a model output result of the neural network model.
The object class corresponding to the confidence characteristic map with the largest pixel value at the same pixel position in the confidence characteristic maps corresponding to the output channels one by one can be used as the object class of the pixel position, so that the characteristic map is obtained.
Assuming that the number of output channels of the neural network model is 4, the output result of each channel is a confidence feature map, namely, 4 confidence feature maps are respectively from a confidence feature map 1 to a confidence feature map 4, and the confidence feature map 1 corresponds to sky, the confidence feature map 2 corresponds to a building, the confidence feature map 3 corresponds to tree, and the confidence feature map 4 corresponds to other. In these several categories, the remainder can be considered an obstacle, except for the sky.
For example, when the pixel value of the pixel position (100 ) in the confidence feature map 1 is 70, the pixel value of the pixel position (100 ) in the confidence feature map 2 is 50, the pixel value of the pixel position (100 ) in the confidence feature map 3 is 20, and the pixel value of the pixel position (100 ) in the confidence feature map 4 is 20, it may be determined that the pixel position (100 ) is sky.
For another example, when the pixel value of the pixel location (100, 80) in the confidence feature map 1 is 20, the pixel value of the pixel location (100, 80) in the confidence feature map 2 is 30, the pixel value of the pixel location (100, 80) in the confidence feature map 3 is 20, and the pixel value of the pixel location (100, 80) in the confidence feature map 4 is 70, it may be determined that the pixel location (100, 80) is other, that is, not any one of a tree, a building, and a tree.
It can be seen that the above-mentioned identification is actually at the pixel level, that is, the category to which each pixel point in the first environmental image belongs is identified, that is, the category to which each object in the first environmental image belongs is identified, and at the same time, the position of each object in the first environmental image is also indirectly determined.
If no obstacle is identified in the first environment image, the unmanned aerial vehicle can fly upwards and horizontally to the position above the return point.
Optionally, the flight control method of the unmanned aerial vehicle provided in this embodiment may further include:
if a pixel area with the semantic category belonging to the preset obstacle category exists, acquiring the distance between the live-action object corresponding to the pixel area and the unmanned aerial vehicle.
If the distance is greater than the preset distance, determining that the target space region does not comprise the obstacle.
Specifically, if it is identified that a pixel area belonging to a preset obstacle category exists in the first environmental image, the distance between a live-action object corresponding to the pixel area and the unmanned aerial vehicle is further acquired, and whether the obstacle affects the return journey of the unmanned aerial vehicle is determined according to the distance. If the distance is greater than the preset distance, the obstacle does not affect the return of the unmanned aerial vehicle, and the target space area can be determined to not comprise the obstacle.
In this embodiment, the specific value of the preset distance is not limited.
Optionally, the flight control method of the unmanned aerial vehicle provided in this embodiment may further include:
And if the distance is smaller than or equal to the preset distance, controlling the unmanned aerial vehicle to horizontally fly from the current position to the target position, and re-executing the steps of acquiring the environment image above the unmanned aerial vehicle and determining whether the target space area above the unmanned aerial vehicle comprises an obstacle.
Specifically, if it is identified that a pixel area belonging to a preset obstacle category exists in the first environmental image, the distance between a live-action object corresponding to the pixel area and the unmanned aerial vehicle is further acquired, and whether the obstacle affects the return journey of the unmanned aerial vehicle is determined according to the distance. If the distance is smaller than or equal to the preset distance, the obstacle is indicated to influence the return journey of the unmanned aerial vehicle, the target space area can be determined to comprise the obstacle, the unmanned aerial vehicle is controlled to fly horizontally from the current position to the target position, and the steps of acquiring the environment image above the unmanned aerial vehicle and determining whether the target space area above the unmanned aerial vehicle comprises the obstacle are executed again after the position moves.
Optionally, in an implementation manner, a distance between the current position of the unmanned aerial vehicle and the target position may be a fixed distance, and a specific value of the fixed distance is not limited in this embodiment.
Optionally, in another implementation, the distance between the current position of the drone and the target position is determined according to physical size information of the obstacle. The horizontal flight distance of the unmanned aerial vehicle is determined through the physical size information of the obstacle, the obstacle is better avoided, the probability of the obstacle existing above the target position is reduced, and the return flight efficiency is improved.
Optionally, the flight control method of the unmanned aerial vehicle provided in this embodiment may further include:
and acquiring flight state information of the unmanned aerial vehicle.
And judging whether the return condition is met according to the flight state information.
And if the return condition is met, directly controlling the unmanned aerial vehicle to fly to a return point.
Specifically, at any time in the flight process of the unmanned aerial vehicle, the flight state information of the unmanned aerial vehicle can be obtained, and whether the return condition is met or not is judged according to the flight state information. When the return condition is met, the unmanned aerial vehicle can be directly controlled to fly to the return point, and the unmanned aerial vehicle is ensured to return safely.
Optionally, the specific content included in the flight status information is not limited in this embodiment. For example, the flight status information may include, but is not limited to, at least one of the following: the method comprises the steps of remaining capacity of a battery of the unmanned aerial vehicle, accumulated flight time of the unmanned aerial vehicle, accumulated flight distance of the unmanned aerial vehicle or alarm information of the unmanned aerial vehicle.
Fig. 5 is another flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present application. The embodiment provides an implementation manner for controlling the unmanned aerial vehicle to fly back along the flight path before the interruption of the communication connection in S301 on the basis of the embodiment shown in fig. 3. As shown in fig. 5, controlling the unmanned aerial vehicle to fly back along the flight trajectory before the communication connection is interrupted may include:
s501, acquiring a second environment image obtained by the unmanned aerial vehicle in backtracking flight.
S502, if the existence of the obstacle on the flight track is determined according to the second environment image, controlling the unmanned aerial vehicle to avoid the obstacle to fly, and returning to the flight track to continue backtracking after avoiding the obstacle.
An exemplary illustration is provided below in connection with fig. 6. Fig. 6 is a schematic diagram of a backtracking flight of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 6, the unmanned aerial vehicle 60 may acquire a second environmental image while traveling backward along the flight trajectory 61. The unmanned aerial vehicle may acquire the second environmental image according to the above description about the unmanned aerial vehicle acquiring the first environmental image, and the principle is similar, which will not be described here again, except that the field of view of the camera device may be different. The positions of unmanned aerial vehicle in the backtracking flight are different, and the obtained second environment images are different. After the second environmental image is acquired, whether an obstacle exists on the flight track is determined according to the second environmental image, and the above description about whether the target space area above the unmanned aerial vehicle includes the obstacle or not according to the first environmental image can be specifically referred to, and the principle is similar and will not be repeated here. And if the obstacle exists on the flight track according to the second environment image, controlling the unmanned aerial vehicle to avoid the obstacle to fly, and returning to the flight track to continue backtracking after avoiding the obstacle. For example, in fig. 6, when the unmanned aerial vehicle 60 is at the position 1, if it is determined that the obstacle 62 exists on the flight path based on the obtained second environmental image, the unmanned aerial vehicle flies while avoiding the obstacle 62, and returns to the flight path 61 to continue the retrospective flight after avoiding the obstacle 62. The unmanned aerial vehicle 60 continues to fly back along the flight track 61, when the unmanned aerial vehicle 60 is at the position 2, the obstacle 64 exists on the flight track according to the obtained second environment image, the unmanned aerial vehicle avoids the obstacle 64 to fly, and returns to the flight track 61 after avoiding the obstacle 64 to continue to fly back.
Optionally, in S502, controlling the unmanned aerial vehicle to avoid the obstacle and return to the flight track to continue the backtracking after avoiding the obstacle may include:
obstacle information of an obstacle is acquired.
And determining a target waypoint on the flight path according to the obstacle information and the flight path, wherein the target waypoint is a waypoint for the unmanned aerial vehicle to return to the flight path to continue flying after avoiding the obstacle.
And generating an obstacle avoidance route according to the obstacle information and the target waypoints.
And controlling the unmanned aerial vehicle to fly along the obstacle avoidance route, and controlling the unmanned aerial vehicle to continuously fly back along the flight track after flying along the obstacle avoidance route.
An exemplary illustration is provided below in connection with fig. 7. Fig. 7 is another schematic diagram of a backtracking flight of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 7, when the unmanned aerial vehicle 70 travels back along the flight path 71, if it is determined that the obstacle 73 exists on the flight path 71 according to the obtained second environmental image, it is necessary to avoid the obstacle 73 to fly, and return to the flight path 71 after avoiding the obstacle 73 to continue the back-travel. Wherein the flight trajectory 71 may include a plurality of waypoints 72. By acquiring the obstacle information of the obstacle 73, a target waypoint 75 on the flight path is determined according to the obstacle information and the flight path 71, so that an obstacle avoidance route 74 is generated according to the obstacle information and the target waypoint 75, and the unmanned aerial vehicle is controlled to continue to fly back along the flight path 71 after flying along the obstacle avoidance route 74.
Alternatively, the specific content included in the obstacle information is not limited in this embodiment. For example, the obstacle information may include, but is not limited to, at least one of the following: physical size information of the obstacle information and category of the obstacle information.
The flight track correction in the unmanned aerial vehicle backtracking flight process is realized by generating the obstacle avoidance route, and the safety and reliability of the unmanned aerial vehicle backtracking flight are improved by slightly correcting the flight track.
It should be noted that, in this embodiment, the obstacle avoidance method adopted in generating the obstacle avoidance route is not limited, and an existing obstacle avoidance method may be adopted.
Fig. 8 is another flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present application. According to the unmanned aerial vehicle flight control method provided by the embodiment, the execution main body can be the unmanned aerial vehicle. As shown in fig. 8, the flight control method of the unmanned aerial vehicle provided in this embodiment may include:
S801, in the flight process of the unmanned aerial vehicle, if communication connection interruption between the unmanned aerial vehicle and control equipment of the unmanned aerial vehicle is detected, flight state information of the unmanned aerial vehicle is obtained.
S802, judging whether the return condition is met according to the flight state information.
S803, if the return condition is met, the unmanned aerial vehicle is directly controlled to fly to a return point.
This embodiment differs from the embodiment shown in fig. 3 in that: in the embodiment shown in fig. 3, after the unmanned aerial vehicle detects that the communication connection with the control device is interrupted, the unmanned aerial vehicle is controlled to fly back along the flight track before the communication connection is interrupted, and whether the communication connection is restored or not and whether the return condition is met or not is detected in the process of the fly back. In this embodiment, after the unmanned aerial vehicle detects that communication connection with the control device is interrupted, whether the return condition is satisfied is determined according to the flight state information. If the return flight condition is judged to be met according to the flight state information, the unmanned aerial vehicle is directly controlled to fly to the return flight point, and at the moment, the unmanned aerial vehicle does not need to be controlled to fly back along the flight track before the communication connection is interrupted.
Therefore, the flight control method of the unmanned aerial vehicle is suitable for the scene that communication connection between the unmanned aerial vehicle and the control equipment is interrupted in the flight process of the unmanned aerial vehicle. And controlling the unmanned aerial vehicle to fly according to the judging result by judging whether the return condition is met. When the return condition is met, the unmanned aerial vehicle is directly controlled to return, and the unmanned aerial vehicle flies to a return point. Compared with the prior art, the unmanned aerial vehicle waits in situ, the autonomy of unmanned aerial vehicle solution problem in unmanned aerial vehicle loss of connection scene has been promoted, the reliability of unmanned aerial vehicle flight has been promoted and the effect of getting rid of poverty.
Optionally, the flight control method of the unmanned aerial vehicle provided in this embodiment may further include:
If the return condition is not met, controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, and detecting whether the communication connection is restored.
And if the communication connection recovery is not detected when the return condition is met, controlling the unmanned aerial vehicle to fly to a return point.
And if the communication connection is detected to be restored when the return condition is not met, controlling the unmanned aerial vehicle to fly in response to the control instruction of the control equipment.
In the implementation mode, if the unmanned aerial vehicle does not meet the return flight condition when the unmanned aerial vehicle is in the disconnection state, the unmanned aerial vehicle can be controlled to fly back along the flight track before the communication connection is interrupted. Reference may be made to the description of S301 to S304 in the embodiment shown in fig. 3, and the subsequent flight process may also be referred to the embodiment shown in fig. 3, and the principle is similar, which is not repeated here.
Next, the flight effects of the unmanned aerial vehicle will be exemplarily described with reference to fig. 9A to 9C based on the embodiments shown in fig. 3 to 8. Fig. 9A to 9C are schematic diagrams of unmanned aerial vehicle flight according to an embodiment of the present application.
Alternatively, in one example, as shown in fig. 9A, when the drone 90 detects an interruption of the communication connection with the control device, the drone 90 is controlled to fly back along the flight trajectory 91 before the interruption of the communication connection, and whether the communication connection is restored is detected. In this example, no communication connection restoration has been detected, and when the drone backtracks to position 92, it is determined that the return condition is met, then the drone is controlled to return to fly above return point 93.
Alternatively, in another example, as shown in fig. 9B, when the unmanned aerial vehicle 90 detects interruption of the communication connection with the control device, the unmanned aerial vehicle 90 is controlled to fly back along the flight trajectory 91 before the interruption of the communication connection, and whether the communication connection is restored is detected. In this example, the return condition has not been met, and when the drone backtracks to position 94, and the communication connection between the drone and the control device is detected to resume, the drone 90 is controlled to hover and await receipt of a control instruction sent by the control device.
Alternatively, in still another example, as shown in fig. 9C, when the unmanned aerial vehicle 90 detects that the communication connection with the control device is interrupted, it is determined whether the return condition is satisfied. In this example, if it is determined that the return condition is met, the drone is controlled to return to flying above the return point 93.
Fig. 10 is a schematic structural diagram of a unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 10, the unmanned aerial vehicle provided in this embodiment may include: memory 1002, processor 1001, and transceiver 1003;
The transceiver 1003 is used for communicating with other devices;
The memory 1002 for storing program codes;
the processor 1001 invokes the program code, which when executed, is configured to:
in the flight process of the unmanned aerial vehicle, if the communication connection between the unmanned aerial vehicle and the control equipment of the unmanned aerial vehicle is detected to be interrupted, controlling the unmanned aerial vehicle to fly back along the flight track before the communication connection is interrupted, and detecting whether the communication connection is restored or not;
Judging whether a return flight condition is met in the back-tracking flight process;
if the return condition is not met and the communication connection is detected to be restored, controlling the unmanned aerial vehicle to fly in response to a control instruction of the control equipment;
and if the return condition is met, controlling the unmanned aerial vehicle to fly to a return point.
Optionally, the processor 1001 is specifically configured to:
Controlling the drone to hover and controlling the transceiver 1003 to wait for receiving the control instruction sent by the control device.
Optionally, the processor 1001 is specifically configured to:
acquiring a first environment image above the unmanned aerial vehicle;
determining whether a target space area above the unmanned aerial vehicle comprises an obstacle according to the first environment image;
And if the target space region does not comprise an obstacle, controlling the unmanned aerial vehicle to fly upwards to a first height, and horizontally flying above the return point at the first height.
Optionally, the processor 1001 is specifically configured to:
Carrying out semantic recognition processing on the first environment image to obtain a semantic category corresponding to a pixel area in the first environment image;
Judging whether a pixel area with a semantic category belonging to a preset obstacle category exists in the first environment image;
And if the pixel region with the semantic category belonging to the preset obstacle category does not exist, determining that the target space region does not comprise the obstacle.
Optionally, the processor 1001 is further configured to:
If a pixel area with a semantic category belonging to a preset obstacle category exists, acquiring a distance between a live-action object corresponding to the pixel area and the unmanned aerial vehicle;
And if the distance is greater than the preset distance, determining that the target space region does not comprise the obstacle.
Optionally, the processor 1001 is further configured to:
And if the distance is smaller than or equal to the preset distance, controlling the unmanned aerial vehicle to fly horizontally from the current position to the target position, and re-executing the steps of acquiring the environment image above the unmanned aerial vehicle and determining whether the target space area above the unmanned aerial vehicle comprises an obstacle.
Optionally, the distance between the current position and the target position is determined according to physical size information of the obstacle.
Optionally, the processor 1001 is specifically configured to:
controlling the cradle head configured by the unmanned aerial vehicle to rotate so that the observation range of the sensing device loaded by the cradle head comprises an area above the unmanned aerial vehicle;
and acquiring the first environment image shot by the sensing device.
Optionally, the return condition includes at least one of:
The distance between the current position of the unmanned aerial vehicle and the navigation point recorded at the beginning in the flight track is smaller than or equal to a first distance threshold;
the residual electric quantity of the battery of the unmanned aerial vehicle is smaller than or equal to the preset electric quantity;
the accumulated flight time of the unmanned aerial vehicle after taking off is equal to or longer than a preset duration;
And the accumulated flight distance of the unmanned aerial vehicle after taking off is equal to or greater than a second distance threshold value.
Optionally, the processor 1001 is specifically configured to:
acquiring a second environment image obtained by the unmanned aerial vehicle in backtracking flight;
and if the existence of the obstacle on the flight track is determined according to the second environment image, controlling the unmanned aerial vehicle to avoid the obstacle for flight, and returning to the flight track for continuous backtracking after avoiding the obstacle.
Optionally, the processor 1001 is specifically configured to:
Acquiring barrier information of the barrier;
Determining a target waypoint on the flight path according to the obstacle information and the flight path, wherein the target waypoint is a waypoint for the unmanned aerial vehicle to return to the flight path to continue flying after avoiding the obstacle;
generating an obstacle avoidance route according to the obstacle information and the target waypoint;
And controlling the unmanned aerial vehicle to fly along the obstacle avoidance route, and controlling the unmanned aerial vehicle to continuously fly back along the flight track after flying along the obstacle avoidance route.
Optionally, the flight trajectory includes a plurality of waypoints, where the plurality of waypoints are waypoints that the unmanned aerial vehicle experiences in a preset time period before the communication connection is interrupted.
Optionally, the processor 1001 is further configured to:
acquiring flight state information of the unmanned aerial vehicle;
Judging whether the return condition is met according to the flight state information;
And if the return condition is met, directly controlling the unmanned aerial vehicle to fly to a return point.
Optionally, the step of judging whether the return condition is met according to the flight state information is performed before the unmanned aerial vehicle is controlled to fly back along the flight path before the communication connection is interrupted, and when the return condition is met, the step of meeting the return condition is not performed.
The unmanned aerial vehicle provided by the embodiment of the application can execute the flight control method of the unmanned aerial vehicle provided by the embodiment of the application, and the technical principle and the technical effect are similar and are not repeated here.
It should be appreciated that the processor may be a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and may implement or perform the methods, steps and logic blocks disclosed in embodiments of the application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution.
In an embodiment of the present application, the memory may be a nonvolatile memory, such as a hard disk (HARD DISK DRIVE, HDD) or a solid-state disk (SSD), or may be a volatile memory (volatile memory), such as a random access memory (random access memory, RAM). The memory is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory in embodiments of the present application may also be circuitry or any other device capable of performing memory functions for storing program instructions and/or data.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the embodiments of the present application, and are not limited thereto; although embodiments of the present application have been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the technical solutions according to the embodiments of the present application.
Claims (11)
1. A method of controlling the flight of an aircraft, comprising:
If the communication connection between the aircraft and the terminal in wireless communication with the aircraft is detected to be interrupted in the flight process of the aircraft, controlling the aircraft to return when the aircraft meets the return condition;
detecting whether the communication connection is restored and acquiring barrier information in the environment when controlling the aircraft to return;
And controlling the aircraft to return to a return point based on the detection result of whether the communication connection is restored or not and the obstacle information.
2. The method according to claim 1, wherein the aircraft is controlled to fly backward first when the aircraft is controlled to fly backward; the flight track of the aircraft for backtracking flight is related to the flight track of the aircraft before the communication connection is interrupted.
3. The method of claim 2, wherein the communication connection is detected as being restored when the aircraft is traveling back.
4. A flight control method according to claim 1 or 3, wherein the controlling the aircraft to return to a return point based on the detection result of whether the communication connection is restored and the obstacle information comprises:
If the communication connection is detected not to be restored, controlling the aircraft to fly to a return point; or if the communication connection is detected to be restored, controlling the aircraft to fly in response to the control instruction of the terminal.
5. The flight control method according to claim 1, wherein the acquiring obstacle information in the environment includes:
Obstacle information of a spatial region above the aircraft is acquired.
6. The method according to claim 5, wherein the controlling the return of the aircraft to the return point based on the detection result of whether the communication connection is restored and the obstacle information includes:
And if the space area above the aircraft is provided with an obstacle, controlling the aircraft to fly horizontally from the current position.
7. The method according to claim 6, wherein the controlling the aircraft to return to a return point based on the detection result of whether the communication connection is restored and the obstacle information, further comprises:
And re-acquiring the obstacle information of the space area above the aircraft after the aircraft horizontally flies at the position, and controlling the aircraft to fly upwards if the space area above the aircraft is free of obstacles.
8. The flight control method according to claim 1, wherein the acquiring obstacle information in the environment includes:
And acquiring obstacle information on the flight track of the aircraft.
9. The method according to claim 8, wherein the controlling the aircraft to return to a return point based on the detection result of whether the communication connection is restored and the obstacle information includes:
and if the obstacle exists on the flight track of the aircraft, controlling the aircraft to avoid the obstacle for flight.
10. An aircraft, comprising: memory, processor, and transceiver;
the transceiver is used for communicating with a terminal;
The memory is used for storing program codes;
The processor invokes the program code, which when executed, is operable to:
If the communication connection between the aircraft and the terminal in wireless communication with the aircraft is detected to be interrupted in the flight process of the aircraft, controlling the aircraft to return when the aircraft meets the return condition;
wherein, when controlling the return of the aircraft, detecting whether the communication connection is restored and acquiring obstacle information in the environment,
And controlling the aircraft to return to a return point based on the detection result of whether the communication connection is restored or not and the obstacle information.
11. A method of controlling the flight of an aircraft, comprising:
If the communication connection between the aircraft and the control equipment of the aircraft is detected to be interrupted in the flight process of the aircraft, detecting whether the electric quantity of the aircraft is lower than a preset electric quantity threshold value or not;
If the electric quantity is not lower than a preset electric quantity threshold value, controlling the aircraft to fly back along a flight track before the communication connection is interrupted, and detecting whether the communication connection is restored;
and if the electric quantity is lower than a preset electric quantity threshold value, controlling the aircraft to fly to a return point.
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| CN108196568B (en) * | 2017-12-08 | 2021-12-03 | 中航(成都)无人机***股份有限公司 | Method for automatically re-planning track after remote control interruption of unmanned aerial vehicle |
| CN108646780B (en) * | 2018-04-11 | 2023-09-01 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle and off-line state automatic control system and method thereof and storage medium |
| CN110888452B (en) * | 2018-09-11 | 2023-03-17 | 杨扬 | Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection |
| CN109739264A (en) * | 2019-02-27 | 2019-05-10 | 重庆邮电大学 | A kind of small drone track homing system and method based on flight directive |
| CN109782788A (en) * | 2019-03-26 | 2019-05-21 | 台州学院 | Unmanned plane low latitude obstacle avoidance system and control method based on binocular vision |
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2020
- 2020-07-24 CN CN202410124590.2A patent/CN117991817A/en active Pending
- 2020-07-24 CN CN202080033632.1A patent/CN113795805B/en active Active
- 2020-07-24 WO PCT/CN2020/104527 patent/WO2022016534A1/en active Application Filing
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| CN113795805A (en) | 2021-12-14 |
| WO2022016534A1 (en) | 2022-01-27 |
| CN113795805B (en) | 2024-02-27 |
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