WO2022016534A1 - 无人机的飞行控制方法和无人机 - Google Patents
无人机的飞行控制方法和无人机 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
Definitions
- the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular, to a flight control method of an unmanned aerial vehicle and an unmanned aerial vehicle.
- the drone may experience abnormal status during flight, for example, disconnecting from the remote control. Usually, the drone sits in place and waits for the user to adjust the angle of the remote control antenna to restore the connection. This solution leads to the lack of autonomy of the UAV, and the UAV is less effective in getting out of trouble when dealing with abnormal conditions.
- the embodiments of the present application provide a flight control method for an unmanned aerial vehicle and an unmanned aerial vehicle, which improve the autonomy of the unmanned aerial vehicle to solve problems in a disconnected scenario.
- an embodiment of the present application provides a method for controlling the flight of an unmanned aerial vehicle, including:
- the UAV During the flight of the UAV, if it is detected that the communication connection between the UAV and the control device of the UAV is interrupted, the UAV is controlled to fly back along the flight trajectory before the communication connection is interrupted, and detecting whether the communication connection is restored;
- control the drone If the return-to-home condition is not met and it is detected that the communication connection is restored, control the drone to fly in response to the control command of the control device;
- the drone is controlled to fly to the return point.
- an embodiment of the present application provides an unmanned aerial vehicle, including: a memory, a processor, and a transceiver;
- the transceiver for communicating with other devices
- the memory for storing program codes
- the processor calls the program code, and when the program code is executed, is configured to perform the following operations:
- the UAV During the flight of the UAV, if it is detected that the communication connection between the UAV and the control device of the UAV is interrupted, the UAV is controlled to fly back along the flight trajectory before the communication connection is interrupted, and detecting whether the communication connection is restored;
- control the drone If the return-to-home condition is not met and it is detected that the communication connection is restored, control the drone to fly in response to the control command of the control device;
- the drone is controlled to fly to the return point.
- an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the readable storage medium, and when the computer program is executed, the method provided in the first aspect is implemented.
- Embodiments of the present application provide a flight control method for an unmanned aerial vehicle and an unmanned aerial vehicle, which are suitable for scenarios where the communication connection with the control device is interrupted during the flight of the unmanned aerial vehicle.
- the UAV By controlling the UAV to fly back along the flight trajectory before the communication connection was interrupted, detecting whether the communication connection is restored and whether the return-to-home condition is met, and controlling the flight of the UAV according to the detection result, the UAV in the UAV disconnection scenario is improved. Problem-solving autonomy.
- FIG. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
- FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present application.
- FIG. 3 is a flowchart of a method for controlling the flight of an unmanned aerial vehicle provided by an embodiment of the present application
- FIG. 4 is a schematic diagram of a flight trajectory provided by an embodiment of the present application.
- FIG. 5 is another flowchart of a method for controlling the flight of an unmanned aerial vehicle provided by an embodiment of the present application
- FIG. 6 is a schematic diagram of a UAV retrospective flight provided by an embodiment of the present application.
- FIG. 8 is another flowchart of a method for controlling the flight of an unmanned aerial vehicle provided by an embodiment of the present application.
- FIGS. 9A to 9C are schematic diagrams of drone flight provided by an embodiment of the present application.
- FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
- FIG. 1 is a schematic architectural diagram of an unmanned aerial system according to an embodiment of the present application. This embodiment is described by taking a rotor unmanned aerial vehicle as an example.
- the unmanned aerial system 100 may include an unmanned aerial vehicle 110 , a display device 130 and a control terminal 140 .
- the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a gimbal 120 carried on the frame.
- the UAV 110 may wirelessly communicate with the control terminal 140 and the display device 130 .
- the unmanned aerial vehicle 110 further includes a battery (not shown in the figure), and the battery provides power for the power system 150 .
- the unmanned aerial vehicle 110 may be an agricultural drone or an industrial application drone, and there is a need for cyclic operation. Correspondingly, the battery also needs to be cycled.
- the frame may include a fuselage and a foot stand (also known as a landing gear).
- the fuselage may include a center frame and one or more arms connected to the center frame, the one or more arms extending radially from the center frame.
- the tripod is connected with the fuselage, and is used for supporting when the UAV 110 is landed.
- the power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153, wherein the electric motors 152 are connected to the Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160, and provide driving according to the driving signal Electric current is supplied to the motor 152 to control the rotational speed of the motor 152 .
- ESCs electronic governors
- the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 110, and the power enables the UAV 110 to achieve one or more degrees of freedom movement.
- UAV 110 may rotate about one or more axes of rotation.
- the above-mentioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
- the motor 152 may be a DC motor or an AC motor.
- the motor 152 may be a brushless motor or a brushed motor.
- Flight control system 160 may include flight controller 161 and sensing system 162 .
- the sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity.
- the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
- the global navigation satellite system may be the Global Positioning System (GPS).
- the flight controller 161 is used to control the flight of the UAV 110 , for example, the flight of the UAV 110 can be controlled according to the attitude information measured by the sensing system 162 . It should be understood that the flight controller 161 can control the UAV 110 according to pre-programmed instructions, and can also control the UAV 110 by responding to one or more remote control signals from the control terminal 140.
- the pan/tilt head 120 may include a motor 122 .
- the PTZ is used to carry a payload, and the payload can be, for example, a photographing device 123 .
- the flight controller 161 can control the movement of the gimbal 120 through the motor 122 .
- the pan/tilt 120 may further include a controller for controlling the movement of the pan/tilt 120 by controlling the motor 122 .
- the gimbal 120 may be independent of the UAV 110 , or may be a part of the UAV 110 .
- the motor 122 may be a DC motor or an AC motor.
- the motor 122 may be a brushless motor or a brushed motor.
- the gimbal may be located on the top of the UAV, or may be located on the bottom of the UAV.
- the photographing device 123 may be, for example, a device for capturing images such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photography under the control of the flight controller.
- the photographing device 123 in this embodiment at least includes a photosensitive element, such as a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor or a charge-coupled device (Charge-coupled Device, CCD) sensor. It can be understood that the photographing device 123 can also be directly fixed on the unmanned aerial vehicle 110, so that the gimbal 120 can be omitted.
- CMOS Complementary Metal Oxide Semiconductor
- CCD Charge-coupled Device
- the display device 130 is located at the ground end of the unmanned aerial vehicle 100 , can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110 .
- the image captured by the capturing device 123 may also be displayed on the display device 130 .
- the display device 130 may be an independent device, or may be integrated 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, so as to remotely control the unmanned aerial vehicle 110 .
- FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present application.
- FIG. 2 shows an unmanned aerial vehicle 201 and a control terminal 202 of the unmanned aerial vehicle.
- the control terminal 202 of the UAV 201 may be one or more of a remote controller, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, wristband).
- the embodiments of the present application take that the control terminal 202 is a remote controller 2021 and a terminal device 2022 as an example for schematic illustration.
- 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 can communicate with the unmanned aerial vehicle 201, and the user can control the flight state of the unmanned aerial vehicle 201 by manipulating the joystick on the remote controller.
- the control stick and the throttle control stick respectively control the aircraft to fly forward and backward, turn the heading, fly left and right, and fly up and down, and the stick amounts in each direction are independent of each other, and the control is decoupled.
- Four physical control sticks can be set on the remote control 2021, namely the pitch control stick, the yaw control stick, the roll control stick and the throttle control stick are four physically independent control sticks; or, on the remote control 2021
- Two physical joysticks can be set, and each physical joystick can implement the functions of two joysticks.
- the remote controller 2021 is specifically provided with several solid joysticks, which is not limited in this embodiment.
- FIG. 3 is a flowchart of a flight control method for an unmanned aerial vehicle provided by an embodiment of the present application.
- the execution subject may be an unmanned aerial vehicle.
- the flight control method of the UAV provided by this embodiment may include:
- the drone needs to detect whether the communication connection with the control device of the drone is interrupted during the flight. If it is interrupted, it means that the communication environment of the current position of the drone is poor, such as the signal is blocked, or the distance between the drone and the control device is far, etc. At this time, control the flight of the drone along the flight before the communication connection is interrupted. The trajectory is backtracked, and during the backtracking flight, it is detected whether the communication connection with the control device is restored.
- the success rate of restoring the communication connection between the UAV and the control device is improved, and the failure of the UAV to be interrupted in communication with the control device is improved.
- the autonomy of solving problems in the scene improves the effect of getting out of trouble.
- the method for detecting whether the communication connection is interrupted is not limited in this embodiment.
- the drone may periodically send detection signals to the control device, and correspondingly, periodically receive response signals sent by the control device. If the response signal sent by the control device is not continuously received within the time period T1, it can 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 can be set according to the type of the drone and the flight environment of the drone. For example, in a scene with many occlusions in the woods, a smaller detection period can be set. In a scene with few occluders, a larger detection period can be set.
- the control device may periodically send a detection signal to the drone, and correspondingly, the drone 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.
- the drone can periodically send detection signals 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 drone and the control device is restored.
- the flight trajectory may include multiple waypoints, and the multiple waypoints are the waypoints that the UAV traverses within a preset time period before the communication connection is interrupted.
- This embodiment does not limit the specific value of the preset time period.
- the preset time period may be related to the way the drone records the waypoint.
- the flight trajectory is exemplarily described below with reference to FIG. 4 , but FIG. 4 does not limit the flight trajectory.
- the vertical line on the left represents the take-off position of the UAV
- the vertical line on the right represents the current position where the UAV detects that the communication connection with the control device is interrupted, which can be called the lost contact position.
- Black solid circles represent waypoints recorded by the drone.
- the drone records the waypoints from the take-off position. Therefore, the flight trajectory before the communication connection is interrupted can be trajectory 1.
- the flight trajectory includes 9 waypoints, and the preset time period is from the disconnected position to the The entire time period during which the drone is flown between takeoff positions.
- the UAV updates and records a preset number of waypoints, such as 5, that the UAV traverses before the current moment during the flight.
- the flight trajectory before the communication connection is interrupted can be trajectory 2, and the flight trajectory includes 5 waypoints.
- the UAV can record the traversed waypoints in segments to form different trajectories. Therefore, the flight trajectory before the communication connection is interrupted can be trajectory 4, and the flight trajectory includes 4 waypoints.
- this embodiment does not limit the interval between two waypoints.
- the time interval between two adjacent waypoints is the same.
- the distance between two adjacent waypoints is the same.
- the interval between two adjacent waypoints can be adjusted according to the flying environment of the drone. For example, when flying in flat terrain, the time interval or distance interval between two waypoints may be larger. In scenes with many occlusions or obstacles, such as mountains, canyons, and woods, the time interval or distance interval between two waypoints may be small.
- the waypoints may correspond to identification information, and the identification information may uniquely distinguish different waypoints.
- the identification information of the nine waypoints may be 1 to 9, respectively.
- the track 3 includes 5 waypoints, and the identification information may be 1 to 5, respectively, and the track 4 includes 4 waypoints, and the identification information may be 6 to 9, respectively.
- This embodiment does not limit the execution sequence of detecting whether the return-to-home condition is satisfied and detecting whether the communication connection is restored. For example, they can be executed simultaneously. For another example, period detection is performed according to respective detection periods, and the detection period is not limited in this embodiment.
- the drone if the communication connection between the drone and the control device is not restored, the drone is still in a disconnected state. If the return conditions are met, control the drone to return and fly to the return point.
- the UAV can then fly according to the control instructions sent by the control device. Moreover, if the return-to-home condition has not been met, the drone is controlled to fly in response to the control command of the control device.
- the uncertain factors during the in-situ waiting period after the unmanned aerial vehicle is disconnected from the control device can be reduced, and the autonomy of the unmanned aerial vehicle to get out of trouble can be improved.
- the drone after the disconnection, the drone is first controlled to fly backwards, and it is detected whether the communication connection is re-established, which can improve the possibility of retrieving the communication signal to a certain extent.
- Establishing a communication connection can reduce the cost of continuing to complete the flight mission, thereby ensuring flight safety and balancing the cost of flight.
- the step of judging power can be added after disconnection.
- the communication connection of the drone is interrupted, and it is detected whether the power of the drone is lower than the preset power threshold,
- control the UAV to fly back along the flight trajectory before the communication connection was interrupted, and detect whether the communication connection is restored; if the return-to-home condition is met, the communication connection is not detected recovery, control the drone to fly to the return point; if it is detected that the communication connection is restored when the return-to-home condition is not met, control the drone to fly in response to the control command of the control device;
- the drone is controlled to fly to the home point.
- the method for controlling the flight of an unmanned aerial vehicle may further include:
- the drone will be controlled to fly in response to the control command of the control device.
- the UAV since it is detected that the communication connection between the UAV and the control device has been restored, the UAV can then fly according to the control instructions sent by the control device. Even if the return-to-home condition is also met, the reliability of the drone flight is improved by controlling the drone to fly in response to the control command of the control device.
- the home point can be a preset position point.
- the home point may be the take-off point of the drone.
- the flight control method of the UAV provided in this embodiment is suitable for the scenario where the communication connection with the control device is interrupted during the flight of the UAV.
- the UAV By controlling the UAV to fly back along the flight trajectory before the communication connection was interrupted, detecting whether the communication connection is restored and whether the return-to-home condition is met, and controlling the flight of the UAV according to the detection result, the UAV in the UAV disconnection scenario is improved.
- the autonomy of solving problems improves the reliability of UAV flight and the effect of getting out of trouble.
- the return-to-home condition may include at least one of the following:
- the distance between the current position of the UAV and the waypoint initially recorded in the flight trajectory is less than or equal to the first distance threshold.
- the remaining power of the drone's battery is less than or equal to the preset power.
- the cumulative flight time of the drone after takeoff is equal to or greater than the preset time.
- the cumulative flight distance of the drone after takeoff is equal to or greater than the second distance threshold.
- this embodiment does not limit the specific values of the first distance threshold, the preset power, the preset duration, and the second distance threshold.
- the distance between the current position of the UAV and the waypoint initially recorded in the flight trajectory will be exemplarily described below with reference to FIG. 4 .
- the initial recorded waypoint in the flight trajectory is waypoint 1
- the distance between the current position of the drone and the initial recorded waypoint in the flight trajectory is the distance between the disconnected position and waypoint 1.
- the initial recorded waypoint in the flight trajectory is the waypoint 1 in trajectory 2
- the distance between the current position of the drone and the initial recorded waypoint in the flight trajectory is the disconnected position and trajectory 2
- the distance between the current position of the UAV and the waypoint in the flight trajectory that was initially recorded is the distance between the lost contact position and the waypoint 6 in the trajectory 4.
- controlling the drone to fly in response to the control command of the control device may include:
- the drone By controlling the drone to wait in place to receive the control command sent by the control device, the drone can then fly according to the control command, which improves the reliability of the drone flight.
- controlling the drone to fly to the home point may include:
- control the drone to fly up to the first height, and then fly horizontally above the home point at the first height.
- the camera device configured by itself can capture the environmental image in the flight environment where the drone is located.
- the drone can hover at the current position, and the first environment image above the drone is captured by the camera device.
- the camera device may include at least one of the following: a monocular camera, a binocular camera, or an infrared camera.
- the camera device may be installed on the pan/tilt, and at this time, the upward viewing function of the camera device may be realized by the pan/tilt.
- the specific value of the first height is not limited in this embodiment.
- acquiring the first environment image above the drone may include:
- a first environment image captured by the sensing device is acquired.
- determining whether the target space area above the UAV includes obstacles according to the first environment image may include:
- Semantic recognition processing is performed on the first environment image to obtain semantic categories corresponding to the pixel regions in the first environment image.
- the target space area does not include obstacles.
- this embodiment does not limit the preset obstacle type. For example, it can be set based on the class of objects in the drone flight area.
- performing semantic recognition processing on the first environment image to obtain the semantic category corresponding to the pixel area in the first environment image may be accomplished by means of a neural network model.
- the neural network model may specifically be a Convolutional Neural Networks (CNN) model.
- the neural network model can include multiple computing nodes, and each computing node can include a convolution (Conv) layer, batch normalization (BN) and activation function ReLU, and skip connections can be used between computing nodes. ) connection.
- Conv convolution
- BN batch normalization
- ReLU activation function ReLU
- K ⁇ H ⁇ W can be input into the neural network model, and after being processed by the neural network model, the output data of C ⁇ H ⁇ W can be obtained.
- K can represent the number of input channels, and K can be equal to 4, corresponding to four channels of red (R, red), green (G, green), blue (B, blue) and depth (D, deep) respectively;
- H may represent the height of the input image (ie, the first environment image),
- W may represent the width of the input image, and C may represent the number of categories.
- the input data can be N ⁇ K ⁇ H' ⁇ W'
- the output data can 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.
- H' may represent the height of the sub-image
- W' may represent the width of the sub-image.
- the feature map may also be obtained in other manners, which is not limited in this embodiment.
- Step 1 Input the first environment image into the neural network model to obtain the model output result of the neural network model.
- the model output result of the neural network model may include confidence feature maps output by multiple output channels respectively, and the multiple output channels may be in one-to-one correspondence with multiple object categories, and the pixel values of the confidence feature map of a single object category are to characterize the probability that a pixel is an object class.
- step 2 a feature map containing semantic information is obtained according to the model output result of the neural network model.
- the feature map can be obtained by taking the object category corresponding to the confidence feature map with the largest pixel value at the same pixel position in the confidence feature maps corresponding to the multiple output channels one-to-one as the object category of the pixel position.
- the number of output channels of the neural network model is 4, and the output result of each channel is a confidence feature map, that is, the 4 confidence feature maps are respectively the confidence feature map 1 to the confidence feature map 4, and the confidence Confidence feature map 1 corresponds to the sky, confidence feature map 2 corresponds to buildings, confidence feature map 3 corresponds to trees, and confidence feature map 4 corresponds to "other". In these categories, except for the sky, the rest can be considered as obstacles.
- the pixel value of the pixel position (100, 100) in the confidence feature map 1 is 70
- the pixel value of the pixel position (100, 100) in the confidence feature map 2 is 50
- the pixel value of the pixel position (100, 100) in the confidence feature map 3 The value is 20, and when the pixel value of the pixel position (100, 100) in the confidence feature map 4 is 20, it can be determined that the pixel position (100, 100) is the sky.
- the pixel value of the pixel position (100, 80) in the confidence feature map 1 is 20
- the pixel value of the pixel position (100, 80) in the confidence feature map 2 is 30, and the pixel position in the confidence feature map 3
- the pixel value of (100,80) is 20
- the pixel value of the pixel position (100,80) in the confidence feature map 4 is 70
- the above recognition is actually at the pixel level, that is, to identify the category to which each pixel in the first environmental image belongs, that is, to identify the category to which each object in the first environmental image belongs, which is also indirect.
- the position of each object in the first environment image is determined.
- the drone can fly upwards and fly horizontally above the home point.
- the method for controlling the flight of an unmanned aerial vehicle may further include:
- the distance between the real object corresponding to the pixel area and the drone is obtained.
- the target space area does not include obstacles.
- the distance between the real object corresponding to the pixel area and the drone is further obtained, and whether the obstacle affects the unmanned aerial vehicle is determined according to the distance. Return of the man-machine. If the distance is greater than the preset distance, it means that the obstacle does not affect the return flight of the drone, and it can be determined that the target space area does not include obstacles.
- the specific value of the preset distance is not limited in this embodiment.
- the method for controlling the flight of an unmanned aerial vehicle may further include:
- control the drone to fly horizontally from the current position to the target position, and re-execute the steps of acquiring the environment image above the drone and determining whether the target space area above the drone includes obstacles .
- the distance between the real object corresponding to the pixel area and the drone is further obtained, and whether the obstacle affects the unmanned aerial vehicle is determined according to the distance. Return of the man-machine. If the distance is less than or equal to the preset distance, it means that the obstacle affects the return of the drone, and it can be determined that the target space area includes obstacles, and the drone is controlled to fly horizontally from the current position to the target position, and execute again after the position moves. Steps to obtain imagery of the environment above the drone and determine whether the target space area above the drone includes obstacles.
- the distance between the current position of the drone and the target position may be a fixed distance, and the specific value of the fixed distance is not limited in this embodiment.
- the distance between the current position of the UAV and the target position is determined according to the physical size information of the obstacle.
- the distance that the UAV can fly horizontally is determined by the physical size information of the obstacles, which can better avoid obstacles, reduce the probability of obstacles above the target position, and improve the return flight efficiency.
- the method for controlling the flight of an unmanned aerial vehicle may further include:
- the drone will be directly controlled to fly to the return point.
- the flight status information of the UAV can be obtained, and it is determined whether the return-to-home condition is satisfied according to the flight status information.
- the drone can be directly controlled to fly to the return point to ensure the drone returns safely.
- the flight status information may include, but is not limited to, at least one of the following: the remaining power of the UAV's battery, the UAV's accumulated flight time, the UAV's accumulated flight distance, or the UAV's alarm information.
- FIG. 5 is another flowchart of the method for controlling the flight of an unmanned aerial vehicle according to an embodiment of the present application.
- this embodiment provides an implementation manner of controlling the UAV to fly back along the flight trajectory before the communication connection is interrupted in S301 .
- controlling the UAV to fly back along the flight trajectory before the communication connection is interrupted can include:
- control the drone If it is determined according to the second environment image that there is an obstacle on the flight trajectory, control the drone to avoid the obstacle to fly, and after avoiding the obstacle, return to the flight trajectory and continue to fly backwards.
- FIG. 6 is a schematic diagram of a UAV retrospective flight provided by an embodiment of the present application.
- the second environment image can be acquired.
- the position of the drone during the retrospective flight is different, and the obtained second environment image is different.
- determine whether there are obstacles on the flight trajectory according to the second environment image For details, please refer to the above description about determining whether the target space area above the UAV includes obstacles according to the first environment image.
- the UAV is controlled to avoid the obstacle to fly, and after avoiding the obstacle, it returns to the flight path and continues to fly backwards.
- the UAV 60 when the UAV 60 is at position 1, it is determined that there is an obstacle 62 on the flight trajectory according to the obtained second environment image, then it avoids the obstacle 62 to fly, and then returns to fly after avoiding the obstacle 62 Trajectory 61 continues to fly backwards.
- the UAV 60 continues to fly back along the flight trajectory 61.
- the UAV 60 When the UAV 60 is in position 2, it is determined that there is an obstacle 64 on the flight trajectory according to the obtained second environment image, and then the UAV 64 is avoided to fly and avoid the obstacle 64. After the obstacle 64, it returns to the flight path 61 and continues to fly backwards.
- the drone is controlled to avoid obstacles to fly, and after avoiding the obstacles, it returns to the flight track to continue the backtracking flight, which may include:
- the target waypoint is the waypoint where the drone returns to the flight trajectory and continues to fly after avoiding the obstacle.
- FIG. 7 is another schematic diagram of the retrospective flight of the UAV provided by the embodiment of the present application.
- the flight trajectory 71 may include multiple waypoints 72 .
- the target waypoint 75 on the flight trajectory is determined according to the obstacle information and the flight trajectory 71, so as to generate the obstacle avoidance route 74 according to the obstacle information and the target waypoint 75, and along the obstacle avoidance route After 74 flight, control the drone to continue to fly back along the flight path 71.
- 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.
- this embodiment does not limit the obstacle avoidance method used when generating the obstacle avoidance route, and an existing obstacle avoidance method may be used.
- FIG. 8 is another flowchart of the flight control method of the unmanned aerial vehicle provided by the embodiment of the present application.
- the execution subject may be an unmanned aerial vehicle.
- the flight control method of the UAV provided by this embodiment may include:
- the UAV detects that the communication connection with the control device is interrupted
- the UAV is controlled to fly back along the flight trajectory before the communication connection is interrupted. , and check whether the communication connection is restored and whether the return-to-home condition is satisfied during the retrospective flight.
- the drone determines whether the return-to-home condition is satisfied according to the flight status information. If it is judged that the return-to-home condition is satisfied according to the flight status information, the UAV will be directly controlled to fly to the return point. At this time, there is no need to control the UAV to fly back along the flight trajectory before the communication connection is interrupted.
- the flight control method of the drone provided in this embodiment is suitable for the scenario where the communication connection between the drone and the control device is interrupted during the flight of the drone.
- the drone By judging whether the return-to-home condition is met, the drone is controlled to fly according to the judgment result.
- the drone is directly controlled to return and fly to the return point.
- the autonomy of the UAV to solve the problem in the unconnected scenario of the UAV is improved, and the reliability of the UAV flight and the effect of getting out of trouble are improved.
- the method for controlling the flight of an unmanned aerial vehicle may further include:
- control the UAV to fly back along the flight trajectory before the communication connection was interrupted, and detect whether the communication connection is restored.
- the communication connection is not detected, and the drone is controlled to fly to the home point.
- the drone will be controlled to fly in response to the control command of the control device.
- the drone can be controlled to fly back along the flight trajectory before the communication connection was interrupted.
- FIGS. 9A to 9C are schematic diagrams of drone flight according to an embodiment of the present application.
- the UAV 90 when the UAV 90 detects that the communication connection with the control device is interrupted, the UAV 90 is controlled to fly back along the flight trajectory 91 before the communication connection is interrupted, And check whether the communication connection is restored. In this example, the recovery of the communication connection has not been detected.
- the drone flies back to the position 92, it is determined that the return-to-home condition is satisfied, and the drone is controlled to return to the home and fly above the return point 93.
- the UAV 90 when the UAV 90 detects that the communication connection with the control device is interrupted, the UAV 90 is controlled to fly back along the flight trajectory 91 before the communication connection is interrupted. , and check whether the communication connection is restored. In this example, the return-to-home condition has not been met.
- the drone flies back to the position 94, it is detected that the communication connection between the drone and the control device is restored, and the drone 90 is controlled to hover and wait for receiving the control device. control command sent.
- the drone 90 when the drone 90 detects that the communication connection with the control device is interrupted, it is determined whether the return-to-home condition is satisfied. In this example, if it is determined that the return-to-home condition is satisfied, the drone is controlled to return to the home and fly to the top of the return point 93 .
- FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
- the drone provided in this embodiment may include: a memory 1002, a processor 1001, and a transceiver 1003;
- the transceiver 1003 is used to communicate with other devices;
- the memory 1002 is used to store program codes
- the processor 1001 calls the program code, and when the program code is executed, is configured to perform the following operations:
- the UAV During the flight of the UAV, if it is detected that the communication connection between the UAV and the control device of the UAV is interrupted, the UAV is controlled to fly back along the flight trajectory before the communication connection is interrupted, and detecting whether the communication connection is restored;
- the drone If the return-to-home condition is not met and it is detected that the communication connection is restored, the drone is controlled to fly in response to the control command of the control device;
- the drone is controlled to fly to the return point.
- processor 1001 is specifically used for:
- processor 1001 is specifically used for:
- the UAV is controlled to fly upward to a first height, and horizontally fly above the home point at the first height.
- processor 1001 is specifically used for:
- the target space region does not include obstacles.
- the processor 1001 is further configured to:
- the distance is greater than a preset distance, it is determined that the target space area does not include obstacles.
- the processor 1001 is further configured to:
- control the drone to fly horizontally from the current position to the target position, and re-execute the acquisition of the environmental image above the drone and the determination of the unmanned aerial vehicle. Steps to check if the target space area above the aircraft includes obstacles.
- the distance between the current position and the target position is determined according to the physical size information of the obstacle.
- processor 1001 is specifically used for:
- the return-to-home condition includes at least one of the following:
- the distance between the current position of the drone and the waypoint initially recorded in the flight trajectory is less than or equal to a first distance threshold
- the remaining power of the battery of the drone is less than or equal to the preset power
- the cumulative flight time of the drone after take-off is equal to or greater than the preset time
- the cumulative flight distance of the drone after takeoff is equal to or greater than the second distance threshold.
- processor 1001 is specifically used for:
- the UAV is controlled to avoid the obstacle to fly, and after avoiding the obstacle, it returns to the flight path and continues to fly backwards.
- processor 1001 is specifically used for:
- a target waypoint on the flight trajectory is determined according to the obstacle information and the flight trajectory, and the target waypoint is the flight path where the drone returns to the flight trajectory and continues to fly after avoiding the obstacle. point;
- the UAV is controlled to fly along the obstacle avoidance route, and after flying along the obstacle avoidance route, the UAV is controlled to continue to fly back along the flight trajectory.
- the flight trajectory includes multiple waypoints, and the multiple waypoints are the waypoints that the UAV traverses within a preset time period before the communication connection is interrupted.
- the processor 1001 is further configured to:
- the UAV is directly controlled to fly to the return point.
- the step of judging whether the return-to-home condition is met according to the flight status information is performed before the control of the UAV to fly back along the flight trajectory before the communication connection is interrupted, and the return-to-home condition is met. , the step that satisfies the return-to-home condition is not performed.
- the unmanned aerial vehicle provided by this embodiment can implement the flight control method of the unmanned aerial vehicle provided by the embodiment of the present application, and the technical principle and technical effect are similar, and will not be repeated here.
- 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, or a discrete hardware component, which can implement or execute the implementation of the present application.
- a general purpose processor may be a microprocessor or any conventional processor or the like.
- the steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
- the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or may also be a volatile memory (volatile memory), for example Random access memory (RAM).
- Memory is, but is not limited to, 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.
- the memory in this embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and/or data.
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Abstract
提供了一种无人机的飞行控制方法和无人机,其中无人机的飞行控制方法包括:在无人机飞行过程中,若检测到无人机与无人机的控制设备之间的通信连接中断,控制无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测通信连接是否恢复(S301);在回溯飞行过程中判断是否满足返航条件(S302);若未满足返航条件且检测到通信连接恢复,则控制无人机响应控制设备的控制指令飞行(S303);若满足返航条件,则控制无人机飞行至返航点(S304)。此飞行控制方法提升了无人机在失联场景中解决问题的自主性。
Description
本申请实施例涉及无人机技术领域,尤其涉及一种无人机的飞行控制方法和无人机。
无人机在飞行过程中可能出现异常状态,例如,与遥控器断开连接等情况。通常,无人机会在原地等待用户调整遥控器天线的角度恢复连接。这种解决方式导致无人机缺乏自主性,应对异常状况时无人机的脱困效果较差。
发明内容
本申请实施例提供一种无人机的飞行控制方法和无人机,提升了无人机在失联场景中解决问题的自主性。
第一方面,本申请实施例提供一种无人机的飞行控制方法,包括:
在无人机飞行过程中,若检测到所述无人机与所述无人机的控制设备之间的通信连接中断,控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测所述通信连接是否恢复;
在所述回溯飞行过程中判断是否满足返航条件;
若在未满足返航条件且检测到所述通信连接恢复,则控制所述无人机响应所述控制设备的控制指令飞行;
若在满足返航条件时,则控制所述无人机飞行至返航点。
第二方面,本申请实施例提供一种无人机,包括:存储器、处理器和收发器;
所述收发器,用于与其他设备通信;
所述存储器,用于存储程序代码;
所述处理器,调用所述程序代码,当所述程序代码被执行时,用于执行以下操作:
在无人机飞行过程中,若检测到所述无人机与所述无人机的控制设备之 间的通信连接中断,控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测所述通信连接是否恢复;
在所述回溯飞行过程中判断是否满足返航条件;
若在未满足返航条件且检测到所述通信连接恢复,则控制所述无人机响应所述控制设备的控制指令飞行;
若在满足返航条件时,则控制所述无人机飞行至返航点。
第三方面,本申请实施例提供一种计算机可读存储介质,所述可读存储介质中存储计算机程序,所述计算机程序在执行时实现如第一方面提供的方法。
本申请实施例提供一种无人机的飞行控制方法和无人机,适用于无人机飞行过程中与控制设备通信连接中断的场景。通过控制无人机沿通信连接中断前的飞行轨迹回溯飞行,检测通信连接是否恢复以及检测是否满足返航条件,根据检测结果控制无人机的飞行,提升了无人机失联场景中无人机解决问题的自主性。
图1是根据本申请的实施例的无人飞行***的示意性架构图;
图2为本申请实施例提供的应用场景示意图;
图3为本申请实施例提供的无人机的飞行控制方法的一种流程图;
图4为本申请实施例提供的飞行轨迹的示意图;
图5为本申请实施例提供的无人机的飞行控制方法的另一种流程图;
图6为本申请实施例提供的无人机回溯飞行的一个示意图;
图7为本申请实施例提供的无人机回溯飞行的另一个示意图;
图8为本申请实施例提供的无人机的飞行控制方法的另一种流程图;
图9A~9C为本申请实施例提供的无人机飞行的示意图;
图10为本申请实施例提供的无人机的一种结构示意图。
下面结合附图描述本申请实施例。
图1是根据本申请的实施例的无人飞行***的示意性架构图。本实施例 以旋翼无人飞行器为例进行说明。
无人飞行***100可以包括无人飞行器110、显示设备130和控制终端140。其中,无人飞行器110可以包括动力***150、飞行控制***160、机架和承载在机架上的云台120。无人飞行器110可以与控制终端140和显示设备130进行无线通信。其中,无人飞行器110还包括电池(图中未示出),电池为动力***150提供电能。无人飞行器110可以是农业无人机或行业应用无人机,有循环作业的需求。相应的,电池也有循环作业的需求。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂,一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接,用于在无人飞行器110着陆时起支撑作用。
动力***150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152,其中电机152连接在电子调速器151与螺旋桨153之间,电机152和螺旋桨153设置在无人飞行器110的机臂上;电子调速器151用于接收飞行控制***160产生的驱动信号,并根据驱动信号提供驱动电流给电机152,以控制电机152的转速。电机152用于驱动螺旋桨旋转,从而为无人飞行器110的飞行提供动力,该动力使得无人飞行器110能够实现一个或多个自由度的运动。在某些实施例中,无人飞行器110可以围绕一个或多个旋转轴旋转。例如,上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解,电机152可以是直流电机,也可以交流电机。另外,电机152可以是无刷电机,也可以是有刷电机。
飞行控制***160可以包括飞行控制器161和传感***162。传感***162用于测量无人机的姿态信息,即无人飞行器110在空间的位置信息和状态信息,例如,三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit,IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如,全球导航卫星***可以是全球定位***(Global Positioning System,GPS)。飞行控制器161用于控制无人飞行器110的飞行,例如,可以根据传感***162测量的姿态信息控制无人飞行器110的飞行。应理解,飞行控制器161可以按照预先编好的程序指令对无人 飞行器110进行控制,也可以通过响应来自控制终端140的一个或多个遥控信号对无人飞行器110进行控制。
云台120可以包括电机122。云台用于携带负载,负载例如可以是拍摄装置123。飞行控制器161可以通过电机122控制云台120的运动。可选的,作为另一实施例,云台120还可以包括控制器,用于通过控制电机122来控制云台120的运动。应理解,云台120可以独立于无人飞行器110,也可以为无人飞行器110的一部分。应理解,电机122可以是直流电机,也可以是交流电机。另外,电机122可以是无刷电机,也可以是有刷电机。还应理解,云台可以位于无人飞行器的顶部,也可以位于无人飞行器的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备,拍摄装置123可以与飞行控制器通信,并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件,该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor,CMOS)传感器或电荷耦合元件(Charge-coupled Device,CCD)传感器。可以理解,拍摄装置123也可直接固定于无人飞行器110上,从而云台120可以省略。
显示设备130位于无人飞行***100的地面端,可以通过无线方式与无人飞行器110进行通信,并且可以用于显示无人飞行器110的姿态信息。另外,还可以在显示设备130上显示拍摄装置123拍摄的图像。应理解,显示设备130可以是独立的设备,也可以集成在控制终端140中。
控制终端140位于无人飞行***100的地面端,可以通过无线方式与无人飞行器110进行通信,用于对无人飞行器110进行远程操纵。
应理解,上述对于无人飞行***各组成部分的命名仅是出于标识的目的,并不应理解为对本申请的实施例的限制。
图2为本申请实施例提供的应用场景示意图,如图2所示,图2中示出了无人飞行器201、无人飞行器的控制终端202。无人飞行器201的控制终端202可以是遥控器、智能手机、台式电脑、膝上型电脑、穿戴式设备(手表、手环)中的一种或多种。本申请实施例以控制终端202为遥控器2021和终端设备2022为例来进行示意性说明。该终端设备2022例如是智能手机、可穿戴设备、平板电脑等,但本申请实施例并限于此。
其中,遥控器2021可以与无人飞行器201进行通信,用户可以通过操纵 遥控器上的控制杆来控制无人飞行器201的飞行状态,控制杆一般分为俯仰控制杆、偏航控制杆、横滚控制杆和油门控制杆,分别控制飞机前后飞、转航向、左右飞和上下飞,且各方向的杆量都相互独立,控制解耦。遥控器2021上可以设置4个实体的控制杆,也就是俯仰控制杆、偏航控制杆、横滚控制杆和油门控制杆分别为4个物理上相互独立的控制杆;或者,遥控器2021上可以设置2个实体的控制杆,每个实体的控制杆可以实现两种控制杆的功能,遥控器2021上具体设置几个实体的控制杆,本实施例不做限定。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
图3为本申请实施例提供的无人机的飞行控制方法的一种流程图。本实施例提供的无人机的飞行控制方法,执行主体可以为无人机。如图3所示,本实施例提供的无人机的飞行控制方法,可以包括:
S301、在无人机飞行过程中,若检测到无人机与无人机的控制设备之间的通信连接中断,控制无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测通信连接是否恢复。
具体的,无人机在飞行过程中需要检测与无人机的控制设备之间的通信连接是否中断。如果中断,说明无人机当前位置的通信环境较差,比如信号被遮挡,或者无人机与控制设备之间的距离较远等,此时,控制无人机沿着通信连接中断前的飞行轨迹回溯飞行,并且在回溯飞行的过程中检测与控制设备之间的通信连接是否恢复。
通过沿着飞行轨迹往回飞,相比于现有技术中无人机在原地等待,提升了无人机与控制设备恢复通信连接的成功率,提升了无人机在与控制设备通信中断的场景中解决问题的自主性,提升了脱困效果。
其中,本实施例对检测通信连接是否中断的方法不做限定。可选的,无人机可以周期性向控制设备发送检测信号,相应的,会周期性接收控制设备发送的应答信号。如果在时间段T1内持续没有接收到控制设备发送的应答信号,则可以确定无人机与控制设备之间的通信连接中断。其中,本实施例对 检测周期不做限定,可以根据无人机的类型、无人机的飞行环境进行设置。例如,无人机在树林中遮挡物较多的场景中,可以设置较小的检测周期。而在遮挡物较少的场景中,可以设置较大的检测周期。可选的,控制设备可以周期性向无人机发送检测信号,相应的,无人机周期性向控制设备发送应答信号。
其中,本实施例对检测通信连接是否恢复的方法不做限定。可选的,无人机可以周期性向控制设备发送检测信号。如果在时间段T2内持续接收到控制设备发送的应答信号,则可以确定无人机与控制设备之间的通信连接恢复。
可选的,飞行轨迹可以包括多个航点,多个航点为无人机在通信连接中断前的预设时间段内历经的航点。本实施例对预设时间段的具体取值不做限定。可选的,预设时间段可以与无人机记录航点的方式相关。
下面结合图4对飞行轨迹进行示例性说明,但图4并不对飞行轨迹形成限定。
如图4所示,左侧竖线表示无人机的起飞位置,右侧竖线表示无人机检测到与控制设备之间的通信连接中断的当前位置,可以称为失联位置。黑色实心圆形表示无人机记录的航点。在示例1中,从起飞位置开始无人机就记录航点,因此,通信连接中断前的飞行轨迹可以为轨迹1,飞行轨迹包括了9个航点,预设时间段为从失联位置到起飞位置之间无人机飞行的整个时间段。在示例2中,无人机在飞行过程中更新记录当前时刻之前无人机历经的预设数值个航点,比如5个。因此,通信连接中断前的飞行轨迹可以为轨迹2,飞行轨迹包括了5个航点。在示例3中,无人机可以将历经的航点分段记录,形成不同的轨迹。因此,通信连接中断前的飞行轨迹可以为轨迹4,飞行轨迹包括了4个航点。
需要说明的是,本实施例对两个航点之间的间隔不做限定。可选的,相邻两个航点之间的时间间隔相同。可选的,相邻两个航点之间的距离相同。可选的,可以根据无人机的飞行环境调整相邻两个航点之间的间隔。例如,在地势平坦的区域中飞行时,两个航点之间的时间间隔或距离间隔可以较大。而在山地、峡谷、树林等遮挡物或障碍物较多的场景中,两个航点之间的时间间隔或距离间隔可以较小。
可选的,航点可以对应有标识信息,标识信息可以唯一区分不同的航点。 例如,在图4的示例1中,9个航点的标识信息可以分别为1~9。在图4的示例3中,轨迹3包括5个航点,标识信息可以分别为1~5,轨迹4包括4个航点,标识信息可以分别为6~9。
S302、在回溯飞行过程中判断是否满足返航条件。
根据判断结果后续执行S303或S304。
S303、在未满足返航条件且检测到通信连接恢复,则控制无人机响应控制设备的控制指令飞行。
S304、若在满足返航条件时,则控制无人机飞行至返航点。
具体的,在无人机沿着通信连接中断前的飞行轨迹回溯飞行的过程中,还可以检测是否满足返航条件,根据是否满足返航条件以及无人机与控制设备之间的通信连接是否恢复,控制无人机的飞行。本实施例对检测是否满足返航条件以及检测通信连接是否恢复的执行顺序不做限定。比如,可以同时执行。又比如,分别按照各自的检测周期进行周期检测,本实施例对检测周期不做限定。
其中,在一个场景中,如果无人机与控制设备之间的通信连接没有恢复,无人机仍然处于失联状态。如果满足了返航条件,则控制无人机返航,飞行至返航点。
在另一个场景中,如果检测到无人机与控制设备之间的通信连接恢复,那么无人机后续就可以根据控制设备发送的控制指令进行飞行。而且,如果还没有满足返航条件,则控制无人机响应控制设备的控制指令飞行。
基于上述实施例的方案,可以减少无人机与控制设备断联后原地等待期间的不确定因素,提升无人机脱困的自主性。
在一种方案中,确定断联后直接返回返航点,虽然无人机在返回返航点,重新与遥控设备建立通信联系,如果需要继续飞行任务,需要重新飞行前序航段。这无形增加了飞行任务的完成成本。
另外无人机在远距离飞行,无人机与控制设备之间的通信经常会受到障碍物遮挡,导致信号质量不佳,甚至经常断联,但是若断联后直接返回返航点,相当于结束了本次飞行任务,若是在执行航拍任务,可能就是无法让用户尽情的完成航拍任务,若是在执行飞行体验任务(例如,通过无人机的FPV画面回传,让用户以FPV视角体验飞行),可能就无法让用户尽情体验玩无 人机的乐趣。
基于上述实施例的方案,断连后先控制无人机回溯飞行,并且检测通讯连接是否重新建立,可以一定程度上提升找回通信信号的可能性,继而,若在达到预设返航条件前重新建立通信连接,可以减少继续完成飞行任务所付出的成本,从而保证飞行安全,也又平衡的飞行的成本。
在一种可选的实施方案中,可以在断联后增加电量判断的步骤,例如:在无人机飞行过程中,若检测到所述无人机与所述无人机的控制设备之间的通信连接中断,检测所述无人机的电量是否低于预设电量阈值,
若电量未低于预设电量阈值,控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测所述通信连接是否恢复;若在满足返航条件时,未检测到所述通信连接恢复,则控制所述无人机飞行至返航点;若在未满足返航条件时,检测到所述通信连接恢复,则控制所述无人机响应所述控制设备的控制指令飞行;
若电量低于预设电量阈值,则控制所述无人机飞行至返航点。
这样,可以在无人机电量仍然充足的情况下,侧重于让无人机自主脱困,对异常状态给与一定的容忍度,使飞行任务更好的完成。而在无人机电量不够充足的情况下,控制所述无人机飞行至返航点,可以保证无人机的飞行安全性。相较于简单的执行单一的返航控制策略,本实施例能够未提升无人机在自主处理复杂异常状态的灵活度。
可选的,本实施例提供的无人机的飞行控制方法,还可以包括:
若检测到通信连接恢复且满足返航条件时,控制无人机响应控制设备的控制指令飞行。
在该场景中,由于检测到无人机与控制设备之间的通信连接已经恢复,那么无人机后续就可以根据控制设备发送的控制指令进行飞行。即使也满足了返航条件,但是通过控制无人机响应控制设备的控制指令飞行,提升了无人机飞行的可靠性。
其中,本实施例对返航点不做限定。例如,返航点可以为预先设定的位置点。又例如,返航点可以为无人机的起飞点。
可见,本实施例提供的无人机的飞行控制方法,适用于无人机飞行过程中与控制设备通信连接中断的场景。通过控制无人机沿通信连接中断前的飞 行轨迹回溯飞行,检测通信连接是否恢复以及检测是否满足返航条件,根据检测结果控制无人机的飞行,提升了无人机失联场景中无人机解决问题的自主性,提升了无人机飞行的可靠性和脱困效果。
可选的,返航条件可以包括下列中的至少一项:
无人机的当前位置与飞行轨迹中起始记录的航点之间的距离小于或等于第一距离阈值。
无人机的电池的剩余电量小于或等于预设电量。
无人机在起飞后的累计飞行时间等于或大于预设时长。
无人机在起飞后的累计飞行距离等于或大于第二距离阈值。
其中,本实施例对第一距离阈值、预设电量、预设时长和第二距离阈值的具体取值不做限定。
下面结合图4,对无人机的当前位置与飞行轨迹中起始记录的航点之间的距离进行示例性说明。在示例1中,飞行轨迹中起始记录的航点为航点1,无人机的当前位置与飞行轨迹中起始记录的航点之间的距离为失联位置与航点1之间的距离。在示例2中,飞行轨迹中起始记录的航点为轨迹2中的航点1,无人机的当前位置与飞行轨迹中起始记录的航点之间的距离为失联位置与轨迹2中航点1之间的距离。在示例3中,无人机的当前位置与飞行轨迹中起始记录的航点之间的距离为失联位置与轨迹4中航点6之间的距离。
可选的,S303中,控制无人机响应控制设备的控制指令飞行,可以包括:
控制无人机悬停,并等待接收控制设备发送的控制指令。
通过控制无人机在原地等待接收控制设备发送的控制指令,后续,无人机可以根据控制指令进行飞行,提升了无人机飞行的可靠性。
可选的,S304中,控制无人机飞行至返航点,可以包括:
获取无人机上方的第一环境影像。
根据第一环境影像确定无人机上方的目标空间区域是否包括障碍物。
若目标空间区域不包括障碍物,则控制无人机向上飞行至第一高度,并在第一高度上水平飞行至返航点上方。
具体的,无人机在飞行过程中,其自身配置的摄像装置可以拍摄到无人机所处飞行环境内的环境影像。当无人机返航时,无人机可以悬停在当前位置,通过摄像装置拍摄得到无人机上方的第一环境图像。其中,本实施例对 摄像装置的类型和安装位置不做限定。例如,摄像装置可以包括下列中的至少一个:单目摄像头、双目摄像头或红外摄像头。可选的,摄像装置可以安装在云台上,此时,摄像装置的上视功能可以借助云台实现。获取第一环境影像后,根据第一环境影像确定无人机上方的目标空间区域是否包括障碍物。如果不包括障碍物,说明无人机可以顺利直线飞行返航,则控制无人机向上飞行至第一高度,并在第一高度上水平飞行至返航点上方。
其中,本实施例对第一高度的具体取值不做限定。
可选的,获取无人机上方的第一环境影像,可以包括:
控制无人机配置的云台转动,以使云台装载的感测装置的观测范围包括无人机的上方区域。
获取感测装置拍摄的第一环境影像。
可选的,根据第一环境影像确定无人机上方的目标空间区域是否包括障碍物,可以包括:
对第一环境影像进行语义识别处理得到第一环境影像中像素区域对应的语义类别。
判断第一环境影像中是否存在语义类别属于预设障碍物类别的像素区域。
若不存在语义类别属于预设障碍物类别的像素区域,则确定目标空间区域不包括障碍物。
其中,本实施例对预设障碍物类别不做限定。例如,可以根据无人机飞行区域中的物体类别进行设置。
可选的,对第一环境影像进行语义识别处理得到第一环境影像中像素区域对应的语义类别,可以借助神经网络模型来完成。
具体来说,神经网络模型具体可以为卷积神经网络(Convolutional Neural Networks,CNN)模型。神经网络模型可以包括多个计算节点,每个计算节点中可以包括卷积(Conv)层、批量归一化(Batch Normalization,BN)以及激活函数ReLU,计算节点之间可以采用跳跃连接(Skip Connection)方式连接。
K×H×W的输入数据可以输入神经网络模型,经过神经网络模型处理后,可以获得C×H×W的输出数据。其中,K可以表示输入通道的个数,K可以等于4,分别对应红(R,red)、绿(G,green)、蓝(B,blue)和深度 (D,deep)共四个通道;H可以表示输入图像(即第一环境影像)的高,W可以表示输入图像的宽,C可以表示类别数。
需要说明的是,当输入图像过大时,可以将一个输入图像切割为N个子图像,相应的,输入数据可以为N×K×H’×W’,输出数据可以为N×C×H’×W’,其中,H’可以表示子图像的高,W’可以表示子图像的宽。当然,在其他实施例中,也可以通过其他方式获得特征图,本实施例对此不做限定。
利用上述预先训练好的神经网络模型处理第一环境影像,以得到特征图,具体来说可以包括如下步骤:
步骤1,将第一环境影像输入神经网络模型,得到神经网络模型的模型输出结果。
其中,神经网络模型的模型输出结果可以包括多个输出通道分别输出的置信度特征图,该多个输出通道可以与多个对象类别一一对应,单个对象类别的置信度特征图的像素值用于表征像素是对象类别的概率。
步骤2,根据神经网络模型的模型输出结果,得到包含语义信息的特征图。
可以将与该多个输出通道一一对应的多个置信度特征图中同一像素位置像素值最大的置信度特征图对应的对象类别,作为像素位置的对象类别,从而得到特征图。
假设,神经网络模型的输出通道的个数为4,每个通道的输出结果是一个置信度特征图,即4个置信度特征图分别为置信度特征图1至置信度特征图4,且置信度特征图1对应天空、置信度特征图2对应建筑物、置信度特征图3对应树木、置信度特征图4对应“其他”。在这几种分类中,除了天空,剩余都可以认为是障碍物。
例如,当置信度特征图1中像素位置(100,100)的像素值是70,置信度特征图2中像素位置(100,100)的像素值是50,置信度特征图3中像素位置(100,100)的像素值是20,置信度特征图4中像素位置(100,100)的像素值是20时,可以确定像素位置(100,100)是天空。
又例如,当置信度特征图1中像素位置(100,80)的像素值是20,置信度特征图2中像素位置(100,80)的像素值是30,置信度特征图3中像素位 置(100,80)的像素值是20,置信度特征图4中像素位置(100,80)的像素值是70时,可以确定像素位置(100,80)是其他,即不是树木、建筑物和树木中的任意一种。
可见,上述这种识别实际上是像素级别的,也即是识别出第一环境影像中每个像素点所属的类别,也即是识别出第一环境影像中各物体所属的类别,同时也是间接确定出各物体在第一环境影像中的位置。
若识别出第一环境影像中没有障碍物,则无人机可以向上飞行并水平飞行至返航点上方。
可选的,本实施例提供的无人机的飞行控制方法,还可以包括:
若存在语义类别属于预设障碍物类别的像素区域,则获取像素区域对应的实景物体与无人机之间的距离。
若距离大于预设距离,则确定目标空间区域不包括障碍物。
具体的,如果识别出第一环境影像中存在属于预设障碍物类别的像素区域,则进一步获取像素区域对应的实景物体与无人机之间的距离,根据该距离确定此障碍物是否影响无人机的返航。如果该距离大于预设距离,说明此障碍物不影响无人机的返航,则可以确定目标空间区域不包括障碍物。
其中,本实施例对预设距离的具体取值不做限定。
可选的,本实施例提供的无人机的飞行控制方法,还可以包括:
若距离小于或等于预设距离,则控制无人机由当前位置水平飞行至目标位置,并重新执行获取无人机上方的环境影像和确定无人机上方的目标空间区域是否包括障碍物的步骤。
具体的,如果识别出第一环境影像中存在属于预设障碍物类别的像素区域,则进一步获取像素区域对应的实景物体与无人机之间的距离,根据该距离确定此障碍物是否影响无人机的返航。如果该距离小于或等于预设距离,说明此障碍物影响无人机的返航,则可以确定目标空间区域包括障碍物,控制无人机由当前位置水平飞行至目标位置,在位置移动后重新执行获取无人机上方的环境影像和确定无人机上方的目标空间区域是否包括障碍物的步骤。
可选的,在一种实现方式中,无人机的当前位置与目标位置之间的距离可以为固定距离,本实施例对该固定距离的具体取值不做限定。
可选的,在另一种实现方式中,无人机的当前位置与目标位置之间的距 离是根据障碍物的物理尺寸信息确定的。通过障碍物的物理尺寸信息确定无人机水平飞行的距离,更好的躲避了障碍物,降低了目标位置上方存在障碍物的概率,提升了返航飞行效率。
可选的,本实施例提供的无人机的飞行控制方法,还可以包括:
获取无人机的飞行状态信息。
根据飞行状态信息判断是否满足返航条件。
若满足返航条件,则直接控制无人机飞行至返航点。
具体的,在无人机飞行过程中的任意时间,均可以获取无人机的飞行状态信息,根据飞行状态信息判断是否满足返航条件。在满足返航条件时,可以直接控制无人机飞行至返航点,确保无人机安全返航。
可选的,本实施例对飞行状态信息包括的具体内容不做限定。例如,飞行状态信息可以包括但不限于下列中的至少一项:无人机的电池的剩余电量、无人机的累计飞行时间、无人机的累计飞行距离,或无人机的告警信息。
图5为本申请实施例提供的无人机的飞行控制方法的另一种流程图。本实施例在上述图3所示实施例的基础上,提供了S301中控制无人机沿通信连接中断前的飞行轨迹回溯飞行的一种实现方式。如图5所示,控制无人机沿通信连接中断前的飞行轨迹回溯飞行,可以包括:
S501、获取无人机在回溯飞行中得到的第二环境影像。
S502、若根据第二环境影像确定飞行轨迹上存在障碍物,则控制无人机躲避障碍物飞行,并在避开障碍物后返回飞行轨迹继续回溯飞行。
下面结合图6进行示例性说明。图6为本申请实施例提供的无人机回溯飞行的一个示意图。如图6所示,无人机60在沿着飞行轨迹61回溯飞行时,可以获取到第二环境影像。无人机获取第二环境影像可以参见上述关于无人机获取第一环境影像的相关描述,原理相似,此处不再赘述,不同之处在于摄像装置的视野范围可能不同。无人机回溯飞行中所处的位置不同,获得的第二环境影像不同。在获取第二环境影像后,根据第二环境影像确定飞行轨迹上是否存在障碍物,具体可以参见上述关于根据第一环境影像确定无人机上方的目标空间区域是否包括障碍物的相关描述,原理相似,此处不再赘述。如果根据第二环境影像确定飞行轨迹上存在障碍物,则控制无人机躲避障碍 物飞行,并在避开障碍物后返回飞行轨迹继续回溯飞行。例如,在图6中,当无人机60处于位置1时,根据得到的第二环境影像确定飞行轨迹上存在障碍物62,则避开障碍物62飞行,并避开障碍物62后返回飞行轨迹61继续回溯飞行。无人机60继续沿着飞行轨迹61回溯飞行,当无人机60处于位置2时,根据得到的第二环境影像确定飞行轨迹上存在障碍物64,则避开障碍物64飞行,并避开障碍物64后返回飞行轨迹61继续回溯飞行。
可选的,S502中,控制无人机躲避障碍物飞行,并在避开障碍物后返回飞行轨迹继续回溯飞行,可以包括:
获取障碍物的障碍物信息。
根据障碍物信息和飞行轨迹确定飞行轨迹上的目标航点,目标航点为无人机避开障碍物后返回至飞行轨迹继续飞行的航点。
根据障碍物信息和目标航点生成避障路线。
控制无人机沿避障路线飞行,并在沿避障路线飞行后控制无人机继续沿飞行轨迹回溯飞行。
下面结合图7进行示例性说明。图7为本申请实施例提供的无人机回溯飞行的另一个示意图。如图7所示,无人机70在沿着飞行轨迹71回溯飞行时,根据得到的第二环境影像确定飞行轨迹71上存在障碍物73,则需要避开障碍物73飞行,并在避开障碍物73后返回飞行轨迹71继续回溯飞行。其中,飞行轨迹71可以包括多个航点72。通过获取障碍物73的障碍物信息,根据障碍物信息和飞行轨迹71确定飞行轨迹上的目标航点75,从而根据障碍物信息和目标航点75生成避障路线74,在沿着避障路线74飞行后控制无人机继续沿飞行轨迹71回溯飞行。
可选的,本实施例对障碍物信息包括的具体内容不做限定。例如,障碍物信息可以包括但不限于下列中的至少一项:障碍物信息的物理尺寸信息和障碍物信息的类别。
通过生成避障路线实现了无人机回溯飞行过程中的飞行轨迹修正,通过小幅修正飞行轨迹,提升了无人机回溯飞行的安全性和可靠性。
需要说明,本实施例对生成避障路线时采用的避障方法不做限定,可以采用现有的避障方法。
图8为本申请实施例提供的无人机的飞行控制方法的另一种流程图。本实施例提供的无人机的飞行控制方法,执行主体可以为无人机。如图8所示,本实施例提供的无人机的飞行控制方法,可以包括:
S801、在无人机飞行过程中,若检测到无人机与无人机的控制设备之间的通信连接中断,则获取无人机的飞行状态信息。
S802、根据飞行状态信息判断是否满足返航条件。
S803、若满足返航条件,则直接控制无人机飞行至返航点。
本实施例与图3所示实施例的区别在于:在图3所示实施例中,无人机检测到与控制设备通信连接中断后,控制无人机沿通信连接中断前的飞行轨迹回溯飞行,在回溯飞行的过程中检测通信连接是否恢复以及检测是否满足返航条件。而在本实施例中,无人机检测到与控制设备通信连接中断后,根据飞行状态信息判断是否满足返航条件。如果根据飞行状态信息判断满足返航条件,则直接控制无人机飞行至返航点,此时,不需要执行控制无人机沿通信连接中断前的飞行轨迹回溯飞行。
可见,本实施例提供的无人机的飞行控制方法,适用于无人机飞行过程中无人机与控制设备通信连接中断的场景。通过判断是否满足返航条件,根据判断结果控制无人机的飞行。当确定满足返航条件时,则直接控制无人机返航,飞行至返航点。相比于现有技术中无人机在原地等待,提升了无人机失联场景中无人机解决问题的自主性,提升了无人机飞行的可靠性和脱困效果。
可选的,本实施例提供的无人机的飞行控制方法,还可以包括:
若不满足返航条件,则控制无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测通信连接是否恢复。
若在满足返航条件时,未检测到通信连接恢复,则控制无人机飞行至返航点。
若在未满足返航条件时,检测到通信连接恢复,则控制无人机响应控制设备的控制指令飞行。
在该种实现方式中,如果无人机失联时不满足返航条件,则可以控制无人机沿通信连接中断前的飞行轨迹回溯飞行。可以参见图3所示实施例中S301~S304的相关描述,而且后续飞行过程也可以参见图3所示实施例,原 理相似,此处不再赘述。
下面,在上述图3~图8所示实施例的基础上,通过图9A~9C对无人机的飞行效果进行示例性说明。图9A~9C为本申请实施例提供的无人机飞行的示意图。
可选的,在一个示例中,如图9A所示,当无人机90检测到与控制设备之间的通信连接中断时,控制无人机90沿通信连接中断前的飞行轨迹91回溯飞行,并检测通信连接是否恢复。在该示例中,一直未检测到通信连接恢复,当无人机回溯飞行至位置92时,确定满足返航条件,则则控制无人机返航,飞行至返航点93的上方。
可选的,在另一个示例中,如图9B所示,当无人机90检测到与控制设备之间的通信连接中断时,控制无人机90沿通信连接中断前的飞行轨迹91回溯飞行,并检测通信连接是否恢复。在该示例中,一直未满足返航条件,当无人机回溯飞行至位置94时,检测到无人机与控制设备之间的通信连接恢复,则控制无人机90悬停,等待接收控制设备发送的控制指令。
可选的,在又一个示例中,如图9C所示,当无人机90检测到与控制设备之间的通信连接中断时,判断是否满足返航条件。在该示例中,确定满足返航条件,则控制无人机返航,飞行至返航点93的上方。
图10为本申请实施例提供的无人机的一种结构示意图。如图10所示,本实施例提供的无人机,可以包括:存储器1002、处理器1001和收发器1003;
所述收发器1003,用于与其他设备通信;
所述存储器1002,用于存储程序代码;
所述处理器1001,调用所述程序代码,当所述程序代码被执行时,用于执行以下操作:
在无人机飞行过程中,若检测到所述无人机与所述无人机的控制设备之间的通信连接中断,控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测所述通信连接是否恢复;
在所述回溯飞行过程中判断是否满足返航条件;
若在未满足返航条件且检测到所述通信连接恢复,则控制所述无人机响 应所述控制设备的控制指令飞行;
若在满足返航条件时,则控制所述无人机飞行至返航点。
可选的,所述处理器1001具体用于:
控制所述无人机悬停,并控制所述收发器1003等待接收所述控制设备发送的所述控制指令。
可选的,所述处理器1001具体用于:
获取所述无人机上方的第一环境影像;
根据所述第一环境影像确定所述无人机上方的目标空间区域是否包括障碍物;
若所述目标空间区域不包括障碍物,则控制所述无人机向上飞行至第一高度,并在所述第一高度上水平飞行至所述返航点上方。
可选的,所述处理器1001具体用于:
对所述第一环境影像进行语义识别处理得到所述第一环境影像中像素区域对应的语义类别;
判断所述第一环境影像中是否存在语义类别属于预设障碍物类别的像素区域;
若不存在语义类别属于预设障碍物类别的像素区域,则确定所述目标空间区域不包括障碍物。
可选的,所述处理器1001还用于:
若存在语义类别属于预设障碍物类别的像素区域,则获取所述像素区域对应的实景物体与所述无人机之间的距离;
若所述距离大于预设距离,则确定所述目标空间区域不包括障碍物。
可选的,所述处理器1001还用于:
若所述距离小于或等于所述预设距离,则控制所述无人机由当前位置水平飞行至目标位置,并重新执行所述获取所述无人机上方的环境影像和确定所述无人机上方的目标空间区域是否包括障碍物的步骤。
可选的,所述当前位置与所述目标位置之间的距离是根据所述障碍物的物理尺寸信息确定的。
可选的,所述处理器1001具体用于:
控制所述无人机配置的云台转动,以使所述云台装载的感测装置的观测 范围包括所述无人机的上方区域;
获取所述感测装置拍摄的所述第一环境影像。
可选的,所述返航条件包括下列中的至少一项:
所述无人机的当前位置与所述飞行轨迹中起始记录的航点之间的距离小于或等于第一距离阈值;
所述无人机的电池的剩余电量小于或等于预设电量;
所述无人机在起飞后的累计飞行时间等于或大于预设时长;
所述无人机在起飞后的累计飞行距离等于或大于第二距离阈值。
可选的,所述处理器1001具体用于:
获取所述无人机在回溯飞行中得到的第二环境影像;
若根据所述第二环境影像确定所述飞行轨迹上存在障碍物,则控制所述无人机躲避障碍物飞行,并在避开障碍物后返回所述飞行轨迹继续回溯飞行。
可选的,所述处理器1001具体用于:
获取所述障碍物的障碍物信息;
根据所述障碍物信息和所述飞行轨迹确定所述飞行轨迹上的目标航点,所述目标航点为所述无人机避开所述障碍物后返回至所述飞行轨迹继续飞行的航点;
根据所述障碍物信息和所述目标航点生成避障路线;
控制所述无人机沿所述避障路线飞行,并在沿所述避障路线飞行后控制所述无人机继续沿所述飞行轨迹回溯飞行。
可选的,所述飞行轨迹包括多个航点,所述多个航点为所述无人机在通信连接中断前的预设时间段内历经的航点。
可选的,所述处理器1001还用于:
获取所述无人机的飞行状态信息;
根据所述飞行状态信息判断是否满足所述返航条件;
若满足所述返航条件,则直接控制所述无人机飞行至返航点。
可选的,所述根据所述飞行状态信息判断是否满足所述返航条件的步骤在所述控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行之前执行,且在满足所述返航条件时,不执行所述满足所述返航条件的步骤。
本实施例提供的无人机,可以执行本申请实施例提供的无人机的飞行控 制方法,技术原理和技术效果相似,此处不再赘述。
应理解,处理器可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件,可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成,或者用处理器中的硬件及软件模块组合执行完成。
在本申请实施例中,存储器可以是非易失性存储器,比如硬盘(hard disk drive,HDD)或固态硬盘(solid-state drive,SSD)等,还可以是易失性存储器(volatile memory),例如随机存取存储器(random access memory,RAM)。存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何介质,但不限于此。本申请实施例中的存储器还可以是电路或者其它任意能够实现存储功能的装置,用于存储程序指令和/或数据。
本领域普通技术人员可以理解:实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时,执行包括上述各方法实施例的步骤;而前述的存储介质包括:ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上各实施例仅用以说明本申请实施例的技术方案,而非对其限制;尽管参照前述各实施例对本申请实施例进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请实施例技术方案的范围。
Claims (29)
- 一种无人机的飞行控制方法,其特征在于,包括:在无人机飞行过程中,若检测到所述无人机与所述无人机的控制设备之间的通信连接中断,控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测所述通信连接是否恢复;在所述回溯飞行过程中判断是否满足返航条件;若在未满足返航条件且检测到所述通信连接恢复,则控制所述无人机响应所述控制设备的控制指令飞行;若在满足返航条件时,则控制所述无人机飞行至返航点。
- 根据权利要求1所述的方法,其特征在于,所述控制所述无人机响应所述控制设备的控制指令飞行,包括:控制所述无人机悬停,并等待接收所述控制设备发送的所述控制指令。
- 根据权利要求1所述的方法,其特征在于,所述控制所述无人机飞行至返航点,包括:获取所述无人机上方的第一环境影像;根据所述第一环境影像确定所述无人机上方的目标空间区域是否包括障碍物;若所述目标空间区域不包括障碍物,则控制所述无人机向上飞行至第一高度,并在所述第一高度上水平飞行至所述返航点上方。
- 根据权利要求3所述的方法,其特征在于,所述根据所述第一环境影像确定所述无人机上方的目标空间区域是否包括障碍物,包括:对所述第一环境影像进行语义识别处理得到所述第一环境影像中像素区域对应的语义类别;判断所述第一环境影像中是否存在语义类别属于预设障碍物类别的像素区域;若不存在语义类别属于预设障碍物类别的像素区域,则确定所述目标空间区域不包括障碍物。
- 根据权利要求4所述的方法,其特征在于,还包括:若存在语义类别属于预设障碍物类别的像素区域,则获取所述像素区域对应的实景物体与所述无人机之间的距离;若所述距离大于预设距离,则确定所述目标空间区域不包括障碍物。
- 根据权利要求5所述的方法,其特征在于,还包括:若所述距离小于或等于所述预设距离,则控制所述无人机由当前位置水平飞行至目标位置,并重新执行所述获取所述无人机上方的环境影像和确定所述无人机上方的目标空间区域是否包括障碍物的步骤。
- 根据权利要求6所述的方法,其特征在于,所述当前位置与所述目标位置之间的距离是根据所述障碍物的物理尺寸信息确定的。
- 根据权利要求3-7任一项所述的方法,其特征在于,所述获取所述无人机上方的第一环境影像,包括:控制所述无人机配置的云台转动,以使所述云台装载的感测装置的观测范围包括所述无人机的上方区域;获取所述感测装置拍摄的所述第一环境影像。
- 根据权利要求1-7任一项所述的方法,其特征在于,所述返航条件包括下列中的至少一项:所述无人机的当前位置与所述飞行轨迹中起始记录的航点之间的距离小于或等于第一距离阈值;所述无人机的电池的剩余电量小于或等于预设电量;所述无人机在起飞后的累计飞行时间等于或大于预设时长;所述无人机在起飞后的累计飞行距离等于或大于第二距离阈值。
- 根据权利要求1-7任一项所述的方法,其特征在于,所述控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,包括:获取所述无人机在回溯飞行中得到的第二环境影像;若根据所述第二环境影像确定所述飞行轨迹上存在障碍物,则控制所述无人机躲避障碍物飞行,并在避开障碍物后返回所述飞行轨迹继续回溯飞行。
- 根据权利要求10所述的方法,其特征在于,所述控制所述无人机躲避障碍物飞行,并在避开障碍物后返回所述飞行轨迹继续回溯飞行,包括:获取所述障碍物的障碍物信息;根据所述障碍物信息和所述飞行轨迹确定所述飞行轨迹上的目标航点,所述目标航点为所述无人机避开所述障碍物后返回至所述飞行轨迹继续飞行的航点;根据所述障碍物信息和所述目标航点生成避障路线;控制所述无人机沿所述避障路线飞行,并在沿所述避障路线飞行后控制所述无人机继续沿所述飞行轨迹回溯飞行。
- 根据权利要求1-7任一项所述的方法,其特征在于,所述飞行轨迹包括多个航点,所述多个航点为所述无人机在通信连接中断前的预设时间段内历经的航点。
- 根据权利要求1-7任一项所述的方法,其特征在于,还包括:获取所述无人机的飞行状态信息;根据所述飞行状态信息判断是否满足所述返航条件;若满足所述返航条件,则直接控制所述无人机飞行至返航点。
- 根据权利要求13所述的方法,其特征在于,所述根据所述飞行状态信息判断是否满足所述返航条件的步骤在所述控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行之前执行,且在满足所述返航条件时,不执行所述满足所述返航条件的步骤。
- 一种无人机,其特征在于,包括:存储器、处理器和收发器;所述收发器,用于与其他设备通信;所述存储器,用于存储程序代码;所述处理器,调用所述程序代码,当所述程序代码被执行时,用于执行以下操作:在无人机飞行过程中,若检测到所述无人机与所述无人机的控制设备之间的通信连接中断,控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行,并检测所述通信连接是否恢复;在所述回溯飞行过程中判断是否满足返航条件;若在未满足返航条件且检测到所述通信连接恢复,则控制所述无人机响应所述控制设备的控制指令飞行;若在满足返航条件时,则控制所述无人机飞行至返航点。
- 根据权利要求15所述的无人机,其特征在于,所述处理器具体用于:控制所述无人机悬停,并控制所述收发器等待接收所述控制设备发送的所述控制指令。
- 根据权利要求15所述的无人机,其特征在于,所述处理器具体用于:获取所述无人机上方的第一环境影像;根据所述第一环境影像确定所述无人机上方的目标空间区域是否包括障碍物;若所述目标空间区域不包括障碍物,则控制所述无人机向上飞行至第一高度,并在所述第一高度上水平飞行至所述返航点上方。
- 根据权利要求17所述的无人机,其特征在于,所述处理器具体用于:对所述第一环境影像进行语义识别处理得到所述第一环境影像中像素区域对应的语义类别;判断所述第一环境影像中是否存在语义类别属于预设障碍物类别的像素区域;若不存在语义类别属于预设障碍物类别的像素区域,则确定所述目标空间区域不包括障碍物。
- 根据权利要求18所述的无人机,其特征在于,所述处理器还用于:若存在语义类别属于预设障碍物类别的像素区域,则获取所述像素区域对应的实景物体与所述无人机之间的距离;若所述距离大于预设距离,则确定所述目标空间区域不包括障碍物。
- 根据权利要求19所述的无人机,其特征在于,所述处理器还用于:若所述距离小于或等于所述预设距离,则控制所述无人机由当前位置水平飞行至目标位置,并重新执行所述获取所述无人机上方的环境影像和确定所述无人机上方的目标空间区域是否包括障碍物的步骤。
- 根据权利要求20所述的无人机,其特征在于,所述当前位置与所述目标位置之间的距离是根据所述障碍物的物理尺寸信息确定的。
- 根据权利要求17-21任一项所述的无人机,其特征在于,所述处理器具体用于:控制所述无人机配置的云台转动,以使所述云台装载的感测装置的观测范围包括所述无人机的上方区域;获取所述感测装置拍摄的所述第一环境影像。
- 根据权利要求15-21任一项所述的无人机,其特征在于,所述返航条件包括下列中的至少一项:所述无人机的当前位置与所述飞行轨迹中起始记录的航点之间的距离小于或等于第一距离阈值;所述无人机的电池的剩余电量小于或等于预设电量;所述无人机在起飞后的累计飞行时间等于或大于预设时长;所述无人机在起飞后的累计飞行距离等于或大于第二距离阈值。
- 根据权利要求15-21任一项所述的无人机,其特征在于,所述处理器具体用于:获取所述无人机在回溯飞行中得到的第二环境影像;若根据所述第二环境影像确定所述飞行轨迹上存在障碍物,则控制所述无人机躲避障碍物飞行,并在避开障碍物后返回所述飞行轨迹继续回溯飞行。
- 根据权利要求24所述的无人机,其特征在于,所述处理器具体用于:获取所述障碍物的障碍物信息;根据所述障碍物信息和所述飞行轨迹确定所述飞行轨迹上的目标航点,所述目标航点为所述无人机避开所述障碍物后返回至所述飞行轨迹继续飞行的航点;根据所述障碍物信息和所述目标航点生成避障路线;控制所述无人机沿所述避障路线飞行,并在沿所述避障路线飞行后控制所述无人机继续沿所述飞行轨迹回溯飞行。
- 根据权利要求15-21任一项所述的无人机,其特征在于,所述飞行轨迹包括多个航点,所述多个航点为所述无人机在通信连接中断前的预设时间段内历经的航点。
- 根据权利要求15-21任一项所述的无人机,其特征在于,所述处理器还用于:获取所述无人机的飞行状态信息;根据所述飞行状态信息判断是否满足所述返航条件;若满足所述返航条件,则直接控制所述无人机飞行至返航点。
- 根据权利要求27所述的无人机,其特征在于,所述根据所述飞行状态信息判断是否满足所述返航条件的步骤在所述控制所述无人机沿通信连接中断前的飞行轨迹回溯飞行之前执行,且在满足所述返航条件时,不执行所述满足所述返航条件的步骤。
- 一种计算机可读存储介质,其特征在于,所述可读存储介质上存储有计算机程序;所述计算机程序在被执行时,实现如权利要求1-14任一项所述的方法。
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