Unmanned aerial vehicle homeward voyage method, device, equipment, medium and product

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle homeward voyage method, device, equipment, medium and product, and the method comprises the steps: controlling a target unmanned aerial vehicle to homeward voyage and starting a second wireless communication module if the communication connection between the target unmanned aerial vehicle and a target hangar is detected to be disconnected; obtaining at least one piece of preset connection information; the preset connection information comprises a connection name and a secret key of the wireless access point; based on the at least one piece of preset connection information, wireless access point searching is carried out through the second wireless communication module until the second wireless communication module is connected with the wireless access point; and controlling the target unmanned aerial vehicle to enter a warehouse through signaling interaction of the wireless access point. According to the scheme, after the unmanned aerial vehicle depot is disconnected, the second wireless communication module can be started for wireless access point searching, so that the unmanned aerial vehicle depot allowing return flight is contacted, return flight operation of the target unmanned aerial vehicle is executed, and safe return flight and warehousing of the unmanned aerial vehicle after the communication module is damaged and the ground is disconnected are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method, device, equipment, medium and product for returning an UAV to the air. Background Art

[0002] With the continuous development of drones, drones are being used more and more widely in various fields. At present, the technology of drones is becoming more and more mature, and drone hangars are also developing accordingly. The coordinated use of drones and drone hangars can greatly reduce people's field operation time and improve productivity.

[0003] Since the unmanned aerial vehicle (UAV) does not require human operation when it is used in conjunction with the UAV hangar, the problem of safe return of the UAV also arises. For example, when the UAV is performing its mission, it is inevitable to encounter extreme weather such as thunderstorms, which may cause the UAV's image and data communication module to fail and be damaged. Since the parking space of the UAV hangar is small, it requires precise landing, and it cannot land after the line is disconnected. Therefore, there is an urgent need for a new emergency solution that can safely return the UAV after the line is disconnected from the UAV hangar, so as to solve the problem of safe return and storage of the UAV after the communication module is damaged and the ground is disconnected. Summary of the invention

[0004] In view of this, the present invention provides a method, device, equipment, medium and product for returning a drone to a base, so as to achieve safe return and storage of the drone after the communication module is damaged and the ground connection is disconnected.

[0005] In a first aspect, the present invention provides a method for returning a drone, which is applied to a target drone; the target drone is provided with a first wireless communication module and a second wireless communication module; the first wireless communication module is used to perform a communication connection between the target drone and a target hangar;

[0006] The method comprises:

[0007] If it is detected that the communication connection between the target UAV and the target hangar is disconnected, the second wireless communication module is activated;

[0008] Acquire at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point;

[0009] Based on the at least one preset connection information, searching for a wireless access point through the second wireless communication module until connecting to the wireless access point;

[0010] The target UAV is controlled to enter the warehouse through the signaling interaction of the wireless access point.

[0011] In a possible implementation, the second wireless communication module is a WIFI module.

[0012] In a possible implementation, when the target UAV is communicatively connected to the target hangar via the first wireless communication module, the second wireless communication module is powered off.

[0013] In a possible implementation manner, searching for a wireless access point by the second wireless communication module based on the at least one preset connection information until connecting to the wireless access point includes:

[0014] Performing a wireless access point search through the second wireless communication module to obtain a candidate access point; the candidate access point is a wireless access point searched by the second wireless communication module and matching a connection name in the at least one preset connection information;

[0015] If the number of the candidate access points is 1, the second wireless communication module is used to connect to the candidate access points.

[0016] In a possible implementation, the method further includes:

[0017] If the number of the candidate access points is greater than 1, obtaining the signal strength of each candidate access point;

[0018] A target access point is selected according to the signal strength of each candidate access point, so as to connect to the target access point through the second wireless communication module.

[0019] In a possible implementation, the step of controlling the target drone to enter the warehouse through signaling interaction of the wireless access point includes:

[0020] Sending the status information and storage request of the target drone through the second wireless communication module;

[0021] receiving a drone entry instruction through the second wireless communication module; the drone entry instruction is sent after the target hangar opens the cabin;

[0022] According to the drone storage instruction, control the drone to enter the warehouse;

[0023] When the UAV is put into storage, a landing completion status message is sent to instruct the target hangar to close the cabin.

[0024] In a second aspect, the present invention provides a UAV return device, which is applied to a target UAV; the target UAV is provided with a first wireless communication module and a second wireless communication module; the first wireless communication module is used to perform a communication connection between the target UAV and a target hangar;

[0025] The device comprises:

[0026] A starting module, configured to control the target UAV to return home and start the second wireless communication module if it is detected that the communication connection between the target UAV and the target hangar is disconnected;

[0027] An acquisition module, configured to acquire at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point;

[0028] A connection module, configured to search for a wireless access point through the second wireless communication module based on the at least one preset connection information until a connection is made with the wireless access point;

[0029] The return module is used to control the target drone to enter the warehouse through signaling interaction of the wireless access point.

[0030] In a possible implementation, the second wireless communication module is a WIFI module.

[0031] In a possible implementation, when the target UAV is communicatively connected to the target hangar via the first wireless communication module, the second wireless communication module is powered off.

[0032] In a possible implementation, the connection module is further used to:

[0033] Performing a wireless access point search through the second wireless communication module to obtain a candidate access point; the candidate access point is a wireless access point searched by the second wireless communication module and matching a connection name in the at least one preset connection information;

[0034] If the number of the candidate access points is 1, the second wireless communication module is used to connect to the candidate access points.

[0035] In a possible implementation, the connection module is further configured to:

[0036] If the number of the candidate access points is greater than 1, obtaining the signal strength of each candidate access point;

[0037] A target access point is selected according to the signal strength of each candidate access point, so as to connect to the target access point through the second wireless communication module.

[0038] In a possible implementation, the return module is further used to:

[0039] Sending the status information and storage request of the target drone through the second wireless communication module;

[0040] receiving a drone entry instruction through the second wireless communication module; the drone entry instruction is sent after the target hangar opens the cabin;

[0041] According to the drone storage instruction, control the drone to enter the warehouse;

[0042] When the UAV is put into storage, a landing completion status message is sent to instruct the target hangar to close the cabin.

[0043] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the above-mentioned drone return method by executing the computer instructions.

[0044] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the above-mentioned drone return method.

[0045] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to enable a computer to execute the above-mentioned drone return method.

[0046] The technical solution provided by this application may have the following beneficial effects:

[0047] When the target drone will preferentially communicate with the target hangar through the first wireless communication module, but if the target drone detects that the communication connection with the target hangar is disconnected, the target drone will trigger the automatic return process and start the second wireless communication module. At this time, the target drone obtains at least one preset connection information, including the connection name and key of the preset wireless access point; based on at least one preset connection information, the target drone searches through the second wireless communication module until it connects to the wireless access point, thereby controlling the target drone to enter the warehouse through the signaling interaction of the wireless access point. After the above scheme is disconnected from the drone hangar, in order to ensure the safety of the drone, the automatic return process will be triggered, and the second wireless communication module will be started to search for wireless access points, so as to get in touch with the drone hangar that allows return, so as to execute the storage operation of the target drone, so as to achieve the safe return and storage of the drone after the communication module is damaged and the ground is disconnected. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 The figure is a schematic diagram of the structure of a UAV control system according to an exemplary embodiment.

[0050] Figure 2 The present invention is a flowchart of a method for returning a drone according to an exemplary embodiment.

[0051] Figure 3 The present invention is a flowchart of a method for returning a drone according to an exemplary embodiment.

[0052] Figure 4 A circuit structure diagram of a WIFI module involved in an embodiment of the present application is shown.

[0053] Figure 5 A schematic diagram of communication interaction for a drone returning to a hangar according to an embodiment of the present application is shown.

[0054] Figure 6 It is a structural schematic diagram of a drone return device provided in an embodiment of the present application.

[0055] Figure 7 It is a structural schematic diagram of a computer device provided by an optional embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0057] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between two items, or an association relationship between the two items, or a relationship between indication and being indicated, configuration and being configured, and the like.

[0058] Figure 1 1 is a schematic diagram of a structure of a UAV control system according to an exemplary embodiment. The UAV control system includes a target UAV 110 and a target hangar 120;

[0059] The target drone 110 is provided with a first wireless communication module and a second wireless communication module; the first wireless communication module is used to perform the communication connection between the target drone 110 and the target hangar 120. Optionally, the target drone 110 and the target hangar 120 can be bound in advance, and the target drone 110 communicates with the target hangar 120 by default through the first wireless communication module. The target drone 110 can be a drone in the target hangar 120. When the target drone 110 goes out for operation, the target hangar 120 opens the cabin so that the target drone 110 can fly out; during the operation of the target drone 110, a communication connection can be established with the target hangar through the first wireless communication module for data transmission.

[0060] The second wireless communication module on the target UAV is a backup communication module. When the first wireless communication module cannot be used, or the communication connection between the first wireless communication module and the target hangar is disconnected, it means that the target UAV is temporarily unable to establish a communication connection with the target hangar 120. At this time, the target UAV triggers an automatic return operation, and when automatically returning to the vicinity of the hangar, it can search for wireless networks through the second wireless communication module and establish communication connections with other wireless networks to perform automatic storage operations of the UAV.

[0061] The above-mentioned wireless network uses standard communication technology and / or protocol. The above-mentioned wireless network includes but is not limited to any combination of local area network, metropolitan area network, wide area network, Bluetooth network, mobile, limited or wireless network, private network or virtual private network. In some embodiments, the technology and / or format including hypertext markup language, extensible markup language, etc. are used to represent the data exchanged through the network. In addition, conventional encryption technologies such as secure socket layer, transport layer security, virtual private network, Internet protocol security, etc. can also be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technology can also be used to replace or supplement the above-mentioned data communication technology.

[0062] Figure 2 FIG. 1 is a flowchart of a method for returning a drone according to an exemplary embodiment. The method is executed by the target drone. Figure 2 As shown, the drone return method may include the following steps:

[0063] Step 201: If it is detected that the communication connection between the target UAV and the target hangar is disconnected, the target UAV is controlled to return and the second wireless communication module is started.

[0064] The main communication module (first wireless communication module) carried by the drone is responsible for establishing a normal communication connection with the drone warehouse. When the communication is detected to be disconnected, the target drone can start the automatic return operation to ensure the safety of the drone. And after the target drone enters the return process, the logic control module can also trigger the start of the backup communication module (second wireless communication module), thereby ensuring that in the event of communication interruption, the drone still has a certain communication capability and can search for new wireless access points or signal sources, so as to accurately perform subsequent return and storage operations.

[0065] Step 202: Obtain at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point.

[0066] In an embodiment of the present application, the preset connection information includes the name and key of the wireless access point. The preset connection information is usually synchronized from the drone library or pre-configured to the internal storage module by the drone before the mission starts, and serves as a backup communication module to provide target parameters for quick connection.

[0067] Step 203: Based on the at least one preset connection information, search for a wireless access point through the second wireless communication module until a connection is made with the wireless access point.

[0068] The backup communication module scans the wireless signals in the frequency band to find an access point (such as a ground base station or a portable router) that matches the preset information. The wireless access point can be set up corresponding to the drone library. Once the match is successful, an encrypted communication connection is established immediately.

[0069] Step 204: Control the target drone to enter the warehouse through signaling interaction of the wireless access point.

[0070] The backup communication module interacts with the drone control platform through the newly established wireless access point and receives return instructions (such as target location, path planning, etc.). Subsequently, the autopilot system controls the drone to accurately return to the preset landing pad according to the received instructions. This ensures that the drone can safely return to the designated location and be stored in the warehouse in special scenarios, avoiding flight accidents caused by communication failures.

[0071] In summary, when the target drone will communicate with the target hangar through the first wireless communication module first, but if the target drone detects that the communication connection with the target hangar is disconnected, the target drone will trigger the automatic return process and start the second wireless communication module. At this time, the target drone obtains at least one preset connection information, including the connection name and key of the preset wireless access point; based on at least one preset connection information, the target drone searches through the second wireless communication module until it connects to the wireless access point, thereby controlling the target drone to enter the warehouse through the signaling interaction of the wireless access point. After the above scheme is disconnected from the drone hangar, in order to ensure the safety of the drone, the automatic return process will be triggered, and the second wireless communication module will be started to search for wireless access points, so as to get in touch with the drone hangar that allows return, so as to execute the storage operation of the target drone, so as to achieve the safe return and storage of the drone after the communication module is damaged and the ground is disconnected.

[0072] Figure 3 FIG. 1 is a flowchart of a method for returning a drone according to an exemplary embodiment. The method is executed by the target drone. Figure 3 As shown, the drone return method may include the following steps:

[0073] Step 301: If it is detected that the communication connection between the target UAV and the target hangar is disconnected, the target UAV is controlled to return and the second wireless communication module is started.

[0074] In an embodiment of the present application, a first wireless communication module and a second wireless communication module are provided on the target UAV; the first wireless communication module is used to perform a communication connection between the target UAV and the target hangar.

[0075] Optionally, the second wireless communication module is a WIFI module.

[0076] Please refer to Figure 4 , which shows a circuit structure diagram of a WIFI module involved in an embodiment of the present application. Figure 4 As shown, the model of the WIFI module may be ESP-12S, and the WIFI module may communicate in a network in the 2.4 GHz frequency band. The peripheral circuit of the WIFI module may adopt a common peripheral circuit structure of this model, which will not be described in detail here.

[0077] Optionally, when the target UAV is connected to the target hangar through the first wireless communication module, the second wireless communication module is powered off.

[0078] Since the target UAV is equipped with two wireless communication modules, if the two are running at the same time, on the one hand, the power consumption of the target UAV is increased, and on the other hand, it is easy to cause mutual interference. Therefore, the target UAV can be set to power off the second wireless communication module when the first wireless communication module is operating normally; and when the first wireless communication module cannot establish a communication connection with the target hangar, the second wireless communication module is started again.

[0079] Optionally, when the second wireless communication module is started, the first wireless communication module is powered off regardless of whether the first wireless communication module is abnormal.

[0080] Step 302: Obtain at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point.

[0081] Step 301 may be included in the above step 201 and will not be described in detail here.

[0082] Step 303: Based on the at least one preset connection information, search for a wireless access point through the second wireless communication module until a connection is made with the wireless access point.

[0083] In a possible implementation, a wireless access point search is performed by the second wireless communication module to obtain a candidate access point; the candidate access point is a wireless access point searched by the second wireless communication module and matching a connection name in the at least one preset connection information;

[0084] If the number of the candidate access point is 1, the second wireless communication module is used to connect to the candidate access point.

[0085] When the second wireless communication module is a WIFI module, the preset connection information pre-stores the SSID (wireless access identifier, Service Set Identifier) ​​of each WIFI. At this time, the second wireless communication module can obtain each wireless access point in the surrounding wireless network and obtain the SSID of each wireless access point. At this time, if there is a wireless access point whose SSID is the same as the SSID in the preset connection information, then the wireless access point is a candidate access point.

[0086] If the target drone detects only one candidate access point within the preset time, it will directly connect to the candidate access point.

[0087] In another possible implementation, if the number of the candidate access points is greater than 1, the signal strength of each candidate access point is obtained;

[0088] A target access point is selected according to the signal strength of each candidate access point, so as to connect to the target access point through the second wireless communication module.

[0089] If the number of candidate access points detected by the target drone is greater than 1 within the preset time, it means that there are multiple wireless access points around the target drone. At this time, the target drone can use the one with the best signal strength as the target access point.

[0090] Step 304: Send the status information and storage request of the target drone through the second wireless communication module.

[0091] The storage operation of the drone is an automated process, which uses a backup communication module (i.e., the second wireless communication module) to interact with the drone hangar. Through feedback of status information and command control, the drone can be accurately parked and the hangar can be automatically closed.

[0092] Specifically, the drone sends the current status information (such as location, remaining power, flight altitude, attitude, etc.) to the drone hangar through the backup communication module. At the same time, it sends a storage request to indicate that the storage operation is about to be carried out, so that the drone hangar can obtain the real-time status of the drone and prepare the opening and closing of the cabin and related equipment in advance.

[0093] Step 305: receiving a drone entry instruction through the second wireless communication module; the drone entry instruction is sent after the target hangar opens the cabin.

[0094] After the drone hangar confirms the drone status and entry request, it starts the hangar door opening procedure and sends the entry instruction to the drone through the backup communication module to ensure that the drone enters the hangar under safe conditions.

[0095] Step 306, controlling the drone to enter the warehouse according to the drone entry instruction.

[0096] After receiving the command to enter the hangar, the drone will accurately match the coordinate information of the hangar apron based on the return control system and visual positioning system, and automatically land or slide into the hangar, so that the drone can be stably and accurately parked at the designated location inside the hangar.

[0097] Step 307, when the UAV has completed entering the hangar, a landing completion status message is sent to instruct the target hangar to close the cabin.

[0098] When the drone completes landing, the "landing completed" status information is fed back to the drone hangar control system through the backup communication module, triggering the closure of the cabin and the inspection of internal equipment (such as charging equipment or cleaning equipment) to ensure that the drone is safely in place when the hangar is closed, preventing equipment damage or safety hazards caused by misoperation.

[0099] Please refer to Figure 5 , which shows a communication interaction diagram of a drone returning to a hangar involved in an embodiment of the present application. Figure 5As shown. The target UAV maintains a heartbeat connection with the target hangar and performs a real-time network status check. When the target UAV determines that the communication connection with the target hangar is disconnected through the first wireless communication module, the target UAV can be controlled to automatically return to the specified range of the target hangar according to its own position and the position of the target hangar; when the target UAV arrives within the specified range of the target hangar, the second wireless communication module is controlled to power on and search for wireless access points (that is, hangar WIFI signals) within the specified range of the target hangar; correspondingly, when the target hangar performs a network check and determines that the target UAV is disconnected, it waits for reconnection; if the waiting time exceeds the threshold, the WIFI wireless access point is started and the target UAV is waiting for access.

[0100] The target UAV can then automatically connect to the hangar WIFI, and send the UAV status and request entry instructions; after receiving the corresponding instructions, the target hangar opens the cabin, performs pre-entry actions, and sends entry notifications and entry operation commands to the target UAV.

[0101] When the target UAV lands accurately into the warehouse, the landing completion status can be sent to the target hangar to instruct the target hangar to close the cabin, thereby completing the return to warehouse operation.

[0102] In summary, when the target drone will communicate with the target hangar through the first wireless communication module first, but if the target drone detects that the communication connection with the target hangar is disconnected, the target drone will trigger the automatic return process and start the second wireless communication module. At this time, the target drone obtains at least one preset connection information, including the connection name and key of the preset wireless access point; based on at least one preset connection information, the target drone searches through the second wireless communication module until it connects to the wireless access point, thereby controlling the target drone to enter the warehouse through the signaling interaction of the wireless access point. After the above scheme is disconnected from the drone hangar, in order to ensure the safety of the drone, the automatic return process will be triggered, and the second wireless communication module will be started to search for wireless access points, so as to get in touch with the drone hangar that allows return, so as to execute the storage operation of the target drone, so as to achieve the safe return and storage of the drone after the communication module is damaged and the ground is disconnected.

[0103] In the embodiments of the present application, a drone return device is also provided, which is used to implement the above embodiments and preferred implementations, and will not be repeated here. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0104] Figure 6is a schematic diagram of the structure of a UAV return device provided in an embodiment of the present application, wherein the device is applied to a target UAV; a first wireless communication module and a second wireless communication module are provided on the target UAV; the first wireless communication module is used to perform a communication connection between the target UAV and the target hangar, such as Figure 6 As shown, the device comprises:

[0105] The start module 601 is used to control the target UAV to return and start the second wireless communication module if it is detected that the communication connection between the target UAV and the target hangar is disconnected;

[0106] The acquisition module 602 is used to acquire at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point;

[0107] A connection module 603, configured to search for a wireless access point through the second wireless communication module based on the at least one preset connection information until a connection is made with the wireless access point;

[0108] The return module 604 is used to control the target drone to enter the warehouse through signaling interaction of the wireless access point.

[0109] In a possible implementation, the second wireless communication module is a WIFI module.

[0110] In a possible implementation, when the target UAV is communicatively connected to the target hangar via the first wireless communication module, the second wireless communication module is powered off.

[0111] In a possible implementation, the connection module 603 is further configured to:

[0112] Performing a wireless access point search through the second wireless communication module to obtain a candidate access point; the candidate access point is a wireless access point searched by the second wireless communication module and matching a connection name in the at least one preset connection information;

[0113] If the number of the candidate access points is 1, the second wireless communication module is used to connect to the candidate access points.

[0114] In a possible implementation, the connection module 603 is further configured to:

[0115] If the number of the candidate access points is greater than 1, obtaining the signal strength of each candidate access point;

[0116] A target access point is selected according to the signal strength of each candidate access point, so as to connect to the target access point through the second wireless communication module.

[0117] In a possible implementation, the return module 604 is further configured to:

[0118] Sending the status information and storage request of the target drone through the second wireless communication module;

[0119] receiving a drone entry instruction through the second wireless communication module; the drone entry instruction is sent after the target hangar opens the cabin;

[0120] According to the drone storage instruction, control the drone to enter the warehouse;

[0121] When the UAV is put into storage, a landing completion status message is sent to instruct the target hangar to close the cabin.

[0122] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0123] The drone return device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0124] The embodiment of the present invention also provides a computer device having the above Figure 6 The drone return device is shown.

[0125] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Take a processor 10 as an example in the computer device.

[0126] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0127] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0128] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0130] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0131] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0132] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0133] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for returning a drone, characterized in that: The method is applied to a target UAV; the target UAV is provided with a first wireless communication module and a second wireless communication module; The first wireless communication module is used to perform a communication connection between the target UAV and the target hangar; The method comprises: If it is detected that the communication connection between the target UAV and the target hangar is disconnected, the target UAV is controlled to return and the second wireless communication module is activated; Acquire at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point; Based on the at least one preset connection information, searching for a wireless access point through the second wireless communication module until connecting to the wireless access point; The target UAV is controlled to enter the warehouse through the signaling interaction of the wireless access point.

2. The method according to claim 1, characterized in that The second wireless communication module is a WIFI module.

3. The method according to claim 2, characterized in that When the target UAV is in communication connection with the target hangar via the first wireless communication module, the second wireless communication module is powered off.

4. The method according to any one of claims 1 to 3, characterized in that: The step of searching for a wireless access point through the second wireless communication module based on the at least one preset connection information until connecting to the wireless access point includes: Performing a wireless access point search through the second wireless communication module to obtain a candidate access point; the candidate access point is a wireless access point searched by the second wireless communication module and matching a connection name in the at least one preset connection information; If the number of the candidate access points is 1, the second wireless communication module is used to connect to the candidate access points.

5. The method according to claim 4, characterized in that The method further comprises: If the number of the candidate access points is greater than 1, obtaining the signal strength of each candidate access point; A target access point is selected according to the signal strength of each candidate access point, so as to connect to the target access point through the second wireless communication module.

6. The method according to any one of claims 1 to 3, characterized in that: The control of the target drone into storage through signaling interaction of the wireless access point includes: Sending the status information and storage request of the target drone through the second wireless communication module; receiving a drone entry instruction through the second wireless communication module; the drone entry instruction is sent after the target hangar opens the cabin; According to the drone storage instruction, control the drone to enter the warehouse; When the UAV is put into storage, a landing completion status message is sent to instruct the target hangar to close the cabin.

7. A drone return device, characterized in that: The device is applied to a target UAV; the target UAV is provided with a first wireless communication module and a second wireless communication module; The first wireless communication module is used to perform a communication connection between the target UAV and the target hangar; The device comprises: A starting module, configured to control the target UAV to return home and start the second wireless communication module if it is detected that the communication connection between the target UAV and the target hangar is disconnected; An acquisition module, configured to acquire at least one preset connection information; the preset connection information includes a connection name and a key of a wireless access point; A connection module, configured to search for a wireless access point through the second wireless communication module based on the at least one preset connection information until a connection is made with the wireless access point; The return module is used to control the target drone to enter the warehouse through signaling interaction of the wireless access point.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the drone return method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the drone return method described in any one of claims 1 to 6.

10. A computer program product, characterized in that It includes computer instructions, and the computer instructions are used to enable a computer to execute the drone return method described in any one of claims 1 to 6.

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