UAV control method, UAV, and computer-readable storage medium

Abstract

The present application discloses a drone control method, a drone, and a computer-readable storage medium. The drone control method includes: receiving a landing path instruction for the drone; wherein the path instruction includes at least the location information of the drone's descent and circling point; obtaining the drone's current position, selecting the higher of the current position and the descent and circling point's location information as the actual circling point altitude; controlling the drone to fly level to the area corresponding to the descent and circling point at the actual circling point altitude, and performing a circling landing. The above solution can ensure that the drone will not collide with obstacles during landing.

Description

Technical Field

[0001] The present application relates to the field of drone control technology, and in particular to a drone control method, a drone, and a computer-readable storage medium. Background Art

[0002] A landing pattern is the process by which a drone decreases its altitude and speed until it lands. The current common approach in the industry involves a descent circle at the end of the mission pattern. The pattern circles around this circle with a certain radius while decreasing in altitude. When the aircraft reaches a suitable altitude, it disengages from the circle and flies horizontally toward the landing point. The drawback of this existing approach is that it cannot guarantee collision avoidance during landing. Summary of the Invention

[0003] The main technical problem solved by this application is to provide a control method for a drone, a drone and a computer-readable storage medium, which can ensure that the drone will not collide with obstacles during landing.

[0004] In order to solve the above problems, the first aspect of the present application provides a method for controlling a drone, which includes: receiving a landing path instruction of the drone; wherein the path instruction includes at least the position information of the descent circling point of the drone; obtaining the current position of the drone, and selecting the higher one of the current position and the position information of the descent circling point as the actual circling point height; controlling the drone to fly level to the area corresponding to the descent circling point with the actual circling point height as the flight altitude, and perform a circling landing.

[0005] Among them, the step of controlling the drone to fly level to the area corresponding to the descending circling point at the actual circling point altitude and perform circling landing includes: in response to the altitude of the current position being less than the altitude in the position information of the descending circling point, controlling the drone to fly to the descending circling point in a preset manner with the current position as the starting point and perform circling landing.

[0006] Among them, the preset mode includes a circling mode; the step of controlling the UAV to fly to the descending circling point in a preset mode with the current position as the starting point includes: controlling the UAV to fly to the height of the descending circling point with the current position as the starting point, and flying level to the descending circling point.

[0007] Among them, the step of controlling the UAV to fly level to the area corresponding to the descending circling point at the actual circling point altitude and perform circling landing includes: in response to the altitude of the current position being greater than or equal to the altitude in the position information of the descending circling point, controlling the UAV to fly level to the area above the descending circling point at the actual circling point altitude and perform circling landing.

[0008] Among them, the position information of the descending circling point also includes a circling radius; the step of performing circling landing includes: taking the actual circling point height as the starting landing height, controlling the UAV to fly to the area corresponding to the descending circling point, and circling and landing based on the circling radius with the vertical line where the descending circling point is located as the axis.

[0009] Wherein, the UAV is a vertical take-off and landing fixed-wing UAV, and the path instruction also includes the mode switching height and the location information of the landing point; the step of hovering and landing includes: controlling the UAV to hover and land to the mode switching height, and then flying level to the sky above the landing point with the mode switching height as the flight altitude, and landing vertically to the landing point.

[0010] Among them, the step of controlling the UAV to hover and land to the mode switching height, then flying level to the sky above the landing point with the mode switching height as the flight altitude, and landing vertically to the landing point includes: controlling the UAV to hover and land to the mode switching height in fixed-wing mode, then switching the UAV to rotor mode, and flying level to the sky above the landing point with the mode switching height as the flight altitude, and then landing vertically to the landing point.

[0011] To solve the above problems, the second aspect of the present application provides a drone, comprising: a fuselage, a processor, and a memory; the processor and the memory are housed inside the fuselage, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the drone control method of the first aspect.

[0012] Wherein, the UAV is a vertical take-off and landing fixed-wing UAV.

[0013] To solve the above problems, the third aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, which, when executed by a processor, implement the control method of the drone of the first aspect.

[0014] The beneficial effects of the present invention are as follows: Different from the prior art, in the control method of the drone of the present application, after receiving the landing path instruction of the drone, wherein the path instruction includes at least the position information of the descent circling point of the drone, the current position of the drone can be obtained, and the higher of the current position and the position information of the descent circling point is selected as the actual circling point height, and then the drone is controlled to fly level to the area corresponding to the descent circling point at the actual circling point height as the flight altitude, and perform a circling landing. Since a higher flight altitude can ensure flight safety, by selecting the higher of the current position of the drone and the descent circling point as the flight safety altitude, obstacles such as terrain and buildings that may be encountered can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of an embodiment of a method for controlling a drone of the present application;

[0016] Figure 2 yes Figure 1 A flow chart of an embodiment of step S13;

[0017] Figure 3 This is a schematic diagram showing a landing route in an application scenario of the present application;

[0018] Figure 4 This is a schematic diagram showing a landing route in another application scenario of the present application;

[0019] Figure 5 yes Figure 2 A flow chart of an embodiment of step S132;

[0020] Figure 6 This is a schematic diagram showing a landing route in another application scenario of the present application;

[0021] Figure 7 This is a schematic diagram of the framework structure of an embodiment of the drone of the present application;

[0022] Figure 8 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0024] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0025] The terms "system" and "network" are often used interchangeably in this document. The term "and / or" is simply a description of an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " generally indicates that the related objects are in an "or" relationship. Furthermore, "multiple" in this document means two or more than two.

[0026] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a method for controlling a drone of the present application. The method for controlling a drone of this embodiment includes the following steps:

[0027] Step S11: receiving a landing path instruction of the UAV; wherein the path instruction at least includes the position information of the landing circling point of the UAV.

[0028] It is understood that the landing process of a drone includes the process of the drone lowering its flight altitude and speed until it lands. Generally speaking, the landing route of a drone can start from any point at the end of the mission route. The drone goes through a level flight phase and reaches a descent circling point. The route circles around the descent circling point with a certain radius while lowering its altitude. When the drone's altitude drops to a suitable value, it disengages from the circling and flies horizontally to the landing point. During the flight to the landing point, it decelerates, switches to rotor mode at a certain speed, stops above the landing point, and finally lands vertically at the landing point. While the drone is in flight, the user can click anywhere on the map interface to edit the drone's landing route. Editing the landing route requires selecting a descent circling point. It is understood that during the time of editing the landing route, the drone still maintains its original flight state. The landing route will only be generated after the landing is confirmed, forming the landing path instruction. After receiving the landing path instruction, the drone can be guided to fly to the descent circling point.

[0029] Step S12: obtaining the current position of the UAV, and selecting the higher one between the current position and the position information of the descending circling point as the actual circling point height.

[0030] The landing route starts from the current position of the drone, and the descent circling point is a pre-selected point for circling and descending. It can be understood that when the altitude of the drone's current position is lower than the altitude of the descent circling point, in the process of guiding the drone from the current position to the descent circling point, it is necessary to increase the flight altitude to the altitude of the descent circling point. At this time, the altitude of the descent circling point is the actual circling point altitude. When the altitude of the drone's current position is higher than the altitude of the descent circling point, in the process of guiding the drone from the current position to the descent circling point, there is no need to lower the flight altitude because a higher altitude can ensure flight safety. At this time, the altitude of the current position can be used as the actual circling point altitude.

[0031] Step S13: Control the UAV to fly horizontally to the area corresponding to the descending circling point at the actual circling point height as the flight altitude, and perform circling landing.

[0032] Therefore, when the actual circling point height is the height of the descent circling point, it means that the height of the descent circling point is higher than the height of the current position of the UAV. Therefore, in the level flight phase when the UAV transfers from the current position to the descent circling point, it is necessary to use the height of the descent circling point as the flight height, and the position of the descent circling point as the end point. After flying level to the descent circling point, it can perform circling and landing; when the actual circling point height is the height of the current position of the UAV, it means that the height of the descent circling point is lower than the height of the current position of the UAV. Therefore, in the level flight phase when the UAV transfers from the current position to the descent circling point, it is necessary to use the height of the current position as the flight height, and the upper air area corresponding to the descent circling point as the end point. After flying level to the upper air area corresponding to the descent circling point, it can perform circling and landing.

[0033] In the above scheme, since a higher flight altitude can ensure flight safety, by selecting the higher altitude between the current position of the UAV and the descent and circling point as the flight safety altitude, obstacles such as terrain and buildings that may be encountered can be avoided.

[0034] Furthermore, in one embodiment, the position information of the descending circling point also includes a circling radius; in the above-mentioned step S13, the step of performing circling landing may specifically include: taking the actual circling point height as the starting landing height, controlling the UAV to fly to the area corresponding to the descending circling point, and circling and landing based on the circling radius with the vertical line where the descending circling point is located as the axis.

[0035] Please combine Figure 3 , Figure 3 This is a schematic diagram showing the landing route in an application scenario of the present application. The landing route starts from the current position A1 of the drone, and guides the drone to transfer horizontally from the current position A1 to the area corresponding to the descending circling point A2, and then descends while circling at the descending circling point A2.

[0036] Please combine Figure 2 , Figure 2 yes Figure 1 Flowchart of step S13 in an embodiment. In one embodiment, the above step S13 may specifically include:

[0037] Step S131: Determine whether the altitude of the current position is less than the altitude in the position information of the descending circling point. If the altitude of the current position is less than the altitude in the position information of the descending circling point, execute step S132; if the altitude of the current position is greater than or equal to the altitude in the position information of the descending circling point, execute step S133.

[0038] Step S132: In response to the altitude of the current position being less than the altitude in the position information of the descent circling point, the drone is controlled to fly to the descent circling point in a preset manner with the current position as the starting point, and perform circling landing.

[0039] Please combine Figure 4 , Figure 4 This is a schematic diagram showing the landing route in another application scenario of the present application. In the landing route, the descent circling point is a preselected point for circling and descending, and the height H2 of the descent circling point is the flight safety height selected by the system. If the height H1 of the current position is lower than the height H2 of the descent circling point, the drone needs to first increase the flight altitude to the flight safety altitude, and then maintain the height H2 of the descent circling point for level flight until it enters a descent circle at the descent circling point before descending.

[0040] In one embodiment, the preset mode includes a circling mode; in the above-mentioned step S132, the step of controlling the drone to fly to the descending circling point in the preset mode with the current position as the starting point may specifically include: controlling the drone to fly in a circling manner to the altitude of the descending circling point with the current position as the starting point, and then flying level to the descending circling point. It is understood that in order to avoid the drone colliding with obstacles during the flight from the current position to the descending circling point, the drone can ascend to the altitude H2 of the descending circling point by circling, and then fly level to the descending circling point. Therefore, even if there are obstacles in the flight path from the current position to the descending circling point, the obstacles in the path can be avoided by first increasing the drone's flight altitude and then flying level.

[0041] Please combine Figure 5 , Figure 5 yes Figure 2In the flowchart of an embodiment of step S132, in another embodiment, the drone has an autonomous obstacle avoidance function, and the preset mode includes a hovering mode and a climbing mode. It can be understood that the slope from the current position to the descending circling point can be determined based on the height difference between the height of the current position and the height in the position information of the descending circling point, and the horizontal distance between the current position and the descending circling point. Therefore, in the above step S132, the step of controlling the drone to fly to the descending circling point in a preset manner with the current position as the starting point can specifically include:

[0042] Step S1321: Determine whether the slope from the current position to the descending circling point is less than a preset threshold. If the difference between the altitude of the current position and the altitude in the position information of the descending circling point is less than the preset threshold, then execute step S1322. If the difference between the altitude of the current position and the altitude in the position information of the descending circling point is not less than the preset threshold, then execute step S1323.

[0043] Step S1322: In response to the slope from the current position to the descending circling point being less than a preset threshold, the UAV is controlled to climb to the descending circling point starting from the current position.

[0044] Step S1323: In response to the slope from the current position to the descending circling point being not less than a preset threshold, the drone is controlled to fly in a circling manner to the descending circling point starting from the current position.

[0045] Specifically, since the UAV has an autonomous obstacle avoidance function, it can avoid colliding with obstacles when flying from the current position to the descent circling point. Therefore, in addition to rising to the height H2 of the descent circling point by circling, it can also rise to the height H2 of the descent circling point by straight climbing; since the climbing of the UAV is limited by the slope, when the UAV rises from the current position to the descent circling point, if the slope between the current position and the descent circling point is small, the UAV can fly to the descent circling point by straight climbing. If the slope between the current position and the descent circling point is large, the UAV can fly to the height of the descent circling point by circling, and then fly level to the descent circling point.

[0046] Step S133: In response to the altitude of the current position being greater than or equal to the altitude in the position information of the descent circling point, the drone is controlled to fly level to the area above the descent circling point at the altitude of the current position, and perform a circling landing.

[0047] Please combine Figure 6 , Figure 6This is a schematic diagram showing the landing route in another application scenario of the present application. If the altitude H1 of the current position is higher than the altitude H2 of the descending circling point, the drone is already above the safe flight altitude. Therefore, it only needs to maintain the altitude H1 of the current position for level flight until it enters the descending circling area above the descending circling point and then descends the altitude.

[0048] Furthermore, the UAV is a vertical take-off and landing fixed-wing UAV, and the path instruction also includes the mode switching height and the location information of the landing point; in the above step S13, the step of hovering and landing can specifically include: controlling the UAV to hover and land to the mode switching height, and then flying level to the sky above the landing point with the mode switching height as the flight altitude, and landing vertically to the landing point.

[0049] Please continue reading Figure 3 In one application scenario, while the drone is in flight, the user can select any location on the map interface to edit the landing route and generate landing path instructions. First, select a location to obtain the latitude and longitude of landing point A4, then select another location to obtain the latitude and longitude of descent and hovering point A2. Other content that needs to be edited includes: the altitude of descent and hovering point A2, the radius of the descent and hovering circle, the mode switching altitude H3, the altitude of landing point A4, etc. The landing route starts from the drone's current position A1 and guides the drone to fly to descent and hovering point A2, where it will descend while circling. The descent path is a spiral line, which will end at the mode switching altitude H3, where it will disengage and fly to landing point A4.

[0050] In one embodiment, the steps of controlling the drone to hover and land to the mode switching height, then flying level to the sky above the landing point at the mode switching height as the flight altitude, and then landing vertically to the landing point may specifically include: controlling the drone to hover and land to the mode switching height in fixed-wing mode, then switching the drone to rotor mode, and flying level to the sky above the landing point at the mode switching height as the flight altitude, and then landing vertically to the landing point.

[0051] Specifically, the drone is a vertical take-off and landing fixed-wing drone with two flight modes: fixed-wing mode and rotor mode. When the drone hovers and lands in fixed-wing mode to a certain distance close to the landing point (i.e., the mode switching height), it begins to switch modes and decelerate, switching from fixed-wing mode to rotor mode. At the end of deceleration, the drone hovers over the landing point in rotor mode at 0 speed, and finally lands vertically to the landing point on the ground.

[0052] See also Figure 7 , Figure 7Figure 7 is a schematic diagram of the framework structure of an embodiment of a drone according to the present application. The drone 70 in this embodiment includes a body 700, a processor 701, and a memory 702. The processor 701 and the memory 702 are housed within the body 700. The memory 702 stores program instructions, which the processor 701 retrieves to execute the steps of any of the aforementioned drone control method embodiments. In one embodiment, the drone 70 may be a vertical take-off and landing fixed-wing drone.

[0053] Specifically, the processor 701 is used to control itself, the fuselage 700, and the memory 702 to implement the steps of any of the above-mentioned drone control method embodiments. The processor 701 can also be called a CPU (Central Processing Unit). The processor 701 may be an integrated circuit chip with signal processing capabilities. The processor 701 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 701 can be implemented by an integrated circuit chip.

[0054] For details about the method for controlling a drone implemented by the processor 701 of this application, please refer to the above-mentioned method embodiment for controlling a drone, which will not be repeated here.

[0055] See also Figure 8 , Figure 8 The computer-readable storage medium 80 of the present application stores program instructions 800 thereon, which, when executed by a processor, implement the steps of any of the above-mentioned drone control method embodiments.

[0056] The computer-readable storage medium 80 can specifically be a medium that can store program instructions 800, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it can also be a server that stores the program instructions 800. The server can send the stored program instructions 800 to other devices for execution, or it can also execute the stored program instructions 800 itself.

[0057] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices and apparatuses can be implemented in other ways. For example, the above-described device and apparatus implementation methods are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0058] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0059] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0060] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

Claims

1. A method for controlling a drone, characterized in that: The control method of the drone includes: Receiving a landing path instruction of the UAV; wherein the path instruction at least includes position information of a descent and circling point of the UAV; Obtaining the current position of the drone, and selecting the higher of the current position and the position information of the descending circling point as the actual circling point height; The drone is controlled to fly level to the area corresponding to the descent circling point at the actual circling point altitude and to perform a circling landing; wherein, in response to the altitude of the current position being less than the altitude in the position information of the descent circling point, the drone is controlled to fly to the descent circling point in a preset manner with the current position as the starting point and to perform a circling landing.

2. The method for controlling a drone according to claim 1, wherein: The preset mode includes a circling mode; The step of controlling the drone to fly to the descending circling point in a preset manner starting from the current position includes: The drone is controlled to take the current position as a starting point, to hover to the height of the descending circling point, and to fly level to the descending circling point.

3. The method for controlling a drone according to claim 1, wherein: The step of controlling the drone to fly level to the area corresponding to the descending circling point at the actual circling point altitude and perform circling landing includes: In response to the altitude of the current position being greater than or equal to the altitude in the position information of the descending circling point, the drone is controlled to fly level to the overhead area corresponding to the descending circling point at the altitude of the current position, and perform a circling landing.

4. The method for controlling a drone according to any one of claims 1 to 3, wherein: The position information of the descending circling point also includes a circling radius; The step of performing circling landing comprises: The actual circling point height is used as the starting landing height, the UAV is controlled to fly to the area corresponding to the descending circling point, and the UAV is controlled to circle and land based on the circling radius with the vertical line where the descending circling point is located as the axis.

5. The method for controlling a drone according to any one of claims 1 to 3, wherein: The UAV is a vertical take-off and landing fixed-wing UAV, and the path instruction also includes the mode switching height and the position information of the landing point; The step of performing circling landing comprises: The drone is controlled to hover and land at the mode switching height, and then fly horizontally to the sky above the landing point with the mode switching height as the flight height, and land vertically at the landing point.

6. The method for controlling a drone according to claim 5, wherein: The steps of controlling the drone to hover and land to the mode switching height, then flying horizontally to the air above the landing point at the mode switching height as the flight altitude, and landing vertically at the landing point include: The UAV is controlled to hover and land in fixed-wing mode to the mode switching height, and then the UAV is switched to rotor mode, and flies levelly to the sky above the landing point at the mode switching height, and then lands vertically to the landing point.

7. A drone, characterized in that: include: Body, processor and memory; The processor and the memory are housed inside the fuselage, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the control method of the drone according to any one of claims 1 to 6. The drone according to claim 7 , wherein the drone is a vertical take-off and landing fixed-wing drone.

9. A computer-readable storage medium, characterized in that Program instructions are stored thereon, and when the program instructions are executed by a processor, the control method of the drone according to any one of claims 1 to 6 is implemented.

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