Flight control method and device, electronic equipment and readable storage medium

Abstract

Embodiments of the present application provide a flight control method and device, electronic equipment and readable storage medium, and relate to the technical field of unmanned aerial vehicles. The method comprises: in the case that an entry route is not completely in a surveyed area, obtaining environmental information by a detection unit, and entering a work area according to the environmental information and the entry route flight; in the case that the entry route is completely in the surveyed area, flying and working according to a work route and topographic data of the surveyed area obtained by pre-surveying. In this way, in the case that the surveyed area does not completely include the area where the entry route is located, environmental information can be obtained by detection, and then the work area can be entered according to the environmental information to realize work. In this way, it is not necessary to survey the area where the entry route is located in advance, which can reduce the workload and improve the work efficiency.

Description

[0001] This application is a divisional application of Chinese application No. 202111154077.0, filed on September 29, 2021, entitled "Flight Control Method, Apparatus, Electronic Device and Readable Storage Medium". Technical Field

[0002] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a flight control method, apparatus, electronic device, and readable storage medium. Background Technology

[0003] Currently, before drones can perform operations, especially terrain-following operations, the work area and the areas corresponding to the round-trip routes must be surveyed in advance to obtain terrain data. Then, based on the pre-surveyed terrain data and the pre-planned round-trip and operation routes, the drone first flies to the work area, then performs the operation, and then leaves the work area. Therefore, in this operational method, in addition to surveying the work site, a large number of redundant areas must be surveyed in advance for the drone to use when entering and leaving the work area, resulting in low work efficiency. Summary of the Invention

[0004] This application provides a flight control method, apparatus, electronic device, and readable storage medium that eliminates the need to pre-map the areas corresponding to the entry and return routes before operations, thereby reducing workload and improving work efficiency.

[0005] The embodiments of this application can be implemented as follows:

[0006] In a first aspect, embodiments of this application provide a flight control method, including:

[0007] If the incoming flight path is not completely within the mapped area, environmental information is obtained through the detection unit, and the flight is carried out according to the environmental information and the incoming flight path to enter the operation area, wherein the mapped area includes the operation area;

[0008] Upon entering the operational area, flights and operations are conducted based on the operational flight path and the terrain data of the pre-surveyed area.

[0009] Secondly, embodiments of this application provide a flight control method, including:

[0010] Upon entering the work area, the flight and operations are carried out according to the work route and the terrain data of the pre-surveyed area, wherein the pre-surveyed area includes the work area.

[0011] When the operation is completed and the return flight path is not completely within the surveyed area, environmental information is obtained through the detection unit, and the aircraft flies from the operation area to the landing point based on the environmental information and the return flight path.

[0012] Thirdly, embodiments of this application provide a flight control device, including:

[0013] The first control module is used to obtain environmental information through a detection unit when the entry route is not completely within the mapped area, and to fly according to the environmental information and the entry route to enter the operation area, wherein the mapped area includes the operation area;

[0014] The first operation module is used to perform flight and operations based on the operation route and the terrain data of the pre-mapped area when entering the operation area.

[0015] Fourthly, embodiments of this application provide a flight control device, including:

[0016] The second operation module is used to perform flight and operations based on the operation route and the terrain data of the pre-surveyed area when entering the operation area, wherein the pre-surveyed area includes the operation area.

[0017] The second control module is used to obtain environmental information through the detection unit when the operation is completed and the return route is not completely within the surveyed area, and to fly from the operation area to the landing point according to the environmental information and the return route.

[0018] Fifthly, embodiments of this application provide an electronic device including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the flight control method described in the foregoing embodiments.

[0019] Sixthly, embodiments of this application provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the flight control method as described in the foregoing embodiments.

[0020] The flight control method, apparatus, electronic device, and readable storage medium provided in this application embodiment can obtain environmental information through a detection unit when the mapped area does not completely include the area where the entry route is located. Then, based on this environmental information and the entry route, the system enters the work area and performs operations based on the pre-mapped terrain data of the mapped area, which includes the work area, and the work route. Thus, when using unmanned aerial vehicles (UAVs) for operations, it is not necessary to pre-map the area where the entry route is located, reducing workload and improving work efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A block diagram illustrating an electronic device provided in an embodiment of this application;

[0023] Figure 2 One of the flowcharts of the flight control method provided in the embodiments of this application;

[0024] Figure 3 A schematic diagram of the flight control process provided in the embodiments of this application;

[0025] Figure 4 for Figure 2 A flowchart illustrating the sub-steps included in step S110;

[0026] Figure 5 A second schematic flowchart illustrating the flight control method provided in this application embodiment;

[0027] Figure 6 The third schematic flowchart of the flight control method provided in the embodiments of this application;

[0028] Figure 7 The fourth schematic flowchart of the flight control method provided in the embodiments of this application;

[0029] Figure 8 A block diagram of a flight control device provided in an embodiment of this application;

[0030] Figure 9 This is a block diagram of another flight control device provided in an embodiment of this application.

[0031] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication unit; 200 (300) - Flight control device; 210 - First control module; 220 - First operation module; 310 - Second operation module; 320 - Second control module. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0034] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] Currently, a common method for drone flight, especially terrain-following flight, involves using pre-mapped digitized terrain data to determine the drone's location's elevation. The drone's altitude is then adjusted based on this elevation to maintain the desired altitude. This method is suitable for various terrains, such as mountains and terraced fields with significant elevation changes, as well as plains with relatively small elevation variations. This approach allows for flight path planning based on comprehensive terrain information, resulting in high ground-hug integration and effective operation. Therefore, this method is generally used when conducting drone terrain-following operations.

[0036] In some scenarios, such as those with drastic altitude changes, where the take-off and landing points are some distance from the work area, using the above method requires not only mapping the work area in advance but also mapping large redundant areas for the drone to use when entering and leaving the work area. Because the areas the drone passes through when entering and leaving the work area must both be mapped, this leads to low work efficiency.

[0037] To alleviate the above situation, embodiments of this application provide a flight control method, apparatus, electronic device, and readable storage medium, which eliminates the need for prior mapping of the areas corresponding to the entry and return routes before operation, reducing workload and improving work efficiency. It is worth noting that the shortcomings of the above solutions are the result of the inventors' practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in the embodiments of this application below should be considered contributions made by the inventors to this application.

[0038] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] Please refer to Figure 1 , Figure 1 This is a block diagram of an electronic device 100 provided in an embodiment of this application. The electronic device 100 can be a drone, or any device controlling the flight of a drone, and can also be, but is not limited to, a smartphone, computer, server, etc. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, processor 120, and communication unit 130 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0040] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0041] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a flight control device, which includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running the software programs and modules stored in the memory 110, such as the flight control device in the embodiments of this application, thereby implementing the flight control method in the embodiments of this application.

[0042] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0043] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0044] Please refer to Figure 2 , Figure 2 This is one of the flowcharts illustrating a flight control method provided in an embodiment of this application. The method can be applied to an electronic device 100. The specific flight control process is described in detail below. This flight control method may include steps S110 and S130.

[0045] Step S110: If the entry route is not completely within the mapped area, environmental information is obtained through the detection unit, and the flight is carried out according to the environmental information and the entry route to enter the operation area.

[0046] In this embodiment, the mapped area refers to an area that has been pre-mapped. The mapped area includes a work area, which is the area corresponding to the work plot. The drone flies in the work area and can perform operations on the work objects in the work plot, such as spraying pesticides on the crops in the work plot.

[0047] The surveyed area can be a region determined based on the work area. For example, the surveyed area may include only the work area, or it may include the work area and other areas. The area of ​​the other areas can be large or small, and can be determined according to specific circumstances. For example, Figure 3As shown, users can manually delineate a portion of the area and conduct surveying on that portion. Since this portion is manually delineated by the user, it is common for this portion to include the work site and for the size of this portion to be slightly larger than the size of the work site. In this case, the surveyed area R2 includes the work area R1 and a small portion of other areas.

[0048] The entry route can be a pre-planned route from the takeoff point to the work area. If the entry route is not entirely within the mapped area, it means that the flight from the takeoff point to the work area cannot be based on the terrain data of the mapped area and the entry route; this also means that the mapped area does not completely include the area corresponding to the entry route, i.e., the entry route is not entirely within the mapped area.

[0049] like Figure 3 As shown, a large portion of the entry routes are not within the surveyed area R2. This indicates that the entry area corresponding to the entry route has not been pre-surveyed. In other words, the current topographic data of the surveyed area R2 does not include complete topographic data of the entry area. Under these circumstances, it is impossible to directly use the topographic data of the entry area and the entry route to enter the work area.

[0050] If the entry route is not entirely within the mapped area, a detection unit can be used to obtain environmental information. Based on this information and the entry route, the aircraft can then enter the work area. This eliminates the need for prior mapping of the entry area corresponding to the entry route, allowing entry into the work area directly from the route. This reduces the workload of pre-mapping and improves operational efficiency.

[0051] Step S130: Upon entering the work area, flight and operations are carried out according to the work route and the terrain data of the pre-surveyed area.

[0052] When entering the work area based on the stated entry route, the UAV can be controlled to perform operations according to the work route and the terrain data of the surveyed area. During operations, the UAV can fly based on the work route and the terrain data of the work area from the surveyed terrain data. Optionally, the flight mode when operating in the surveyed area can be either terrain-following or non-terrain-following, depending on actual needs.

[0053] One possible approach is to use terrain-following flight when operating in a mapped area. This allows the flight trajectory to closely follow the ground, providing strong adaptability to terrain and resulting in good operational effectiveness.

[0054] In this embodiment, when the mapped area does not completely include the area covered by the entry flight path, environmental information can be obtained through a detection unit. Based on this environmental information and the entry flight path, the operator enters the work area and then performs the operation based on the pre-mapped terrain data of the mapped area, which includes the work area, and the operation flight path. Thus, when using UAVs for operations, only the terrain information of the work area needs to be mapped; it is not necessary to pre-map the area covered by the entry flight path, reducing workload and improving efficiency. Furthermore, after entering the work area, the operator can perform terrain-following flight based on the pre-planned terrain data and operation flight path. This method has good terrain adaptability and good operational results.

[0055] Optionally, in this embodiment, the detection unit can be mounted on the UAV and can be used to obtain environmental information in real time. During flight according to the entry route, the flight altitude of the UAV can be adjusted in real time based on the environmental information. The specific installation location of the detection unit and the specific detection devices it includes can be determined based on the environmental information required during actual flight. The flight altitude is the altitude relative to sea level.

[0056] Optionally, the detection unit may include a first detection subunit. The first detection subunit is used to detect a first distance between the UAV and the ground in the vertical direction. The first detection subunit may be, but is not limited to, a ground sensor or other device capable of distance detection. The flight altitude of the UAV can be controlled based on the first distance, thereby allowing it to enter the work area according to the entry route.

[0057] Optionally, as an alternative implementation, the drone can enter the work area based on the environmental information, the first preset terrain-following altitude, and the entry flight path. The environmental information can be real-time acquired information, including the first distance, which is the vertical distance between the drone and the ground. The first preset terrain-following altitude is a pre-set distance between the drone and the ground before entering the work area, i.e., the drone's height relative to the ground. The first preset terrain-following altitude can be greater than 0 and can be set according to actual needs. Thus, based on the first distance and while maintaining the first preset terrain-following altitude, the drone can safely enter the work area according to the entry flight path.

[0058] Optionally, the first preset ground simulation height can also be the ground simulation height when performing ground simulation operations in the work area, or it can be a height set according to factors such as avoiding collisions and the power consumption corresponding to different heights, or it can be a height set in other ways, without being specifically limited here.

[0059] Alternatively, in one implementation, the first preset terrain-following altitude can be set relatively high, for example, to 30 meters. Thus, a ground altitude of 30 meters is sufficient to ensure safe flight even in situations with significant terrain changes.

[0060] Alternatively, in another implementation, the first preset terrain-following altitude can be set based on general requirements, meaning that the first preset terrain-following altitude will not be set too high. This avoids excessive power consumption due to high flight altitude.

[0061] Optionally, as another possible implementation, the detection unit may further include a second detection subunit, which is used to detect a second distance between the drone and the obstacle in the horizontal direction. Correspondingly, the environmental information may also include the second distance. The second detection subunit may include radar or a camera, or other devices, as long as they can obtain the second distance between the drone and the obstacle.

[0062] Please refer to Figure 4 , Figure 4 for Figure 2 A flowchart illustrating the sub-steps included in step S110. When the detection unit includes a first detection sub-unit and a second detection sub-unit, it can be achieved through... Figure 4 Enter the work area as shown. Step S110 may include sub-steps S111 and S112.

[0063] Sub-step S111: When the detection unit is activated, fly according to the flight altitude determined by the first distance and the entry route.

[0064] In sub-step S112, during flight, the detection unit is controlled to open and close according to the second distance, and when closed, it flies according to the altitude before closing and the entry route to enter the operation area.

[0065] In this embodiment, when the detection unit is activated (i.e., both the first and second detection subunits are activated), the flight altitude can be determined based on the first distance and a pre-set terrain-following altitude (which can be greater than 0), and the flight path can be determined accordingly. During flight, the second distance obtained by the second detection subunit can be used as the distance to maintain the current flight position's altitude without collision. Then, the activation and deactivation of the detection unit can be controlled based on the second distance, and when deactivated, the flight path can be maintained at the altitude before deactivation to enter the work area. This ensures safe flight to the work area and saves energy by intermittently deactivating the first and second detection subunits.

[0066] Optionally, when the second distance is greater than a preset distance, the first and second detection subunits can be turned off. This avoids frequently switching the first and second detection subunits on and off.

[0067] Optionally, when the detection unit is turned off based on the second distance, the horizontal flight distance when the detection unit is turned off may be less than the second distance. In this way, the detection unit can be turned on before a collision occurs, allowing the drone's flight altitude to be adjusted based on the detection unit to avoid a collision.

[0068] For example, with the detection unit activated, the drone can fly at the altitude determined by the first distance. Simultaneously, the second detection subunit can detect the distance at which a collision would occur if the drone maintained its current altitude, thus obtaining the second distance. Afterward, both the first and second detection subunits can be deactivated to conserve power. While the first and second detection subunits are deactivated, the drone can fly at its altitude before deactivation until it is about to reach the previously detected collision distance (i.e., the second distance). Then, the first and second detection subunits are reactivated, and an altitude adjustment operation is performed to reach a safe altitude. This process can then be repeated, i.e., the detection units are deactivated while the drone continues flying until it enters the operational area.

[0069] Please refer to Figure 5 , Figure 5 This is a second schematic flowchart of the flight control method provided in this application embodiment. The method may further include step S120.

[0070] Step S120: If the entry route is completely within the surveyed area, fly according to the terrain data of the surveyed area and the entry route to enter the operation area.

[0071] If the entry route is entirely within the surveyed area, meaning the terrain data of the surveyed area includes the complete terrain data of the entry area corresponding to the entry route, then it is not necessary to obtain the environmental information through the detection unit. Instead, the operator can directly enter the work area based on the terrain data of the entry area and the entry route in the surveyed area's terrain data.

[0072] Optionally, as an alternative implementation, the work area can be entered using a terrain-following method. In this implementation, a second preset terrain-following height can be set in advance based on the terrain data of the surveyed area or the terrain data of the entry area corresponding to the entry route in the surveyed area. The work area can then be entered based on the entry route, using the second preset terrain-following height and the terrain data of the entry area. The second preset terrain-following height can be greater than 0, and can be set according to actual needs. In this way, the work area can be safely entered using a terrain-following method based on the pre-surveyed terrain data.

[0073] Alternatively, as another optional implementation, the aircraft can fly to the work area based on the entry route and a preset altitude. The preset altitude is greater than the maximum elevation of the ground traversed by the entry route within the mapped area. Since there are no operational requirements before entering the work area, flight can be conducted without conforming to the terrain. In this case, flying according to the preset altitude saves power consumption when adjusting flight altitude based on terrain, thus increasing effective work time.

[0074] Optionally, the preset altitude can be set based solely on the maximum altitude of the ground traversed by the entry route. Alternatively, the preset altitude can be set based on the maximum altitude h_max and the relative flight altitude h_entrance of the entry route to further ensure flight safety. For example, the sum of h_max and h_entrance can be used as the preset altitude. Furthermore, a constant altitude flight can be employed to enter the operational area. Here, the maximum altitude is the altitude itself, and the relative flight altitude is the altitude of the flight position relative to the ground.

[0075] When entering the work area based on pre-mapped terrain data, the detection unit can be turned off to save power. If the RTK (Real-time kinematic) signal is interrupted while executing the entry route, the detection unit can be turned on to obtain environmental information, and the work area can be entered according to the environmental information and the entry route; that is, in the event of an RTK signal interruption, the work area can be entered using the method in step S110.

[0076] Optionally, the overlap between the entry flight path and the mapped area can also be calculated. The overlap is the ratio of the entry flight path within the mapped area to the complete entry flight path. This overlap can be compared to a preset overlap. The preset overlap can be set according to actual conditions, for example, to 60%. If the overlap is less than the preset overlap, environmental information can be obtained through a detection unit, and the flight can proceed according to the environmental information and the entry flight path to enter the work area, for example, by using a real-time sensor-based terrain-following method.

[0077] When the overlap is not less than the preset overlap but less than 100%, an entry route within the mapped area can be executed based on the terrain data of the mapped area; and an entry route outside the mapped area can be executed based on the environmental information obtained through the detection unit. In this way, by combining the two methods to enter the work area, the power consumption of the detection unit can be reduced.

[0078] If the overlap is not less than the preset overlap, the terrain data of the already surveyed area can be omitted. Instead, the environmental information obtained by the detection unit can be used to enter the work area based solely on the environmental information and the entry route. In this way, there is no need to switch between different methods.

[0079] Alternatively, instead of calculating overlap, if overlap exists, an entry route within the mapped area can be executed based on the terrain data of the mapped area; and an entry route outside the mapped area can be executed based on the environmental information obtained through the detection unit.

[0080] During the entry phase into the work area, to ensure equipment safety, "safety points" are typically added within the area, or an entry path is defined. The equipment either flies to a safety point before proceeding to the first work point, or it enters along a defined path before flying to the first work point. Optionally, the entry route used when entering the work area can be a route obtained using the above methods, thereby ensuring the flight safety of the equipment.

[0081] As an alternative implementation, the entry route is planned based on the takeoff point and the first work point within the work area. Upon entering the work area, based on the entry route, the drone can fly directly from the takeoff point to the first work point. In this method, the "safety point" is eliminated, avoiding detours caused by paths set based on "safety points" or manually defined paths, thus saving energy. Furthermore, by eliminating "safety points" or manually defined paths, since terrain-following flight or altitude-holding flight is used to raise the drone's altitude, collisions with terrain (including trees and houses) are avoided, thus ensuring equipment safety.

[0082] When entering the work area based on the entry route, the operation can be carried out using digital terrain simulation, that is, terrain simulation operation based on the topographic data of the already surveyed area.

[0083] During operation, the detection unit is no longer necessary and can be turned off to save energy. Optionally, if the RTK signal is interrupted during operation, the detection unit can be turned on to resume operation and provide reliable ground altitude information (i.e., first distance) to the UAV, facilitating the UAV's continued operation or safe return.

[0084] Once the work in the designated work area is completed, the drone can be controlled to leave the work area in any manner. Optionally, after completing the work, the drone can be controlled to fly from the work area to a landing point, or it can be controlled to fly from the current work area to another work area to perform work, etc., depending on the actual situation.

[0085] Please refer to Figure 6 , Figure 6 This is a third schematic flowchart of the flight control method provided in this application embodiment. As a possible implementation, the method may further include step S140 after the operation is completed.

[0086] Step S140: If the operation is completed, determine the return method based on whether the return route is completely within the mapped area, and fly from the operation area to the landing point based on the method of entering the operation area and the return route.

[0087] Once the work is completed within the work area, the return flight method can be determined based on whether the return flight path is entirely within the mapped area. This return flight method includes: flying based on environmental information obtained through a detection unit, and / or flying based on terrain data of the pre-mapped area. Then, the work area can be entered using the entry flight path, and the flight proceeds from the work area to the landing point according to the determined return flight method and the return flight path. This eliminates the need to pre-map the return flight area corresponding to the return flight path, thereby reducing workload and improving work efficiency.

[0088] When the return flight path is not entirely within the mapped area, the determined return flight method can be: flight based on environmental information obtained through the detection unit. That is, when the return flight path is not entirely within the mapped area, environmental information can be obtained through the detection unit, and then flight can be conducted based on this environmental information and the return flight path to fly from the work area to the landing point. A terrain-following method can be used during the return flight, and the fourth preset terrain-following altitude used during the return flight is a pre-set altitude.

[0089] When the return flight path is entirely within the mapped area, the determined return flight method can be: flight based on the pre-mapped terrain data of the mapped area. That is, when the return flight path is entirely within the mapped area, flight can be directly based on the terrain data of the mapped area and the return flight path to reach the landing point. Optionally, the return flight can be either a terrain-following method or a constant altitude method. When using the terrain-following method, the fifth preset terrain-following altitude is a pre-set altitude. When using the constant altitude method, the fixed altitude during the return flight can be set by combining the altitude of the highest point on the ground along the return flight path, or by combining the relative flight altitude corresponding to the return flight path.

[0090] When a portion of the return flight path lies within the mapped area and another portion does not, the return flight path within the mapped area can be executed based on terrain data, while the return flight path outside the mapped area can be executed based on environmental information obtained by the detection unit. In other words, in this case, the determined return flight method is: flight based on environmental information obtained by the detection unit and flight based on terrain data of the pre-mapped mapped area.

[0091] It is worth noting that the logic of returning based on the return route is the same as the logic of entering the work area based on the entry route. For a detailed description of step S140, please refer to the description of entering the work area based on the entry route above, and it will not be repeated here.

[0092] When operating using the flight control method provided in the embodiments of this application, such as Figure 3 As shown, the area surveyed in advance is the operational area R1. The areas corresponding to the entry and return routes are not necessarily areas that need to be surveyed in advance. Figure 3 It can be seen that most of the area in region R3 is unmapped. However, under conventional methods, the areas corresponding to both the entry and return routes must be mapped in advance; in this case, most of the area in region R3 is already mapped. Therefore, this embodiment of the application can reduce the area that must be mapped in advance, thereby reducing workload and improving work efficiency.

[0093] Please refer to Figure 7 , Figure 7 This is a fourth schematic flowchart illustrating the flight control method provided in this application embodiment. The method can be applied to electronic devices. The flow of this flight control method is described below. The flight control method may include steps S210 and S220.

[0094] Step S210: Upon entering the work area, conduct flight and operations based on the work route and the terrain data of the pre-surveyed area.

[0095] The surveyed area includes the work area.

[0096] In step S220, when the operation is completed and the return flight path is not completely within the surveyed area, environmental information is obtained through the detection unit, and the aircraft flies from the operation area to the landing point according to the environmental information and the return flight path.

[0097] In this embodiment, the work area can be entered in any manner. Once inside the work area, operations can be conducted based on the pre-surveyed terrain data of the area, combined with the work route. The surveyed area includes the work area. Upon completion of the work, it can be determined whether the return route is entirely within the surveyed area. If it is, the return flight can be initiated based on the terrain data of the surveyed area and the return route. If it is not entirely within the surveyed area, environmental information can be obtained using a detection unit, and the return flight can be initiated based on this environmental information and the return route.

[0098] It is worth noting that the specific descriptions of steps S210 and S220 can be found in the descriptions of steps S130 and S140 above, and will not be repeated here.

[0099] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a flight control device is given below. Optionally, the flight control device may employ the methods described above. Figure 1 The device structure of the electronic device 100 shown is illustrated. It should be noted that the flight control device provided in this embodiment has the same basic principle and technical effects as the embodiments described above. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments.

[0100] Please refer to Figure 8 , Figure 8 This is a block diagram of a flight control device 200 provided in an embodiment of this application. The flight control device 200 may include a first control module 210 and a first operation module 220.

[0101] The first control module 210 is configured to obtain environmental information through a detection unit and fly according to the environmental information and the entry route to enter the work area when the entry route is not completely within the mapped area. The mapped area includes the work area.

[0102] The first operation module 220 is used to perform flight and operation based on the operation route and the terrain data of the pre-mapped area when entering the operation area.

[0103] Optionally, in this embodiment, the first control module 210 is specifically used to: enter the work area according to the environmental information, the first preset terrain-following altitude and the entry flight path.

[0104] Optionally, in this embodiment, the detection unit includes a first detection subunit and a second detection subunit. The first detection subunit is used to detect a first distance between the UAV and the ground in the vertical direction, and the second detection subunit is used to detect a second distance between the UAV and an obstacle in the horizontal direction. The environmental information includes the first distance and the second distance. The first control module 210 is specifically used to: when the detection unit is turned on, fly according to the flight altitude determined by the first distance and the entry route; during flight, control the turning on and off of the detection unit according to the second distance, and when it is turned off, fly according to the altitude before turning off and the entry route to enter the work area.

[0105] Optionally, in this embodiment, the first control module 210 is further configured to: when the entry route is completely within the mapped area, fly according to the terrain data of the mapped area and the entry route to enter the operation area.

[0106] Optionally, in this embodiment, the first control module 210 is further configured to: fly to the work area according to the entry route and the preset altitude. The preset altitude is greater than the maximum altitude of the ground traversed by the entry route in the mapped area.

[0107] Optionally, in this embodiment, the entry route is planned based on the takeoff point and the first work point in the work area, and the first control module 210 flies according to the entry route in the following manner: based on the entry route, it flies directly from the takeoff point to the first work point.

[0108] Optionally, in this embodiment, the first control module 210 is further configured to: upon completion of the operation, determine the return mode based on whether the return route is entirely within the mapped area, and based on the method of entering the operation area, fly from the operation area to the landing point according to the return mode and the return route. The return mode includes: flying based on environmental information obtained through the detection unit, and / or flying based on terrain data of the pre-mapped area.

[0109] Please refer to Figure 9 , Figure 9 This is a block diagram of another flight control device 300 provided in an embodiment of this application. The flight control device 300 can be applied to the electronic device 100, and the flight control device 300 may include a second operation module 310 and a second control module 320.

[0110] The second operation module 310 is used to perform flight and operations based on the operation route and the terrain data of the pre-surveyed area when entering the operation area. The pre-surveyed area includes the operation area.

[0111] The second control module 320 is used to obtain environmental information through a detection unit when the operation is completed and the return route is not completely within the surveyed area, and to fly from the operation area to the landing point according to the environmental information and the return route.

[0112] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown is either stored in or embedded in the operating system (OS) of the electronic device 100, and can be used by... Figure 1 The processor 120 executes the program. Meanwhile, the data and program code required to execute the above modules can be stored in the memory 110.

[0113] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the flight control method described above.

[0114] In summary, the embodiments of this application provide a flight control method, apparatus, electronic device, and readable storage medium. When the mapped area does not fully include the area of ​​the entry or return flight path, environmental information can be obtained through a detection unit. Based on this environmental information and the entry flight path, the user can enter the work area or leave the work area. Furthermore, the operation is performed based on the pre-mapped terrain data of the mapped area, which includes the work area, and the work flight path. Thus, when using unmanned aerial vehicles (UAVs) for operations, it is not necessary to pre-map the areas of the entry and return flight paths, reducing workload and improving work efficiency.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0116] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0117] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0118] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A flight control method, characterized in that, include: If the entry route is not entirely within the mapped area, environmental information is obtained through a detection unit. The entry route is a pre-planned flight path from the takeoff point to the work area. Flight is carried out according to the environmental information and the entry route to enter the work area, wherein the mapped area includes the work area. Upon entering the work area, flight and operations are carried out according to the work route and the terrain data of the pre-surveyed area obtained through prior mapping. The method further includes: Calculate the overlap between the entry route and the mapped area, wherein the overlap is the ratio of the entry route within the mapped area to the complete entry route, and compare the overlap with a preset overlap. If the overlap is less than the preset overlap, the operation of obtaining environmental information through the detection unit and flying according to the environmental information and the entry route to enter the work area is performed. When the overlap is not less than the preset overlap but less than 100%, an entry route within the surveyed area is executed based on the terrain data of the surveyed area; and an entry route outside the surveyed area is executed based on the environmental information obtained through the detection unit, so as to enter the work area.

2. The method according to claim 1, characterized in that, The step of entering the operational area based on the environmental information and the entry route includes: Based on the environmental information, the first preset terrain-following altitude, and the flight path, the aircraft enters the operational area.

3. The method according to claim 1, characterized in that, The detection unit includes a first detection subunit and a second detection subunit. The first detection subunit is used to detect a first distance between the UAV and the ground in the vertical direction, and the second detection subunit is used to detect a second distance between the UAV and an obstacle in the horizontal direction. The environmental information includes the first distance and the second distance. The step of flying according to the environmental information and the entry route to enter the work area includes: When the detection unit is activated, the aircraft flies according to the flight altitude determined by the first distance and the entry route. During flight, the detection unit is turned on and off according to the second distance control, and when it is turned off, it flies at the altitude before turning off and the entry route to enter the operation area.

4. The method according to claim 1, characterized in that, The method further includes: If the entry route is entirely within the mapped area, the aircraft will fly according to the terrain data of the mapped area and the entry route to enter the operational area.

5. The method according to claim 4, characterized in that, The step of entering the operational area by flying according to the topographic data of the surveyed area and the entry route includes: Based on the entry route and preset altitude, fly to the operation area, wherein the preset altitude is greater than the maximum altitude of the ground traversed by the entry route in the mapped area.

6. The method according to any one of claims 1-5, characterized in that, The entry route is planned based on the takeoff point and the first operational point within the operational area. Flying according to the entry route includes: Based on the entry route, fly directly from the takeoff point to the first work point.

7. The method according to any one of claims 1-5, characterized in that, The method further includes: Upon completion of the operation, the return flight method is determined based on whether the return flight path is entirely within the mapped area. Based on the method of entering the operation area, the flight proceeds according to the return flight method and the return flight path to fly from the operation area to the landing point. The return flight method includes: flying based on environmental information obtained through the detection unit, and / or flying based on terrain data of the mapped area obtained in advance.

8. The method according to any one of claims 1-3, characterized in that, The method further includes: Calculate the overlap between the entry route and the mapped area, wherein the overlap is the ratio of the entry route within the mapped area to the complete entry route; Compare this overlap with the preset overlap; If the overlap is not less than the preset overlap, the operation of obtaining environmental information through the detection unit, and entering the work area based on the environmental information and the entry route is performed to enter the work area.

9. A flight control method, characterized in that, include: Upon entering the work area, the flight and operations are carried out according to the work route and the terrain data of the pre-surveyed area, wherein the pre-surveyed area includes the work area. If the operation is completed and the return route is not completely within the surveyed area, calculate the overlap between the return route and the surveyed area, where the overlap is the ratio of the entry route within the surveyed area to the complete entry route. Compare this overlap with the preset overlap; If the overlap is less than the preset overlap, environmental information is obtained through the detection unit, and the aircraft flies from the work area to the landing point according to the environmental information and the return flight route. When the overlap is not less than the preset overlap but less than 100%, a return flight path located within the surveyed area is executed based on the terrain data of the surveyed area; and a return flight path not located within the surveyed area is executed based on the environmental information obtained through the detection unit, so as to fly from the operation area to the landing point.

10. A flight control device, characterized in that, To implement the flight control method according to any one of claims 1-8, comprising: The first control module is used to obtain environmental information through a detection unit when the entry route is not completely within the mapped area, and to fly according to the environmental information and the entry route to enter the work area. The mapped area includes the work area, and the entry route is a pre-planned route from the takeoff point to the work area. The first operation module is used to perform flight and operations based on the operation route and the terrain data of the pre-mapped area when entering the operation area.

11. A flight control device, characterized in that, To implement the flight control method of claim 9, the method includes: The second operation module is used to perform flight and operations based on the operation route and the terrain data of the pre-surveyed area when entering the operation area, wherein the pre-surveyed area includes the operation area. The second control module is used to calculate the overlap between the return route and the mapped area when the operation is completed and the return route is not completely within the mapped area, wherein the overlap is the ratio of the entry route within the mapped area to the complete entry route; compare the overlap with a preset overlap; if the overlap is less than the preset overlap, obtain environmental information through a detection unit, and fly from the operation area to the landing point according to the environmental information and the return route.

12. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor to implement the flight control method according to any one of claims 1-9.

13. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the flight control method as described in any one of claims 1-9.

Images