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

Abstract

The invention discloses a homeward voyage method, device and equipment of an unmanned aerial vehicle and a medium, and relates to the technical field of homeward voyage of the unmanned aerial vehicle, and the method comprises the steps: obtaining at least one candidate homeward voyage type of the unmanned aerial vehicle, the position of a homeward voyage path point associated with each candidate homeward voyage type, and the real-time position and flight data of the unmanned aerial vehicle, gas data of hydrogen in a hydrogen cylinder of the unmanned aerial vehicle and power sampling data of a battery in the unmanned aerial vehicle; calculating the real-time endurance distance of the unmanned aerial vehicle according to the flight data, the gas data and the power sampling data; for each candidate homeward voyage type, calculating a real-time homeward voyage distance corresponding to the candidate homeward voyage route type according to the real-time position and the position of a homeward voyage path point associated with the candidate homeward voyage type, and determining a target homeward voyage type from each candidate homeward voyage type according to the real-time endurance distance and each real-time homeward voyage distance; and generating return flight alarm information according to the target return flight type to prompt a technician to instruct the unmanned aerial vehicle to return flight. According to the invention, the return flight safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle return, and in particular to a method, device, equipment and medium for returning an unmanned aerial vehicle. Background Art

[0002] In recent years, the production and application of drones have developed vigorously, and drones are being used more and more widely in various fields, such as surveying and mapping, monitoring, agricultural plant protection, and traffic inspection.

[0003] At present, if the battery power of a drone is consumed to a low level during the inspection process, it will not be able to return smoothly, and may even make an emergency landing or crash during the return process. Summary of the invention

[0004] The invention provides a return method, device, equipment and medium for an unmanned aerial vehicle, so as to improve the sound absorption and noise reduction effect of a control console.

[0005] In a first aspect, the present invention provides a method for returning a drone, comprising:

[0006] Obtain at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone;

[0007] Calculate the real-time cruising range of the drone based on flight data, gas data, and power sampling data;

[0008] For each candidate return type, calculate the real-time return distance corresponding to the candidate return route type based on the real-time position and the position of the return path point associated with the candidate return type;

[0009] Determine the target return type from each candidate return type according to the real-time endurance distance and each real-time return distance;

[0010] Generate a return warning message based on the target return type to prompt the technician to instruct the drone to return.

[0011] In a second aspect, the present invention further provides a return device for an unmanned aerial vehicle, comprising:

[0012] A data acquisition module, used to acquire at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone;

[0013] The cruising range determination module is used to calculate the real-time cruising range of the drone based on flight data, gas data, and power sampling data;

[0014] A return distance determination module is used to calculate the real-time return distance corresponding to each candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type;

[0015] A return type determination module is used to determine a target return type from various candidate return types according to the real-time endurance distance and each real-time return distance;

[0016] The information generation module is used to generate return warning information according to the target return type to prompt the technician to instruct the drone to return.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0018] at least one processor; and

[0019] a memory communicatively coupled to at least one processor; wherein

[0020] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the return method of the drone provided in any embodiment of the present invention.

[0021] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the return method of the drone of any embodiment of the present invention when executed.

[0022] The embodiment of the present invention calculates the real-time cruising distance of the drone by acquiring the flight data of the drone, the gas data of hydrogen in the drone and the power sampling data of the battery; calculates the real-time return distance corresponding to each candidate return route type according to the real-time position and the position of the return path point associated with each candidate return type; determines the target return type in which the drone can successfully complete the return from each candidate return type according to each real-time cruising distance and each real-time return distance; generates return alarm information according to the target return type to prompt the technician to instruct the drone to return, thereby ensuring the smooth return of the drone and improving the safety of the drone's return.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a flow chart of a method for returning to the home position of a drone provided according to Embodiment 1 of the present invention;

[0026] Figure 2A is a flow chart of a method for returning to the home position of a drone provided according to Embodiment 2 of the present invention;

[0027] Figure 2B is a flow chart of a method for returning to the home position of a drone provided according to Embodiment 2 of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of a return device for a drone provided according to Embodiment 3 of the present invention;

[0029] Figure 4 It is a structural schematic diagram of an electronic device for implementing the return method of the drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first" and "second" and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] In the technical solutions of the embodiments of the present invention, the acquisition, storage and application of real-time location and flight data, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0033] Embodiment 1

[0034] Figure 1 A flowchart of a return method for a drone provided in Embodiment 1 of the present invention is provided. This embodiment is applicable to the case of generating return warning information for a drone. The method can be executed by a return device for a drone. The return device for the drone can be implemented in the form of hardware and / or software and is specifically configured in an electronic device, such as a drone or a server.

[0035] See also Figure 1 The return method of the drone shown includes:

[0036] S101. Obtain at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone.

[0037] In this embodiment, the candidate return type may refer to the return type that the drone can perform, and may include but is not limited to at least one of a set path return type and a straight line return type. Among them, the set path return type may refer to returning along a set path; the straight line return type may be a straight line return pointing to the take-off position of the drone. The return path point may be the path point that the drone passes through during the return process. Flight data may be data of the drone during the flight process, and may include but is not limited to flight duration, flight speed, and flight altitude. Gas data may include but is not limited to the temperature and pressure of hydrogen. Power sampling data may include but is not limited to the current and voltage of the battery collected at each sampling time.

[0038] It should be noted that the interval between adjacent sampling moments can be independently set by technical personnel according to actual needs or practical experience, and the present invention is not limited to this.

[0039] S102: Calculate the real-time cruising range of the UAV based on the flight data, gas data, and power sampling data.

[0040] In this embodiment, the real-time cruising distance may refer to the real-time distance that the drone can continue to fly. Specifically, a certain algorithm is used to calculate the real-time cruising distance of the drone based on flight data, gas data, and power sampling data.

[0041] Optionally, the flight data includes flight duration and the average flight speed in the current time period; the power sampling data includes power data corresponding to each sampling moment within the flight duration; the real-time cruising distance of the UAV is calculated based on the flight data, gas data and power sampling data, including: determining the remaining available power of the UAV based on the gas data and the power data corresponding to each sampling moment within the flight duration; determining the energy consumption of the UAV in the current flight time period based on the power data corresponding to each sampling moment in the current time period and the sampling interval duration of the power data; determining the real-time cruising duration of the UAV based on the remaining available power and the energy consumption in the current time period; calculating the real-time cruising distance of the UAV based on the average flight speed and the real-time cruising duration of the UAV.

[0042] Among them, the flight data may include but are not limited to the flight duration and the average flight speed in the current time period; the power sampling data may include but are not limited to the power data corresponding to each sampling moment in the flight duration. The flight duration may be the flight duration of the drone since takeoff; the length of the current time period may be independently set by the technicians according to actual needs or practical experience, and the present invention does not limit this. The sampling interval duration may be the duration between adjacent sampling moments. The power consumption of the drone during the current time period of flight may be the amount of power consumed by the drone during the current time period of flight.

[0043] Specifically, a certain algorithm can be used to determine the remaining available power of the drone based on the gas data and the power data corresponding to each sampling moment during the flight duration; for each sampling moment in the current time period, the power consumption within the sampling interval is determined based on the current, voltage and sampling interval duration at the sampling moment; the power consumption corresponding to each sampling moment in the current time period is accumulated to obtain the power consumption of the drone during the current flight time period. Exemplarily, the power consumption of the drone during the current flight time period can be determined by the following formula:

[0044]

[0045] Among them, Q a Indicates the power consumption of the drone during the current flight period; M indicates the number of sampling moments in the current time period; U rtj represents the voltage corresponding to the jth sampling moment; I rtj represents the current corresponding to the sampling moment; T represents the sampling interval;

[0046] Determine the ratio between the remaining available power and the power consumption in the current time period; determine the product of the determined ratio and the duration of the current time period as the real-time endurance of the drone; illustratively, the real-time endurance can be determined by the following formula:

[0047]

[0048] Among them, t left Indicates the real-time endurance; T1 indicates the duration of the current time period; Q left Indicates the remaining available power of the drone; Q a Indicates the power consumption of the drone during the current flight period;

[0049] The product of the average flight speed and the real-time endurance duration is determined as the real-time endurance distance of the drone. For example, the real-time endurance distance of the drone can be calculated by the following formula:

[0050] L left =V rt ×t left ;

[0051] Among them, L left Indicates the real-time cruising distance; V rt represents the average flight speed; t left Indicates the real-time battery life.

[0052] It can be understood that the above technical solution is used to determine the remaining available power of the UAV and the power consumption of the UAV in the current flight time period; the real-time flight time of the UAV is determined based on the remaining available power and the power consumption in the current time period; the real-time flight distance of the UAV is calculated based on the average flight speed and the real-time flight time of the UAV, thereby improving the accuracy of the determined real-time flight distance.

[0053] Optionally, the gas data includes real-time gas data, initial gas data and limit gas data; the initial gas data is the gas data when the UAV is started; the limit gas data is the gas data when the hydrogen cylinder cannot output hydrogen; the remaining available power of the UAV is determined according to the gas data and the power data corresponding to each sampling moment within the flight duration, including: determining the hydrogen consumption of the UAV during the flight duration according to the initial gas data, the real-time gas data and the volume of the hydrogen cylinder; determining the remaining available hydrogen of the UAV according to the real-time gas data, the limit gas data and the volume of the hydrogen cylinder; determining the electric energy consumption of the UAV during the flight duration according to the power data corresponding to each sampling moment within the flight duration; determining the remaining available power of the UAV according to the hydrogen consumption and electric energy consumption of the UAV during the flight duration, and the remaining available hydrogen of the UAV.

[0054] Among them, gas data may include but are not limited to air pressure and temperature. Hydrogen can only be input into the hydrogen bottle in the drone when the air pressure is greater than or equal to the limit air pressure; the limit gas data may include but are not limited to the limit air pressure when hydrogen can be output, and the limit temperature of hydrogen corresponding to the limit air pressure. Real-time gas data may include but are not limited to the real-time temperature and real-time air pressure of hydrogen; initial gas data may include but are not limited to the air pressure and temperature of hydrogen when the drone is started, that is, the initial air pressure and initial temperature of the drone at the moment of take-off. The remaining available hydrogen amount may refer to the amount of hydrogen that can be output by the hydrogen bottle. Power sampling data may include but are not limited to the current and voltage at each sampling moment during the flight duration, as well as the sampling interval duration.

[0055] Specifically, the amount of hydrogen at the take-off time of the drone is determined according to the initial temperature, initial pressure and volume of the hydrogen cylinder; illustratively, the amount of hydrogen at the take-off time of the drone can be determined by the following formula:

[0056]

[0057] Among them, P0 represents the initial air pressure; V represents the volume of the hydrogen bottle; n0 represents the amount of hydrogen in the drone at the time of take-off; R represents the ideal gas constant; T0 represents the initial temperature;

[0058] According to the real-time temperature, real-time pressure and volume of the hydrogen cylinder, the real-time hydrogen volume of the drone is determined; for example, the real-time hydrogen volume of the drone can be determined by the following formula:

[0059]

[0060] Among them, P rt Indicates the real-time gas pressure; V indicates the volume of the hydrogen tank; n rt represents the real-time hydrogen volume of the drone; R represents the ideal gas constant; T rt Indicates real-time temperature;

[0061] The difference between the real-time hydrogen volume and the hydrogen volume of the drone at the time of take-off is determined as the hydrogen consumption of the drone during the flight time; illustratively, the hydrogen consumption of the drone can be determined by the following formula:

[0062] n use =n0-n rt ;

[0063] Among them, n use Indicates the hydrogen consumption of the drone; n rt Indicates the real-time hydrogen volume of the drone; n0 indicates the hydrogen volume of the drone at the moment of takeoff;

[0064] According to the limit gas pressure, limit temperature and volume of the hydrogen cylinder, determine the minimum hydrogen volume when the hydrogen cylinder of the drone cannot output hydrogen; illustratively, the minimum hydrogen volume of the drone can be determined by the following formula;

[0065]

[0066] Among them, P min represents the ultimate gas pressure; V represents the volume of the hydrogen cylinder; n min represents the minimum amount of hydrogen in the drone; R represents the ideal gas constant; T min Indicates the extreme temperature;

[0067] The difference between the real-time hydrogen amount determined according to the real-time gas data and the volume of the hydrogen cylinder and the minimum hydrogen amount is determined as the remaining available hydrogen amount of the drone; illustratively, the remaining available hydrogen amount of the drone can be determined by the following formula:

[0068] n left =n rt -n min ;

[0069] Among them, n left Indicates the remaining available hydrogen amount of the drone; n rt Indicates the real-time hydrogen volume of the drone; n min Indicates the minimum amount of hydrogen for the drone;

[0070] According to the battery current and voltage collected at each sampling time during the flight time, the power consumption of the drone during the flight time is determined; for example, the power consumption of the drone during the flight time can be determined by the following formula:

[0071]

[0072] Among them, Q rt represents the power consumption of the drone during the flight time; N represents the number of sampling moments; U rti Represents the voltage at the i-th sampling moment; I rti represents the current at the i-th sampling moment; T represents the sampling interval;

[0073] The ratio between the hydrogen consumption and the electric energy consumption of the drone during the flight time is determined as the hydrogen power generation coefficient of the drone; the product of the hydrogen power generation coefficient and the remaining available hydrogen amount is determined as the remaining available power of the drone; illustratively, the remaining available power of the drone can be determined by the following formula:

[0074]

[0075] Among them, Q leftIndicates the remaining available power of the drone; n use Indicates the hydrogen consumption of the drone; n left Indicates the remaining available hydrogen amount of the drone; Q rt Indicates the power consumption of the drone during flight time.

[0076] It can be understood that by adopting the above technical solution, the hydrogen consumption of the UAV during the flight time and the remaining available hydrogen of the UAV can be determined; the electric energy consumption of the UAV during the flight time can be determined based on the power data corresponding to each sampling moment during the flight time; the remaining available power of the UAV can be determined based on the hydrogen consumption and power consumption of the UAV during the flight time, as well as the remaining available hydrogen of the UAV, thereby improving the accuracy of the remaining available power.

[0077] S103. For each candidate return type, calculate the real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type.

[0078] In this embodiment, the real-time return distance may refer to the real-time distance that the drone needs to fly to return. Specifically, a certain algorithm is used to calculate the real-time return distance corresponding to each candidate return type according to the real-time position and the position of the return path point associated with the candidate return type.

[0079] S104: Determine a target return type from each candidate return type according to the real-time endurance distance and each real-time return distance.

[0080] In this embodiment, the target return type may refer to a candidate return type that the drone can complete. Specifically, a certain algorithm is used to determine the target return type from each candidate return type according to the real-time endurance distance and each real-time return distance. Optionally, the candidate return type whose corresponding real-time return distance is less than the real-time endurance distance is determined as the target return type.

[0081] S105. Generate return warning information according to the target return type to prompt the technician to instruct the drone to return.

[0082] In this embodiment, the return warning information can be used to prompt the technician to instruct the drone to return. Specifically, the return warning information containing the target return type is generated and sent to the technician to prompt the technician to instruct the drone to return.

[0083] The embodiment of the present invention calculates the real-time cruising distance of the drone by acquiring the flight data of the drone, the gas data of hydrogen in the drone and the power sampling data of the battery; calculates the real-time return distance corresponding to each candidate return route type according to the real-time position and the position of the return path point associated with each candidate return type; determines the target return type in which the drone can successfully complete the return from each candidate return type according to each real-time cruising distance and each real-time return distance; generates return alarm information according to the target return type to prompt the technician to instruct the drone to return, thereby ensuring the smooth return of the drone and improving the safety of the drone's return.

[0084] Embodiment 2

[0085] Figure 2A This is a flow chart of a return method for a drone provided in Embodiment 2 of the present invention. Based on the technical solutions of the above embodiments, this embodiment of the present invention optimizes and improves the operation of determining the target return type.

[0086] Further, "determine the target return type from each candidate return type based on the real-time endurance distance and each real-time return distance" is refined into "compare the real-time endurance distance and the first return distance to obtain a first comparison result; the first return distance is the real-time return distance corresponding to the set path return type; compare the real-time endurance distance and the second return distance to obtain a second comparison result; the second return distance is the real-time return distance corresponding to the straight line return type; determine the target return type based on the first comparison result and the second comparison result" to improve the operation of determining the target return type.

[0087] It should be noted that, for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions in the aforementioned embodiments.

[0088] See also Figure 2A The return method of the drone shown includes:

[0089] S201. Obtain at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone.

[0090] In this embodiment, the candidate return types may include but are not limited to a set path return type and a straight line return type. The set path return type may refer to returning along a set path; the straight line return type may refer to returning in a straight line to the take-off position of the drone.

[0091] Optionally, the set path return type includes one of an original path return type and a specific path return type; the return path point associated with the original path return type is different from the return path point associated with the specific path return type; accordingly, before obtaining at least one candidate return type of the drone, it also includes: if the return path information input by the user is received, the specific path return type and the straight line return type are determined as candidate return types; otherwise, the original path return type and the straight line return type are determined as candidate return types.

[0092] Among them, the original path return type may refer to the type of return along the original route. The specific path return type may refer to the type of return according to the specified return path. For example, if the drone inspects from north to south along the set inspection path, the original return type may refer to the type of return from south to north along the inspection path, and the specific path return type may refer to the type of return according to a specific path different from the inspection path. The return path information may include the location information of at least one return path point.

[0093] Specifically, if the return path information input by the user is received, the specific path return type and the straight line return type are determined as candidate return types, and the position of each return path point in the return path information is associated with the specific path return type; otherwise, the original path return type and the straight line return type are determined as candidate return types.

[0094] It can be understood that, by adopting the above technical solution, regardless of whether the return path information is received, the straight line return type with the shortest return path is determined as the candidate return type, so as to improve the safety and success rate of the drone's return; if the return path information input by the user is received, the specific path return type is used, otherwise the original path return type is determined as the candidate return type, thereby achieving flexibility in the candidate return types and enabling flexible return of the drone.

[0095] S202: Calculate the real-time cruising range of the UAV based on the flight data, gas data and power sampling data.

[0096] S203: For each candidate return type, calculate the real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type.

[0097] Optionally, the return path point associated with the straight-line return type is the take-off position point; for each candidate return type, the real-time return distance corresponding to the candidate return route type is calculated according to the real-time position and the position of the return path point associated with the candidate return type, including: for the set path return type, according to the real-time position and the position of the return path point associated with the set path return type, determining the first path point of the UAV in the return process from the return path points associated with the set path return type; determining the first distance between every two adjacent first path points in the flight order; accumulating each first distance to obtain the real-time return distance corresponding to the set path return type; for the straight-line return type, determining the real-time straight-line distance between the UAV and the take-off position point according to the real-time position and the position of the take-off position point; determining the real-time straight-line distance as the real-time return distance corresponding to the straight-line return type.

[0098] The take-off position is the position where the drone starts to fly. The first path point can be the return path point that the drone needs to pass when returning from the real-time position. The flight order can refer to the order in which the drone passes the return path points. The first distance can be the distance between two adjacent first path points in the flight order.

[0099] Specifically, for the set path return type, according to the real-time position and the position of the return path point associated with the set path return type, the first path point of the drone in the return process is determined from the return path points associated with the set path return type; for every two first path points adjacent in flight order among the first path points, according to the radius of the earth and the longitude and latitude values ​​of the two first path points, the half-haversine value of the central angle between the two first path points adjacent in flight order is determined; the first distance between the two first path points adjacent in flight order is solved by the inverse sine function and the half-haversine value of the central angle; illustratively, the half-haversine value of the central angle between two first path points adjacent in flight order can be determined by the following formula:

[0100]

[0101] Wherein, d represents the first distance; R represents the radius of the earth; har() represents the half-haversine function; represents the central angle of a circle; Represents the half-haversine value of the central angle; lat1 and lon1 respectively represent the latitude and longitude values ​​of a first path point, y1 and x1 respectively represent the radian value corresponding to the latitude value of the first path point, and the radian value corresponding to the longitude value; lat2 and lon2 respectively represent the latitude and longitude values ​​of another first path point, y2 and x2 respectively represent the radian value corresponding to the latitude value of the first path point, and the radian value corresponding to the longitude value.

[0102] Accumulate each first distance and determine the accumulated result as the real-time return distance corresponding to the set path return type; for the straight-line return type, determine the real-time straight-line distance between the UAV and the take-off position point according to the real-time position and the position of the take-off position point; it should be noted that the process of determining the implementation straight-line distance is similar to the process of determining the first distance, which will not be repeated here; the real-time straight-line distance is determined as the real-time return distance corresponding to the straight-line return type.

[0103] It can be understood that, by adopting the above technical solution, for the set path return type, the real-time return distance corresponding to the set path return type is determined based on the first distance between each adjacent first path point; for the straight-line return type, the straight-line distance between the real-time position and the take-off position point is determined as the real-time return distance corresponding to the straight-line return type, thereby improving the flexibility of determining the real-time return distance.

[0104] S204, comparing the real-time endurance distance and the first return distance to obtain a first comparison result; the first return distance is the real-time return distance corresponding to the set path return type.

[0105] S205, comparing the real-time endurance distance and the second return distance to obtain a second comparison result; the second return distance is the real-time return distance corresponding to the straight-line return type.

[0106] S206: Determine the target return type according to the first comparison result and the second comparison result.

[0107] Specifically, a certain algorithm is used to determine the target return type according to the first comparison result and the second comparison result.

[0108] Optionally, the target return type is determined based on the first comparison result and the second comparison result, including: if the first comparison result is that the real-time endurance distance is greater than or equal to the first return distance, the set path return type and the straight line return type are determined as the target return type; if the first comparison result is that the real-time endurance distance is less than the first return distance, and the second comparison result is that the real-time endurance distance is greater than or equal to the second return distance, the straight line return type is determined as the target return type; if the second comparison result is that the real-time endurance distance is less than the second return distance, the target return type is determined to be empty.

[0109] It can be understood that by adopting the above technical solution, the candidate return type that the drone can complete the return can be determined as the target return type from among the candidate return types; and when all candidate return types cannot enable the drone to complete the return, the target return type is determined as empty, thereby improving the accuracy of the target return type.

[0110] In an optional embodiment, the return distance margin can also be obtained; the return distance margin is added to the first return distance to obtain the first target return distance, and the return distance margin is added to the second return distance to obtain the second target return distance; the real-time endurance distance and the first target return distance are compared to obtain a third comparison result; the real-time endurance distance and the second target return distance are compared to obtain a fourth comparison result; if the first comparison result is that the real-time endurance distance is greater than or equal to the first target return distance, the set path return type and the straight line return type are determined as the target return type; if the first comparison result is that the real-time endurance distance is less than the first target return distance, and the second comparison result is that the real-time endurance distance is greater than or equal to the second target return distance, the straight line return type is determined as the target return type; if the second comparison result is that the real-time endurance distance is less than the second target return distance, the target return type is determined to be empty.

[0111] S207: Generate return warning information according to the target return type to prompt the technician to instruct the drone to return.

[0112] In an optional embodiment, if the target return type is a set path return type and a straight line return type, the return warning information may not be generated. In another optional embodiment, if the target return type is a straight line return type, a return warning information including the target return type may be generated to prompt the technician that the drone cannot return according to the set path return type, but can return according to the straight line return type, thereby prompting the technician to instruct the drone to return. In yet another optional embodiment, if the target return type is empty, the generated return warning information may include prompt information for inputting the return path, thereby prompting the technician to input the return path information of the drone, so as to update the return path of the drone, so that the technician can instruct the drone to return according to the input return path information.

[0113] Optional, Figure 2B This is a flow chart of a UAV return method. Figure 2B As shown, the electronic device deployed with the return method of the drone according to the embodiment of the present invention can obtain the return distance margin S, the volume V of the hydrogen bottle, the initial temperature T0 of the hydrogen in the hydrogen bottle, the initial pressure P0 of the hydrogen, and the limit pressure P min and hydrogen limit temperature T min , and continuously detects whether a return command is received during the flight. If a return command is received, the return is executed according to the return type in the return command input by the user; if no return command is received, the real-time voltage U is obtained. rt , real-time current I rt , Real-time pressure of hydrogen in the hydrogen cylinder P rt Hydrogen real-time temperature T rt and the average flight speed Vrt , and according to the return distance margin S, hydrogen tank volume V, hydrogen initial temperature T0 in the hydrogen tank, hydrogen initial pressure P0, hydrogen limit pressure P min , Hydrogen limit temperature T min , real-time voltage U rt , Real-time current I rt , Real-time pressure of hydrogen in the hydrogen cylinder P rt , hydrogen real-time temperature T rt and the average flight speed V rt , calculate the real-time endurance distance LF of the drone; detect whether the user enters the return path information; if the user enters the return path information, calculate the real-time return distance of the specific path return type, and use the real-time return distance of the specific path return type as the first return distance LR1; otherwise, calculate the real-time return distance of the original path return type, and use the real-time return distance of the original path return type as the first return distance LR1; calculate the real-time return distance of the straight line return type, and use the real-time return distance of the straight line return type as the second return distance LR2; determine whether the first condition LF≥(LR1+S) and LF≥(LR2+S) are met; if the first condition is met, no return alarm information is generated, and return to the step of executing the detection whether the return instruction is received; if the first condition is not met, determine the second condition LF<(LR1 +S) and LF≥(LR2+S) are met. If the second condition is met, the straight-line return type is determined to be the target return type, and a first return alarm message is generated to prompt the technician to instruct the drone to return, and return to the step of detecting whether the return instruction has been received; if the second condition is not met, the target return type is determined to be empty, and a second return alarm message is generated to prompt the technician to input the return path information, instruct the drone to return, and return to the step of detecting whether the return instruction has been received; wherein the alarm severity level of the second return alarm message is greater than the alarm severity level of the first return alarm message, and the first return alarm message can be used to warn the technician that the drone can return in a straight-line return type; the second return alarm message can be used to warn the technician that the drone cannot return in a straight-line return type.

[0114] The embodiment of the present invention obtains a first comparison result by comparing the real-time endurance distance and the first return distance; the first return distance is the real-time return distance corresponding to the set path return type; the real-time endurance distance and the second return distance are compared to obtain a second comparison result; the second return distance is the real-time return distance corresponding to the straight line return type; according to the first comparison result and the second comparison result, the target return type is determined, and the target return type that enables the drone to complete the return can be obtained from each candidate return type through the comparison result between the real-time endurance distance and the first return distance, and the comparison result between the real-time endurance distance and the second return distance, thereby improving the safety and success rate of the drone's return.

[0115] Embodiment 3

[0116] Figure 3 This is a schematic diagram of the structure of a return device for a drone provided in Embodiment 4 of the present invention. This embodiment can be applied to the case of generating return warning information for a drone, the device can execute a return method for a drone, the return device for a drone can be implemented in the form of hardware and / or software, and the device can be configured in an electronic device, such as a drone or a server.

[0117] See also Figure 3 The return device of the drone shown in the figure includes a data acquisition module 301, a cruising distance determination module 302, a return distance determination module 303, a return type determination module 304 and an information generation module 305, wherein:

[0118] The data acquisition module 301 is used to acquire at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone;

[0119] A cruising range determination module 302 is used to calculate the real-time cruising range of the UAV based on the flight data, gas data and power sampling data;

[0120] The return distance determination module 303 is used to calculate the real-time return distance corresponding to each candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type;

[0121] A return type determination module 304 is used to determine a target return type from each candidate return type according to the real-time endurance distance and each real-time return distance;

[0122] The information generation module 305 is used to generate return warning information according to the target return type to prompt the technician to instruct the drone to return.

[0123] The embodiment of the present invention calculates the real-time cruising distance of the drone by acquiring the flight data of the drone, the gas data of hydrogen in the drone and the power sampling data of the battery; calculates the real-time return distance corresponding to each candidate return route type according to the real-time position and the position of the return path point associated with each candidate return type; determines the target return type in which the drone can successfully complete the return from each candidate return type according to each real-time cruising distance and each real-time return distance; generates return alarm information according to the target return type to prompt the technician to instruct the drone to return, thereby ensuring the smooth return of the drone and improving the safety of the drone's return.

[0124] Optionally, the candidate return types include a set path return type and a straight line return type;

[0125] The return type determination module 304 includes:

[0126] A first result determination unit is used to compare the real-time endurance distance and the first return distance to obtain a first comparison result; the first return distance is the real-time return distance corresponding to the set path return type;

[0127] A second result determination unit is used to compare the real-time endurance distance with the second return distance to obtain a second comparison result; the second return distance is the real-time return distance corresponding to the straight return type;

[0128] The return type determination unit is used to determine the target return type according to the first comparison result and the second comparison result.

[0129] Optionally, a return type determination unit includes:

[0130] A first type determination subunit is configured to determine the set path return type and the straight line return type as the target return type if the first comparison result is that the real-time endurance distance is greater than or equal to the first return distance;

[0131] A second type determination subunit, configured to determine the straight return type as the target return type if the first comparison result is that the real-time endurance distance is less than the first return distance, and the second comparison result is that the real-time endurance distance is greater than or equal to the second return distance;

[0132] The third type determination subunit is used to determine that the target return type is empty if the second comparison result is that the real-time endurance distance is less than the second return distance.

[0133] Optionally, the set path return type includes one of an original path return type and a specific path return type; the return path point associated with the original path return type is different from the return path point associated with the specific path return type;

[0134] Accordingly, the device further comprises:

[0135] A first type determination module, configured to determine a specific path return type and a straight line return type as candidate return types upon receiving return path information input by a user;

[0136] The second type determination module is used to determine the original path return type and the straight line return type as candidate return types.

[0137] Optionally, the return path point associated with the straight return type is the take-off position point;

[0138] The return distance determination module 303 includes:

[0139] A path point determination unit, for determining a first path point of the UAV during the return process from the return path points associated with the set path return type according to the real-time position and the position of the return path point associated with the set path return type;

[0140] A first distance determining unit, used for determining a first distance between every two first path points adjacent to each other in the flight order;

[0141] A second distance determination unit accumulates the first distances to obtain a real-time return distance corresponding to the set path return type;

[0142] A straight-line distance determination unit, for determining the real-time straight-line distance between the UAV and the take-off position point according to the real-time position and the position of the take-off position point for the straight-line return type;

[0143] The third distance determining unit is used to determine the real-time straight-line distance as the real-time return distance corresponding to the straight-line return type.

[0144] Optionally, the flight data includes the flight duration and the average flight speed in the current time period; the power sampling data includes the power data corresponding to each sampling moment within the flight duration;

[0145] The cruising distance determination module 302 includes:

[0146] A remaining power determination unit, used to determine the remaining available power of the drone based on the gas data and the power data corresponding to each sampling time during the flight duration;

[0147] The power consumption determination unit is used to determine the power consumption of the UAV flight cycle according to the power data corresponding to each sampling moment in the current time period and the sampling interval of the power data;

[0148] A flight duration determination unit, used to determine the real-time flight duration of the drone based on the remaining available power and the power consumption in the current time period;

[0149] The cruising range determination unit is used to calculate the real-time cruising range of the drone according to the average flight speed and the real-time cruising time of the drone.

[0150] Optionally, the gas data includes real-time gas data, initial gas data and limit gas data; the initial gas data is the gas data when the drone is started; the limit gas data is the gas data when the hydrogen cylinder cannot output hydrogen;

[0151] The remaining power determination unit comprises:

[0152] A hydrogen consumption determination subunit is used to determine the hydrogen consumption of the UAV during the flight time according to the initial gas data, the real-time gas data and the volume of the hydrogen cylinder;

[0153] A remaining hydrogen amount determination subunit is used to determine the remaining available hydrogen amount of the UAV according to the real-time gas data, the limit gas data and the volume of the hydrogen cylinder;

[0154] The power consumption determination subunit is used to determine the power consumption of the UAV during the flight time according to the power data corresponding to each sampling time during the flight time;

[0155] The remaining power determination subunit is used to determine the remaining available power of the drone based on the hydrogen consumption and electric energy consumption of the drone during the flight time, as well as the remaining available hydrogen amount of the drone.

[0156] The return device for the drone provided in the embodiment of the present invention can execute the return method for the drone provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the return method for the drone.

[0157] Embodiment 4

[0158] Figure 4 A schematic diagram of the structure of an electronic device 400 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0159] like Figure 4As shown, the electronic device 400 includes at least one processor 401, and a memory connected to the at least one processor 401 in communication, such as a read-only memory (ROM) 402, a random access memory (RAM) 403, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 401 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 402 or the computer program loaded from the storage unit 408 to the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 can also be stored. The processor 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0160] Multiple components in the electronic device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0161] Processor 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. Processor 401 executes the various methods and processes described above, such as the return method of the drone.

[0162] In some embodiments, the return method of the drone can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the processor 401, one or more steps of the return method of the drone described above can be performed. Alternatively, in other embodiments, the processor 401 can be configured to execute the return method of the drone in any other appropriate manner (for example, by means of firmware).

[0163] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0164] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of the return device of a general-purpose computer, a special-purpose computer or other programmable drone, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or completely on a remote machine or server.

[0165] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0166] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0167] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0168] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS (Virtual Private Server) services.

[0169] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0170] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for returning a drone, characterized in that: The method comprises: Acquire at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone; Calculate the real-time cruising distance of the UAV according to the flight data, the gas data and the power sampling data; For each candidate return type, calculating the real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type; Determine a target return type from each of the candidate return types according to the real-time endurance distance and each of the real-time return distances; Generate return warning information according to the target return type to prompt the technician to instruct the drone to return.

2. The method according to claim 1, characterized in that The candidate return types include a set path return type and a straight line return type; The step of determining a target return type from each of the candidate return types according to the real-time cruising distance and each of the real-time return distances includes: Comparing the real-time endurance distance with the first return distance to obtain a first comparison result; the first return distance is the real-time return distance corresponding to the set path return type; Compare the real-time endurance distance with the second return distance to obtain a second comparison result; the second return distance is the real-time return distance corresponding to the straight-line return type; The target return type is determined according to the first comparison result and the second comparison result.

3. The method according to claim 2, characterized in that The determining the target return type according to the first comparison result and the second comparison result includes: If the first comparison result is that the real-time endurance distance is greater than or equal to the first return distance, the set path return type and the straight line return type are determined as target return types; If the first comparison result is that the real-time endurance distance is less than the first return distance, and the second comparison result is that the real-time endurance distance is greater than or equal to the second return distance, the straight-line return type is determined as the target return type; If the second comparison result is that the real-time endurance distance is less than the second return distance, it is determined that the target return type is empty.

4. The method according to claim 2, characterized in that: The set path return type includes one of an original path return type and a specific path return type; the return path point associated with the original path return type is different from the return path point associated with the specific path return type; Accordingly, before obtaining at least one candidate return type of the drone, it also includes: If the return path information input by the user is received, the specific path return type and the straight line return type are determined as candidate return types; Otherwise, the original path return type and the straight line return type are determined as candidate return types.

5. The method according to claim 2, characterized in that: The return path point associated with the straight return type is the take-off position point; The step of calculating, for each candidate return type, a real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type, includes: For a set path return type, according to the real-time position and the position of the return path point associated with the set path return type, determine a first path point of the drone during the return process from the return path points associated with the set path return type; Determine a first distance between every two adjacent first path points in the flight sequence; Accumulate the first distances to obtain a real-time return distance corresponding to the set path return type; For the straight-line return type, determining the real-time straight-line distance between the UAV and the take-off location point according to the real-time position and the position of the take-off location point; The real-time straight-line distance is determined as the real-time return distance corresponding to the straight-line return type.

6. The method according to claim 1, wherein the flight data includes the flight duration and the average flight speed in the current time period; the power sampling data includes the power data corresponding to each sampling time in the flight duration; The calculating the real-time cruising distance of the UAV according to the flight data, the gas data and the power sampling data includes: Determine the remaining available power of the drone according to the gas data and the power data corresponding to each sampling time within the flight duration; Determine the power consumption of the UAV during the current time period according to the power data corresponding to each sampling moment in the current time period and the sampling interval of the power data; Determine the real-time flight time of the drone according to the remaining available power and the power consumption in the current time period; The real-time cruising distance of the UAV is calculated according to the average flight speed and the real-time cruising duration of the UAV.

7. The method according to claim 6, characterized in that The gas data includes real-time gas data, initial gas data and limit gas data; the initial gas data is the gas data when the drone is started; the limit gas data is the gas data when the hydrogen cylinder cannot output hydrogen; Determining the remaining available power of the drone according to the gas data and the power data corresponding to each sampling time within the flight duration includes: Determine the hydrogen consumption of the UAV during the flight time according to the initial gas data, the real-time gas data and the volume of the hydrogen bottle; Determine the remaining available hydrogen amount of the drone according to the real-time gas data, the limit gas data and the volume of the hydrogen cylinder; Determine the power consumption of the UAV during the flight duration according to the power data corresponding to each sampling time during the flight duration; The remaining available power of the drone is determined according to the hydrogen consumption and the electric energy consumption of the drone during the flight time and the remaining available hydrogen amount of the drone.

8. A return device for an unmanned aerial vehicle, characterized in that: The device comprises: A data acquisition module, used to acquire at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of hydrogen in the hydrogen tank of the drone, and the power sampling data of the battery in the drone; A cruising range determination module, used to calculate the real-time cruising range of the UAV according to the flight data, the gas data and the power sampling data; A return distance determination module, for calculating, for each candidate return type, a real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type; A return type determination module, used to determine a target return type from each of the candidate return types according to the real-time endurance distance and each of the real-time return distances; The information generation module is used to generate return warning information according to the target return type to prompt the technician to instruct the drone to return.

9. An electronic device, characterized in that: The drone comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the return method for the drone according to any one of claims 1 to 7.

10. 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 processor to implement the return method of the drone according to any one of claims 1 to 7 when executed.

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