Return flight control method and system, unmanned aerial vehicle and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and provides a return flight control method and system, an unmanned aerial vehicle and a storage medium. Acquiring a first vector speed of the unmanned aerial vehicle on the horizontal plane, a second vector speed of the control terminal on the horizontal plane and a preset position of a preset return point; if the first vector speed is consistent with the second vector speed and the distance between the current position of the unmanned aerial vehicle and the preset position meets a preset condition, acquiring the terminal position of the control terminal according to a preset time interval until a return instruction is received, and determining the terminal position acquired from the control terminal for the last time as a target return point; and determining a return path according to the current position of the unmanned aerial vehicle and the target return point, and flying to the target return point according to the return path. By using the method, the landing safety of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a return control method, system, unmanned aerial vehicle and storage medium. Background Art

[0002] The return-to-home function of an unmanned aerial vehicle is an important part of its autonomous flight capability. It can ensure that the unmanned aerial vehicle can return safely when it loses control or encounters an emergency, thereby greatly improving the safety and reliability of its application.

[0003] In the related art, the UAV receives satellite signals through the built-in Global Positioning System (GPS) module to determine its own location information. When taking off, the UAV stores the GPS coordinates of the take-off point as the return point. When it is necessary to return, the UAV will return to the pre-stored return point (take-off point). However, if the UAV takes off on a moving object, and after the UAV takes off, the moving object is far away from the take-off point or the user is far away from the take-off point, then the UAV will use the take-off point as the return point for landing, which may be detrimental to the landing safety of the UAV, for example, it may cause the UAV to be lost, or land in a dangerous area, etc., increasing the risk of damage to the drone. Summary of the invention

[0004] In view of this, the present application provides a return control method, system, unmanned aerial vehicle and storage medium to solve the problem in the related art that the return control method of the unmanned aerial vehicle may cause the unmanned aerial vehicle to land in a dangerous area, increasing the risk of damage to the unmanned aerial vehicle.

[0005] A first aspect of an embodiment of the present application provides a return control method, which is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle is communicatively connected to a control terminal, and the return control method includes: responding to a first instruction to enter a dynamic return mode, obtaining the current position of the unmanned aerial vehicle, the first vector speed of the unmanned aerial vehicle in a horizontal plane, the second vector speed of the control terminal in a horizontal plane, and the preset position of a preset return point; if the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle and the preset position meets a preset condition, obtaining the terminal position of the control terminal according to a preset time interval until a return instruction is received, and determining the terminal position last obtained from the control terminal as the target return point; determining a return path according to the current position of the unmanned aerial vehicle and the target return point, and flying to the target return point according to the return path.

[0006] In some embodiments, the method further includes: each time the unmanned aerial vehicle obtains the terminal position of the control terminal, the terminal position is used as an updated return point until the return instruction is received, and the last updated return point is used as the target return point.

[0007] In some embodiments, the method also includes: before receiving the return instruction, if the first vector speed, the second vector speed and the distance between the current position and the preset position always satisfy that the first vector speed and the second vector speed are inconsistent, and / or the distance between the current position of the unmanned aerial vehicle and the preset position does not satisfy the preset condition, then when the return instruction is received, the preset return point is used as the target return point.

[0008] In some embodiments, the method also includes: if the distance between the current position and the preset position is greater than or equal to a preset distance threshold, the distance between the current position and the preset position satisfies the preset condition; if the distance between the current position and the preset position is less than the preset distance threshold, the distance between the current position and the preset position does not satisfy the preset condition.

[0009] In some embodiments, the method further includes: upon receiving a second instruction to exit the dynamic return mode, responding to a user's selection operation of a preset return point, using the preset return point as the target return point.

[0010] In some embodiments, the method further includes: if the first vector speed is consistent with the second vector speed, and the distance between the current position and the preset position meets the preset condition, generating a prompt message, and sending the prompt message to the control terminal to instruct the user to adjust the return point of the unmanned aerial vehicle.

[0011] The second aspect of an embodiment of the present application provides a return control system, comprising: an unmanned aerial vehicle, used to execute the above-mentioned return control method; a control terminal, which is communicatively connected to the unmanned aerial vehicle and is used to send the terminal position of the control terminal to the unmanned aerial vehicle.

[0012] In some embodiments, the control terminal is further used to send a first instruction to the unmanned aerial vehicle to enter a dynamic return mode, or send a second instruction to the unmanned aerial vehicle to exit the dynamic return mode.

[0013] A third aspect of an embodiment of the present application provides an unmanned aerial vehicle, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-mentioned return control method when executing the computer-readable instructions.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-readable instructions, and the computer-readable instructions implement the above-mentioned return control method when executed by a processor.

[0015] In a return control method provided by an embodiment of the present application, an unmanned aerial vehicle responds to a first instruction to enter a dynamic return mode, and dynamically updates the return point of the unmanned aerial vehicle. When the first vector speed of the unmanned aerial vehicle in the horizontal plane is consistent with the second vector speed of the control terminal in the horizontal plane, and the distance between the preset position of the preset return point and the current position of the unmanned aerial vehicle meets the preset conditions, it indicates that the unmanned aerial vehicle may be in a follow mode, or the unmanned aerial vehicle follows the movement of the control terminal, and there is a certain distance between the preset position of the preset return point and the current position of the unmanned aerial vehicle. In this case, the unmanned aerial vehicle obtains the terminal position of the control terminal according to a preset time interval until the return instruction is received, and the terminal position obtained from the control terminal for the last time is determined as the target return point. By dynamically updating the return point of the unmanned aerial vehicle based on the terminal position of the control terminal when the control terminal is away from the unmanned aerial vehicle, the safety of the landing of the unmanned aerial vehicle can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0017] Figure 1 This is an application scenario diagram of the return control method provided in an embodiment of the present application.

[0018] Figure 2 It is a flow chart for implementing the return control method provided in an embodiment of the present application.

[0019] Figure 3 This is an example diagram of a display map of a control terminal provided in an embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the structure of the return control device provided in an embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the structure of the unmanned aerial vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field in this application. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. It should be understood that, unless otherwise specified in this application, " / " means or. For example, A / B can represent A or B. "And / or" in this application is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. "Multiple" means two or more than two. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, a, b and c seven situations.

[0025] See also Figure 1 As shown in FIG. 1 , it is an application scenario diagram of the return control method provided in an embodiment of the present application, such as Figure 1As shown, the unmanned aerial vehicle 100 is connected to the control terminal 200 for communication. In the process of realizing the return control, the control terminal 200 sends a first instruction to the unmanned aerial vehicle 100 to enter the dynamic return mode. In response to the first instruction, the unmanned aerial vehicle 100 obtains the first vector speed of the unmanned aerial vehicle 100 in the horizontal plane, the second vector speed of the control terminal 200 in the horizontal plane, and the preset position of the preset return point. When it is determined that the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle 100 and the preset position of the preset return point meets the preset conditions, the unmanned aerial vehicle 100 obtains the terminal position of the control terminal 200 according to the preset time interval until the return instruction is received, and the terminal position obtained from the control terminal 200 for the last time is determined as the target return point. The unmanned aerial vehicle 100 determines the return path according to the current position of the unmanned aerial vehicle 100 and the target return point, and flies to the target return point according to the return path.

[0026] In some embodiments, the unmanned aerial vehicle 100 may be a multi-rotor drone, an unmanned aircraft, etc. The control terminal 200 may be a remote controller, or a user terminal, such as any one or more of a mobile phone, a tablet computer, a wearable device, etc. The embodiments of the present application do not limit the specific device types of the unmanned aerial vehicle 100 and the control terminal 200.

[0027] In some embodiments, the communication connection method includes but is not limited to wireless communication connection. For example, the wireless channel from the unmanned aerial vehicle 100 to the control terminal 200 can be used to transmit data collected by the unmanned aerial vehicle 100, such as videos, pictures, sensor data, and status information of the unmanned aerial vehicle 100. The wireless channel from the control terminal 200 to the unmanned aerial vehicle 100 can be used to transmit remote control data, such as flight control instructions and control instructions such as return instructions, photo instructions, and video recording instructions.

[0028] Figure 1 The scenarios shown are only illustrative examples, and the return control method provided by the present application can also be applied in other scenarios. For example, in some scenarios, the unmanned aerial vehicle 100 may be included, but the control terminal 200 is not included; in some scenarios, other types of devices may also be included. The embodiments of the present application do not limit the specific application scenarios of the return control method.

[0029] See also Figure 2 The figure is a flowchart of the implementation of the return control method provided in the embodiment of the present application. The method is applied to unmanned aerial vehicles. The embodiment of the present application is applied to the method in Figure 1 The method is described by taking the unmanned aerial vehicle 100 in FIG. S11: In response to the first instruction to enter the dynamic return mode, the current position of the UAV, the first vector speed of the UAV on the horizontal plane, the second vector speed of the control terminal on the horizontal plane and the preset position of the preset return point are obtained.

[0030] In some embodiments, the dynamic return mode refers to a mode of dynamically updating the return point of the unmanned aerial vehicle.

[0031] In some embodiments, the home point represents the location or area where the UAV will land. The preset home point represents the preset location or area where the UAV will land. The preset home point can be customized, for example, it can be determined based on the take-off point of the UAV or can be a location specified by the user. The embodiments of the present application do not limit the method for determining the preset home point.

[0032] In some embodiments, the first vector velocity represents the speed and direction of the UAV's movement on the horizontal plane, and the second vector velocity represents the speed and direction of the control terminal's movement on the horizontal plane.

[0033] In some embodiments, the preset location of the preset return point can be represented by coordinates, such as GPS coordinates. The unmanned aerial vehicle can obtain data information such as longitude, latitude, altitude, etc. of the location of the preset return point (preset location) to represent the preset location.

[0034] In some embodiments, the UAV may detect the first vector velocity of the UAV on the horizontal plane using sensors, such as one or more sensors such as a global navigation satellite system (GNSS), an optical flow sensor, and an inertial measurement unit (IMU). The embodiment of the present application does not limit the method for obtaining the first vector velocity.

[0035] In some embodiments, the unmanned aerial vehicle responds to the first instruction and may send a request to the control terminal to obtain the second vector velocity of the control terminal in the horizontal plane, and the control terminal responds to the request and sends the second vector velocity to the unmanned aerial vehicle. The control terminal may calculate the second vector velocity based on parameter data such as the moving distance, time, and moving direction of the control terminal in the horizontal plane. The embodiment of the present application does not limit the method for obtaining the second vector velocity.

[0036] In some embodiments, the UAV may obtain the preset position of the preset return point through a satellite navigation system (such as GPS), or may obtain the preset position of the preset return point through user settings and records. For example, a user may set a preset return point during or before the flight of the UAV through the control system of the UAV or a corresponding application. After the user sets the preset return point, the UAV may save the location information of the preset return point. The embodiments of the present application do not limit the method for obtaining the preset position.

[0037] S12: If the first vector speed is consistent with the second vector speed, and the distance between the current position of the UAV and the preset position meets the preset conditions, the terminal position of the control terminal is obtained according to the preset time interval until the return command is received, and the terminal position last obtained from the control terminal is determined as the target return point.

[0038] In some embodiments, the current position represents the latest position information of the UAV at any time, and the current position can be represented by coordinates, such as GPS coordinates. The UAV can obtain data information such as the longitude, latitude, altitude, speed, and environmental factors (such as wind direction and wind speed) of the location of the UAV to determine the current position. The embodiments of the present application do not limit the method for obtaining the current position.

[0039] In some embodiments, if the distance between the current position and the preset position is greater than or equal to a preset distance threshold, the distance between the current position and the preset position meets the preset condition; if the distance between the current position and the preset position is less than the preset distance threshold, the distance between the current position and the preset position does not meet the preset condition.

[0040] In some embodiments, the preset time interval is customized and can be an average time interval or a non-average time interval. The present application embodiment does not limit the preset time interval. For example, the preset time interval can be set to 2 seconds, 3 seconds, 5 seconds, etc.

[0041] In some embodiments, the terminal location of the control terminal may be represented by coordinates of the control terminal, such as GPS coordinates.

[0042] In some embodiments, in the process of acquiring the terminal position of the control terminal according to a preset time interval, the unmanned aerial vehicle can send a terminal position acquisition request to the control terminal according to the preset time interval, and the control terminal responds to the acquisition request and returns the current terminal position to the unmanned aerial vehicle.

[0043] In other embodiments, in the process of obtaining the terminal position of the control terminal according to the preset time interval, the unmanned aerial vehicle may also send a position acquisition instruction to the control terminal. The position acquisition instruction instructs the control terminal to send the terminal position of the control terminal to the unmanned aerial vehicle according to the preset time interval. The embodiment of the present application does not limit the method of obtaining the terminal position.

[0044] In some embodiments, the target return point generally refers to the location or area where the UAV is finally determined to land.

[0045] In some embodiments, if it is determined that the first vector speed is consistent with the second vector speed, it indicates that the UAV is currently in the following mode, and the UAV and the control terminal move synchronously in the horizontal direction. When the control terminal moves away from the preset return point, the UAV also moves away from the preset return point. In this case, if the UAV dynamically updates the return point according to the terminal position of the control terminal and sets the return point to the terminal position, it can help prevent the UAV from getting lost in complex environments or signal interference, and when encountering emergencies (such as low battery, signal loss, etc.), the UAV can quickly return to the terminal position to follow, avoiding accidents such as falling, improving the safety of the UAV and preventing the loss of the UAV.

[0046] However, sometimes the user may accidentally touch the control terminal, causing the first vector speed to be consistent with the second vector speed. At this time, if the distance between the current position of the unmanned aerial vehicle and the preset position of the preset return point is less than the preset distance threshold, it indicates that the distance between the current position of the unmanned aerial vehicle and the preset position of the preset return point may be small. In this case, the user may be able to more easily observe the environment around the preset return point, and the unmanned aerial vehicle may not update the return point, or the preset return point may still be used as the landing position or area of ​​the unmanned aerial vehicle.

[0047] When it is determined that the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle and the preset position of the preset return point is greater than the preset distance threshold, the unmanned aerial vehicle determines that the position of the unmanned aerial vehicle is far from the preset return point. At this time, if the unmanned aerial vehicle uses the preset return point as the target return point for landing, the unmanned aerial vehicle needs to fly a longer distance. Since there is a certain error in GPS positioning, the unmanned aerial vehicle flies a long distance and returns to the preset return point, which will affect the accuracy of the unmanned aerial vehicle's return.

[0048] In order to solve the above problem, if it is determined that the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle and the preset position of the preset return point is greater than the preset distance threshold, the unmanned aerial vehicle can dynamically update the return point according to the terminal position of the control terminal. Specifically, the unmanned aerial vehicle obtains the terminal position of the control terminal according to a preset time interval until a return instruction is received, and the terminal position last obtained from the control terminal is determined as the target return point. On the one hand, in the following mode, setting the return point to the position of the terminal can improve the safety of the unmanned aerial vehicle and the loss of the unmanned aerial vehicle. On the other hand, it can improve the accuracy of the return of the unmanned aerial vehicle.

[0049] In some embodiments, when the UAV receives a return-to-home instruction, it will stop updating the return point.

[0050] In some embodiments of the present application, the unmanned aerial vehicle can use the terminal position as an updated return point each time after obtaining the terminal position of the control terminal, until a return instruction is received, and use the last updated return point as the target return point.

[0051] In other embodiments, the unmanned aerial vehicle may not use the terminal position as the updated return point after each acquisition of the terminal position of the control terminal, but only determine the terminal position last acquired from the control terminal as the target return point when receiving the return instruction. The specific method of updating the return point is not limited in the embodiments of the present application.

[0052] In other embodiments of the present application, before receiving the return instruction, if the first vector speed, the second vector speed, and the distance between the current position and the preset position always satisfy the inconsistency between the first vector speed and the second vector speed, and / or the distance between the current position of the unmanned aerial vehicle and the preset position does not meet the preset conditions, then when the return instruction is received, the preset return point will be used as the target return point.

[0053] In some embodiments, if the first vector speed is inconsistent with the second vector speed, and / or the distance between the current position of the unmanned aerial vehicle and the preset position does not meet the preset conditions, the unmanned aerial vehicle does not update the return point. Once it is determined that the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle and the preset position meets the preset conditions, the unmanned aerial vehicle will update the return point, obtain the terminal position of the control terminal according to the preset time interval, until the return command is received, and determine the terminal position obtained from the control terminal for the last time as the target return point.

[0054] In some embodiments, after determining that the first vector speed is consistent with the second vector speed and the distance between the current position of the unmanned aerial vehicle and the preset position meets the preset conditions, the unmanned aerial vehicle may stop calculating the first vector speed and the second vector speed, and the distance between the preset position and the current position. Alternatively, after determining that the first vector speed is consistent with the second vector speed and the distance between the current position of the unmanned aerial vehicle and the preset position meets the preset conditions, no matter how the first vector speed and the second vector speed change and how the distance between the current position and the preset position changes, it will not affect the determination of the target return point, or the unmanned aerial vehicle still obtains the terminal position of the control terminal according to the preset time interval until the return command is received, and the terminal position obtained from the control terminal for the last time is determined as the target return point.

[0055] In some embodiments of the present application, if the first vector speed is consistent with the second vector speed, and the distance between the current position and the preset position meets the preset conditions, a prompt message is generated and sent to the control terminal to instruct the user to adjust the return point of the unmanned aerial vehicle.

[0056] In this embodiment, the distance between the current position and the preset position meets the preset condition, that is, the distance between the current position and the preset position is greater than or equal to the preset distance threshold, indicating that the distance between the current position of the unmanned aerial vehicle and the preset position of the preset return point is relatively far. If the unmanned aerial vehicle returns to the preset return point when the surrounding environment of the preset return point cannot be observed, it may affect the landing safety of the unmanned aerial vehicle and the accuracy of the return of the unmanned aerial vehicle. In this case, the unmanned aerial vehicle can generate a prompt message and send the prompt message to the control terminal, instructing the user to adjust the return point of the unmanned aerial vehicle to ensure that the surrounding environment of the adjusted return point is suitable for the landing of the unmanned aerial vehicle and ensure the landing safety of the unmanned aerial vehicle.

[0057] In some embodiments, the UAV can adjust the return point of the UAV by adjusting the joystick of the control terminal, preset function keys, etc. The control terminal updates the return point in response to the user's operation.

[0058] In other embodiments, the display device of the control terminal may display a display map including corresponding icons of the unmanned aerial vehicle, the return point, the control terminal, etc. Figure 3 As shown, the display map 20 displays an icon 21 corresponding to the unmanned aerial vehicle, an icon 22 corresponding to the control terminal, and an icon 23 corresponding to the return point.

[0059] like Figure 3As shown, the user can adjust the return point of the unmanned aerial vehicle by dragging the icon 23 corresponding to the return point in the displayed map to another position. Alternatively, the user can also select any position or area in the displayed map as the updated return point. The control terminal updates the return point in response to the user's operation.

[0060] In some embodiments, the UAV may send information such as flight status and position to the control terminal. The control terminal may update the relative position and coordinates of the UAV in the displayed map according to the information such as flight status and position of the UAV.

[0061] In another embodiment, the target return point may also be specified by the user, or may be a location determined during autonomous return, such as low-battery return.

[0062] In other embodiments, when a second instruction to exit the dynamic return mode is received, in response to a user's selection of a preset return point, the preset return point is used as a target return point.

[0063] In some embodiments, a dynamic return mode selection control may be pre-set in the control terminal, such as a selection button and an exit button for the dynamic return mode. The control terminal responds to the selection operation of entering the dynamic return mode, generates a first instruction to enter the dynamic return mode, and sends the first instruction to the unmanned aerial vehicle. The control terminal responds to the selection operation of exiting the dynamic return mode, generates a second instruction to exit the dynamic return mode, and sends the second instruction to the unmanned aerial vehicle.

[0064] In this embodiment, the UAV and the control terminal can store the location information of the preset return point. After the UAV exits the dynamic return mode, the user can reselect the preset return point as the target return point, and the UAV responds to the user's selection operation of the preset return point and uses the preset return point as the target return point.

[0065] S13: Determine a return path according to the current position of the UAV and the target return point, and fly to the target return point according to the return path.

[0066] In some embodiments, the data reflecting the current location of the UAV includes but is not limited to the current geographic location data of the UAV, such as longitude, latitude, altitude, etc. The data reflecting the location of the target return point includes but is not limited to the GPS coordinates of the target return point.

[0067] In some embodiments, the UAV may utilize a path planning algorithm to calculate a safe and efficient return path based on a variety of factors, such as the topography of the UAV's flight area, the UAV's flight safety altitude limit, meteorological conditions (such as wind speed, wind direction, and rainfall, etc.), air traffic control restrictions, and possible obstacles. In addition, in the process of planning the return path, the UAV may also plan the path based on a variety of factors, such as the remaining battery power of the aircraft, flight speed, flight time, and possible emergency avoidance measures, to ensure that the UAV can return smoothly and land safely.

[0068] After determining the return path, the UAV can start its built-in flight control system and fly automatically according to the planned return path. In some embodiments, during the flight, the UAV can continuously monitor the position and flight status of the UAV through its sensors and navigation system, and make necessary adjustments according to changes in the environment, such as adjusting the flight altitude, speed and direction, to ensure that it can stably and accurately fly to the target return point along the planned return path.

[0069] In some embodiments, a landing program or algorithm may be pre-set in the UAV, and the landing program or algorithm is used for preparation and adjustment before landing. When the UAV approaches the target return point, the UAV may start the preset landing program or algorithm to prepare and adjust before landing to ensure that it can land safely and smoothly at the target return point.

[0070] In a return control method provided by an embodiment of the present application, an unmanned aerial vehicle responds to a first instruction to enter a dynamic return mode, and dynamically updates the return point of the unmanned aerial vehicle. When the first vector speed of the unmanned aerial vehicle in the horizontal plane is consistent with the second vector speed of the control terminal in the horizontal plane, and the distance between the preset position of the preset return point and the current position of the unmanned aerial vehicle meets the preset conditions, it indicates that the unmanned aerial vehicle may be in a follow mode, or the unmanned aerial vehicle follows the movement of the control terminal, and there is a certain distance between the preset position of the preset return point and the current position of the unmanned aerial vehicle. In this case, the unmanned aerial vehicle obtains the terminal position of the control terminal according to a preset time interval until the return instruction is received, and the terminal position obtained from the control terminal for the last time is determined as the target return point. By dynamically updating the return point of the unmanned aerial vehicle based on the terminal position of the control terminal when the control terminal is away from the unmanned aerial vehicle, the safety of the landing of the unmanned aerial vehicle can be improved.

[0071] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0072] See also Figure 4 , Figure 4 The structure diagram of the return control device provided in the embodiment of the present application is shown, which can realize the details of the return control method in the above embodiment and achieve the same effect. Figure 4 As shown, the return control device 10 can be applied to an unmanned aerial vehicle with a data processing function. The return control device 10 includes: a response module 11, which is used to respond to a first instruction to enter a dynamic return mode, obtain a first vector speed of the unmanned aerial vehicle in a horizontal plane, a second vector speed of the control terminal in a horizontal plane, and a preset position of a preset return point; an update module 12, which is used to obtain the terminal position of the control terminal according to a preset time interval if the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle and the preset position meets the preset conditions, until a return instruction is received, and determine the terminal position obtained from the control terminal for the last time as the target return point; a return module 13, which is used to determine a return path according to the current position of the unmanned aerial vehicle and the target return point, and fly to the target return point according to the return path.

[0073] For the specific definition of the return control device 10, please refer to the definition of the return control method above, which will not be repeated here. Each module in the above return control device 10 can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the unmanned aerial vehicle in the form of hardware, or can be stored in the memory in the unmanned aerial vehicle in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0074] See also Figure 5 , which is a schematic diagram of the structure of an unmanned aerial vehicle provided in an embodiment of the present application. The unmanned aerial vehicle 100 includes but is not limited to any one of a multi-rotor drone, an unmanned aerial vehicle, etc. The network where the unmanned aerial vehicle 100 is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0075] like Figure 5 As shown, the UAV 100 includes a communication module 101, a memory 102, a processor 103, an input / output interface 104 and a bus 105. The processor 103 is coupled to the communication module 101, the memory 102 and the input / output interface 104 through the bus 105. The communication module 101 can be a wireless communication module or a mobile communication module. The wireless communication module can provide wireless communication solutions including wireless local area networks (WLAN) (for example, wireless fidelity (Wi-Fi) network), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication technology (NFC), infrared technology (IR), etc., which are applied to the unmanned aerial vehicle 100. The mobile communication module can provide wireless communication solutions including 2G / 3G / 4G / 5G, etc., which are applied to the unmanned aerial vehicle 100. The memory 102 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 103, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM, for example, the fifth generation DDR SDRAM is generally called DDR5 SDRAM), etc. The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 103. The non-volatile memory may include a disk storage device and a flash memory. The memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the return control method executed on the unmanned aerial vehicle 100 can be implemented. In other embodiments, the UAV 100 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the UAV 100 . The processor 103 may include one or more processing units, for example, the processor 103 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors. The processor 103 provides computing and control capabilities. For example, the processor 103 is used to execute a computer program stored in the memory 102 to implement the above-mentioned return control method. The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information. The bus 105 is at least used to provide a channel for mutual communication among the communication module 101 , the memory 102 , the processor 103 , and the input / output interface 104 in the UAV 100 . It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the unmanned aerial vehicle 100. In other embodiments of the present application, the unmanned aerial vehicle 100 may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0076] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the return control method in the above-mentioned embodiments of the present application. The computer-readable storage medium may be the internal memory of the UAV described in the above embodiment, such as the hard disk or memory of the UAV. The computer-readable storage medium may also be an external storage device of the UAV, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the UAV. Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the unmanned aerial vehicle, etc.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A return control method, applied to an unmanned aerial vehicle, characterized in that: The unmanned aerial vehicle is in communication connection with a control terminal, and the return control method comprises: In response to a first instruction to enter a dynamic return mode, obtaining a current position of the unmanned aerial vehicle, a first vector velocity of the unmanned aerial vehicle on a horizontal plane, a second vector velocity of the control terminal on a horizontal plane, and a preset position of a preset return point; If the first vector speed is consistent with the second vector speed, and the distance between the current position of the unmanned aerial vehicle and the preset position meets a preset condition, the terminal position of the control terminal is obtained according to a preset time interval until a return instruction is received, and the terminal position last obtained from the control terminal is determined as the target return point; A return path is determined according to the current position of the unmanned aerial vehicle and the target return point, and the unmanned aerial vehicle flies to the target return point according to the return path.

2. The return control method according to claim 1, characterized in that: The method further comprises: Each time the unmanned aerial vehicle obtains the terminal position of the control terminal, the terminal position is used as an updated return point until the return instruction is received, and the last updated return point is used as the target return point.

3. The return control method according to claim 1, characterized in that: The method further comprises: Before receiving the return instruction, if the first vector speed, the second vector speed, and the distance between the current position and the preset position always satisfy that the first vector speed is inconsistent with the second vector speed, and / or the distance between the current position of the unmanned aerial vehicle and the preset position does not satisfy the preset condition, then when the return instruction is received, the preset return point is used as the target return point.

4. The return control method according to claim 1 or 3, characterized in that: The method further comprises: If the distance between the current position and the preset position is greater than or equal to a preset distance threshold, the distance between the current position and the preset position satisfies the preset condition; If the distance between the current position and the preset position is less than the preset distance threshold, the distance between the current position and the preset position does not satisfy the preset condition.

5. The return control method according to claim 1, characterized in that: The method further comprises: When a second instruction to exit the dynamic return mode is received, in response to a user's selection operation of a preset return point, the preset return point is used as the target return point.

6. The return control method according to claim 1, characterized in that: The method further comprises: If the first vector speed is consistent with the second vector speed, and the distance between the current position and the preset position meets the preset condition, a prompt message is generated and sent to the control terminal to instruct the user to adjust the return point of the unmanned aerial vehicle.

7. A return control system, characterized in that: include: An unmanned aerial vehicle, used to execute the return control method according to any one of claims 1 to 6; A control terminal is communicatively connected to the unmanned aerial vehicle and is used to send the terminal position of the control terminal to the unmanned aerial vehicle.

8. The return control system according to claim 7, characterized in that: The control terminal is also used to send a first instruction to the unmanned aerial vehicle to enter a dynamic return mode, or send a second instruction to the unmanned aerial vehicle to exit the dynamic return mode.

9. An unmanned aerial vehicle, characterized in that: The invention comprises a memory, a processor and computer-readable instructions stored in the memory and executable on the processor, wherein the computer-readable instructions, when executed by the processor, implement the return control method as claimed in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the return control method according to any one of claims 1 to 6 is implemented.

Images