Unmanned aerial vehicle continuous flight control method and device

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle continuous flight control method and device, and the method comprises the steps: determining that the executable voyage of an unmanned aerial vehicle is smaller than the total voyage, and obtaining a planned route and a navigation direction of the unmanned aerial vehicle; the planned route comprises a preset starting point and a plurality of data acquisition segments; determining an executable end point of the unmanned aerial vehicle based on the preset starting point and the executable voyage; obtaining the attitude stable mileage of the unmanned aerial vehicle; determining a continuous flight return point and a continuous flight reentry point in the planned route based on the data acquisition section where the executable end point is located, the attitude stable mileage and the navigation direction; and controlling the unmanned aerial vehicle to return when the unmanned aerial vehicle sails to the continuous flight return point, and performing continuous flight from the continuous flight reentry point. According to the method, the continuous flight point of the unmanned aerial vehicle is divided into the continuous flight return point and the continuous flight reentry point, so that the data acquisition cost can be effectively reduced, the data quality is improved, and the data processing efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling the continued flight of an unmanned aerial vehicle. Background Art

[0002] Drones often use mounted laser radars for data collection and three-dimensional reconstruction. The current traditional route continuation method is to mark a last position at the end of the previous flight, and then continue to perform subsequent route tasks from this continuation point during the continuation flight. However, when the drone enters the flight, it needs to adjust the heading attitude in order to enter the route correctly. The need to use this continuation method will reduce the data quality due to data collection when the attitude jitter is large. In addition, when continuing to fly from the last end point, data from invalid areas will often be collected, thereby reducing the effectiveness of the data collected by the drone and increasing power consumption. Moreover, too much invalid data will bring greater data cutting workload to post-processing personnel, and increase the probability of error, thereby affecting the accuracy of the data.

[0003] Therefore, the current route continuation method has the defects of low data quality, high cost consumption and low data accuracy. Summary of the invention

[0004] The present invention provides a method and device for controlling the continued flight of an unmanned aerial vehicle, which can improve data quality, reduce data collection costs, and thus improve data processing efficiency.

[0005] In order to solve the above technical problems, the present invention provides a method for controlling a drone to continue flying, comprising:

[0006] Determining that the executable range of the drone is less than the total range, and obtaining a planned route and navigation direction of the drone; the planned route includes a preset starting point and a plurality of data collection segments;

[0007] Determining an executable end point of the drone based on the preset starting point and the executable range;

[0008] Obtaining the attitude stable mileage of the UAV;

[0009] Based on the data collection segment where the executable endpoint is located, the attitude stabilization mileage and the navigation direction, determining a return point and a re-entry point in the planned route;

[0010] The UAV is controlled to return when it navigates to the return point for continued flight, and to continue flight from the re-entry point for continued flight.

[0011] The present invention determines that the drone needs to continue flying when it is determined that the executable range of the drone is less than the total range, obtains the planned route and navigation direction of the drone, determines the executable end point of the executable range of the drone, and then obtains the attitude stability mileage of the drone, analyzes the data collection section where the executable end point is located in the planned route, and determines the return point and the re-entry point of the continued flight in the planned route in combination with the attitude stability mileage and the navigation direction, controls the drone to return when navigating to the return point of the continued flight, and continues flying from the re-entry point of the continued flight. The present invention splits the drone's continued flight point into the return point of the continued flight and the re-entry point of the continued flight, which can effectively reduce the cost of data collection, improve data quality, and thus improve the efficiency of data processing.

[0012] Further, based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction, determining the return point and the re-entry point in the planned route is specifically as follows:

[0013] According to the planned route, the data collection segment where the executable end point is located is determined; the data collection segment is a valid collection segment or an invalid collection segment; the valid collection segment is set in a preset valid collection area, and the invalid collection segment is set in a preset invalid collection area;

[0014] When the executable endpoint is in the effective collection segment, comparing the executable range with the attitude stable mileage to form a comparison result;

[0015] Based on the comparison result, the attitude stabilization mileage and the navigation direction, determining a return point and a re-entry point in the planned route;

[0016] When the executable endpoint is in the invalid collection segment, a return point and a re-entry point are determined in the planned route based on the planned route, the attitude stabilization mileage and the navigation direction.

[0017] The present invention determines the data collection segment where the executable end point is located based on the planned route. When the executable end point is in a valid collection segment, the executable range and the attitude stable mileage are compared, and the return point and the re-entry point of the continued flight are determined in the planned route based on the comparison result, the attitude stable mileage and the navigation direction. When the executable end point is in an invalid collection segment, the return point and the re-entry point of the continued flight are determined in the planned route based on the planned route, the attitude stable mileage and the navigation direction. Therefore, the present invention adopts different analysis methods to determine the return point and the re-entry point of the continued flight according to the different data collection segments where the executable end point is located, which can effectively improve the return point and the re-entry point of the continued flight, thereby improving the data quality.

[0018] Further, the determining of a return point and a reentry point in the planned route based on the comparison result, the attitude stabilization mileage and the navigation direction includes:

[0019] When the comparison result is that the executable range is less than or equal to the attitude stable mileage, determining a previous valid collection segment of the valid collection segment according to the planned route and the navigation direction;

[0020] Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight;

[0021] A reentry point for continued flight is determined according to the navigation direction and the attitude stabilization mileage.

[0022] When the executable end point of the present invention is in the effective collection segment, if the executable range is less than or equal to the attitude stable mileage, the previous effective collection segment of the effective collection segment is determined according to the planned route and the navigation direction, and the last collection point of the previous effective collection segment is determined as the return point for the continued flight, and the re-entry point for the continued flight is determined according to the navigation direction and the attitude stable mileage. The present invention determines the last collection point of the previous effective collection segment as the return point for the continued flight, which can avoid collecting data of subsequent invalid collection segments, save energy of the drone, and ensure the accuracy of data collection.

[0023] Further, the determining of the reentry point according to the navigation direction and the attitude stabilization mileage is specifically as follows:

[0024] Determine the initial collection point of the effective collection section according to the navigation direction;

[0025] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

[0026] When the executable end point is in the effective collection segment and the executable range is less than or equal to the attitude stable mileage, the present invention determines the initial collection point of the effective collection segment according to the navigation direction, and determines the collection point that deviates from the navigation direction and is at a distance of the attitude stable mileage from the initial collection point as the continued flight re-entry point. The continued flight re-entry point can provide a distance for the UAV to adjust its posture before entering the effective collection segment, thereby ensuring that the UAV can collect stable data when entering the effective collection segment.

[0027] Further, the determining of a return point and a reentry point in the planned route based on the comparison result, the attitude stabilization mileage and the navigation direction includes:

[0028] When the comparison result is that the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for the continued flight;

[0029] A reentry point for continued flight is determined according to the executable endpoint, the navigation direction and the attitude stabilization mileage.

[0030] When the executable end point is in the effective collection section, if the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for continued flight, and the re-entry point for continued flight is determined according to the executable end point, the navigation direction and the attitude stable mileage. Since the executable range is greater than the attitude stable mileage, the data collected by the drone are all valid data. Determining the executable end point as the return point for continued flight can maximize the collection of valid data in the executable range and improve the efficiency of data collection.

[0031] Further, the determining of the reentry point according to the executable end point, the navigation direction and the attitude stabilization mileage is specifically as follows:

[0032] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the executable end point is determined as a continued flight reentry point.

[0033] When the executable endpoint is in the effective collection section and the executable range is greater than the attitude stable mileage, the present invention determines the collection point that deviates from the navigation direction and is at a distance of the attitude stable mileage from the executable endpoint as the continued flight re-entry point. The continued flight re-entry point can provide a distance for the UAV to adjust its attitude before reaching the executable endpoint. After the attitude adjustment is completed, the data after the executable endpoint is continued to be collected, which can effectively improve the stability of the data.

[0034] Further, when the executable endpoint is in the invalid collection segment, based on the planned route, the attitude stable mileage and the navigation direction, a return point and a re-entry point are determined in the planned route, specifically:

[0035] When the executable end point is in an invalid collection segment, determining a previous valid collection segment of the invalid collection segment according to the planned route and the navigation direction;

[0036] Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight;

[0037] A reentry point for continued flight is determined according to the planned route, the navigation direction and the attitude stabilization mileage.

[0038] When the executable end point is in an invalid collection segment, the present invention determines the previous valid collection segment of the invalid collection segment according to the planned route and navigation direction, determines the last collection point of the previous valid collection segment as the return point for continued flight, and determines the re-entry point for continued flight according to the planned route, navigation direction and attitude stability mileage. The present invention determines the last collection point of the previous valid collection segment as the return point for continued flight, which can avoid collecting data of subsequent invalid collection segments, save energy of the drone, and ensure the accuracy of data collection.

[0039] Further, the determining of the reentry point according to the planned route, the navigation direction and the attitude stabilization mileage is specifically as follows:

[0040] Determine a valid collection segment following the invalid collection segment according to the planned route and the navigation direction;

[0041] Determine the initial collection point of the next effective collection section according to the navigation direction;

[0042] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

[0043] When the executable end point of the present invention is in an invalid collection segment, a valid collection segment after the invalid collection segment is determined according to the planned route and the navigation direction, and a collection point that deviates from the navigation direction and is at a distance of attitude stable mileage from the initial collection point of the next valid collection segment is determined as a continued flight re-entry point. The continued flight re-entry point can provide a distance for the drone to adjust its attitude before entering the next valid collection segment, thereby ensuring that the drone can collect stable data when entering the valid collection segment.

[0044] Furthermore, before determining that the executable range of the drone is less than the total range, the method further includes:

[0045] Get the total flight distance of the drone;

[0046] Obtaining the battery information of the drone; the battery information includes the battery power and power consumption curve;

[0047] Calculating the executable range of the drone according to the total range, the battery power and the battery information;

[0048] The executable range of the UAV is compared with the total range.

[0049] The present invention can obtain the drone's battery information including battery power and power consumption curve, and combine it with the acquired total range to derive the drone's executable range. By comparing the drone's executable range with the total range, it can be determined whether the drone will trigger continued flight control when executing the total range, thereby ensuring the safety of the drone.

[0050] Accordingly, the present invention provides a UAV continued flight control device, comprising: a first acquisition module, a first determination module, a second acquisition module, a second determination module and a control module;

[0051] The first acquisition module is used to determine that the executable range of the drone is less than the total range, and to acquire the planned route and navigation direction of the drone; the planned route includes a preset starting point and a plurality of data collection segments;

[0052] The first determination module is used to determine the executable end point of the drone based on the preset starting point and the executable range;

[0053] The second acquisition module is used to acquire the attitude stability mileage of the UAV;

[0054] The second determination module is used to determine the return point and the re-entry point in the planned route based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction;

[0055] The control module is used to control the UAV to return when navigating to the return point for continued flight, and to continue flight from the re-entry point for continued flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for controlling the continued flight of a UAV provided by the present invention;

[0057] Figure 2 A first schematic diagram of a UAV route planning method provided by the present invention;

[0058] Figure 3 A second schematic diagram of a UAV route planning provided by the present invention;

[0059] Figure 4 A third schematic diagram of a UAV route planning method provided by the present invention;

[0060] Figure 5 A fourth schematic diagram of a UAV route planning method provided by the present invention;

[0061] Figure 6 A schematic structural diagram of an embodiment of the UAV continued flight control device provided by the present invention. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0063] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0064] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0065] Example 1

[0066] like Figure 1 FIG. 1 is a flow chart of an embodiment of a method for controlling the continued flight of a drone provided by the present invention. The method includes steps 101 to 105, and each step is specifically as follows:

[0067] Step 101: Determine that the executable range of the drone is less than the total range, and obtain the planned route and navigation direction of the drone; the planned route includes a preset starting point and a plurality of data collection segments.

[0068] Step 102: Determine the executable end point of the drone based on the preset starting point and the executable range.

[0069] Step 103: Obtain the attitude stability mileage of the UAV.

[0070] Step 104: Based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction, determine the return point and the re-entry point in the planned route.

[0071] Step 105: Control the UAV to return when navigating to the return point for continued flight, and continue flight from the re-entry point for continued flight.

[0072] In the embodiment of the present invention, the total range is the flight range pre-planned by the drone, and the executable range is the range that the drone can complete based on the total range and predicted according to the drone's battery information. If the executable range of the drone is less than the total range, it is determined that the drone needs to trigger the flight control when executing the total range.

[0073] In an embodiment of the present invention, when the flight continuation control is triggered, the executable end point of the UAV can be determined according to the preset starting point and executable range in the planned route. The executable end point is the farthest position that the UAV can navigate based on its own battery information. The attitude stability mileage of the UAV is obtained. The attitude stability mileage is the distance from the take-off of the UAV to the stability of the posture. The attitude stability mileage of different UAVs is different. According to the data obtained above, the data collection segment where the executable end point is located is analyzed, and the flight continuation return point and flight continuation re-entry point can be determined in the planned route in combination with the attitude stability mileage and the navigation direction. Among them, the flight continuation return point is the end position of the UAV's last flight, and the UAV is controlled to return at this flight continuation return point. The flight continuation re-entry point is the starting position of the next flight of the UAV, and the UAV is controlled to continue flying at this flight continuation re-entry point.

[0074] In summary, the embodiment of the present invention determines that the drone needs to continue flying when it is determined that the executable range of the drone is less than the total range, obtains the planned route and navigation direction of the drone, determines the executable end point of the executable range of the drone, and then obtains the attitude stability mileage of the drone, analyzes the data collection segment where the executable end point is located in the planned route, and determines the return point and the re-entry point of the continued flight in the planned route in combination with the attitude stability mileage and the navigation direction, controls the drone to return when it navigates to the return point of the continued flight, and continues flying from the re-entry point of the continued flight. The present invention splits the drone's continued flight point into the return point of the continued flight and the re-entry point of the continued flight, which can effectively reduce the cost of data collection, improve data quality, and thus improve the efficiency of data processing.

[0075] Example 2

[0076] like Figure 1 FIG. 1 is a flow chart of an embodiment of a method for controlling the continued flight of a drone provided by the present invention. The method includes steps 101 to 105, and each step is specifically as follows:

[0077] Step 101: Determine that the executable range of the drone is less than the total range, and obtain the planned route and navigation direction of the drone; the planned route includes a preset starting point and a plurality of data collection segments.

[0078] Furthermore, in the embodiment of the present invention, before determining that the executable range of the drone is less than the total range, the method further includes:

[0079] Get the total flight distance of the drone;

[0080] Obtaining the battery information of the drone; the battery information includes the battery power and power consumption curve;

[0081] Calculating the executable range of the drone according to the total range, the battery power and the battery information;

[0082] The executable range of the UAV is compared with the total range.

[0083] In an embodiment of the present invention, the total range is the flight range pre-planned by the drone. The battery information of the drone includes the battery power and the power consumption curve. Based on the battery power and the power consumption curve of the drone, the executable range of the drone in the total range can be calculated. By comparing the executable range of the drone with the total range, it can be determined whether the drone will trigger the flight continuation control when executing the total range. When the executable range of the drone is less than the total range, the flight continuation control of the drone is triggered to ensure the safety of the drone.

[0084] Step 102: Determine the executable end point of the drone based on the preset starting point and the executable range.

[0085] In an embodiment of the present invention, when the continued flight control is triggered, the executable end point of the drone can be determined according to the preset starting point and executable range in the planned route. The executable end point is the farthest position that the drone can navigate based on its own battery information.

[0086] Step 103: Obtain the attitude stability mileage of the UAV.

[0087] In the embodiment of the present invention, the attitude stability mileage is the distance from the take-off of the drone to the stability of the attitude, and the attitude stability mileage can be calculated by multiplying the flight speed by the preset drone coefficient. The preset drone coefficient is related to the drone equipment, and different drone equipment will correspond to different preset drone coefficients.

[0088] Step 104: Based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction, determine the return point and the re-entry point in the planned route.

[0089] In the embodiment of the present invention, by analyzing the data collection segment where the executable end point is located, and combining the attitude stable mileage and the navigation direction, the return point and the re-entry point can be determined in the planned route. The return point is the end position of the last flight of the drone, and the drone is controlled to return at the return point. The re-entry point is the starting position of the next flight of the drone, and the drone is controlled to continue flying at the re-entry point.

[0090] Further, in an embodiment of the present invention, based on the data collection segment where the executable end point is located, the attitude stable mileage and the navigation direction, the return point and the re-entry point of the continued flight are determined in the planned route, specifically:

[0091] According to the planned route, the data collection segment where the executable end point is located is determined; the data collection segment is a valid collection segment or an invalid collection segment; the valid collection segment is set in a preset valid collection area, and the invalid collection segment is set in a preset invalid collection area;

[0092] When the executable endpoint is in the effective collection segment, comparing the executable range with the attitude stable mileage to form a comparison result;

[0093] Based on the comparison result, the attitude stabilization mileage and the navigation direction, determining a return point and a re-entry point in the planned route;

[0094] When the executable endpoint is in the invalid collection segment, a return point and a re-entry point are determined in the planned route based on the planned route, the attitude stabilization mileage and the navigation direction.

[0095] As an example of an embodiment of the present invention, see Figure 2, is a first schematic diagram of the UAV route planning provided by the present invention. The route execution area of ​​the UAV includes a valid data collection area and an invalid data collection area. Based on the valid data collection area and the invalid data collection area, the planned route of the UAV can be divided into multiple data collection segments, each of which is a valid data collection segment or an invalid data collection segment. The data collected by the UAV in the valid data collection segment is valid data, and the data collected in the invalid data collection segment is invalid data.

[0096] In an embodiment of the present invention, the data collection segment where the executable end point is located is determined based on the planned route. When the executable end point is in a valid collection segment, the executable range and the attitude stable mileage are compared, and the return point and the re-entry point of the continued flight are determined in the planned route based on the comparison result, the attitude stable mileage and the navigation direction. When the executable end point is in an invalid collection segment, the return point and the re-entry point of the continued flight are determined in the planned route based on the planned route, the attitude stable mileage and the navigation direction. Therefore, the present invention uses different analysis methods to determine the return point and the re-entry point of the continued flight according to the different data collection segments where the executable end point is located, which can effectively improve the return point and the re-entry point of the continued flight, thereby improving the data quality.

[0097] Further, in an embodiment of the present invention, based on the comparison result, the attitude stable mileage and the navigation direction, determining a return point and a re-entry point in the planned route includes:

[0098] When the comparison result is that the executable range is less than or equal to the attitude stable mileage, determining a previous valid collection segment of the valid collection segment according to the planned route and the navigation direction;

[0099] Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight;

[0100] A reentry point for continued flight is determined according to the navigation direction and the attitude stabilization mileage.

[0101] In an embodiment of the present invention, when the executable end point is in the valid collection segment, if the executable range is less than or equal to the attitude stable mileage, the previous valid collection segment of the valid collection segment is determined according to the planned route and the navigation direction, and the last collection point of the previous valid collection segment is determined as the return point for continued flight, and the re-entry point for continued flight is determined according to the navigation direction and the attitude stable mileage. The present invention determines the last collection point of the previous valid collection segment as the return point for continued flight, which can avoid collecting data of subsequent invalid collection segments, save energy of the drone, and ensure the accuracy of data collection.

[0102] Further, in an embodiment of the present invention, the continued flight reentry point is determined according to the navigation direction and the attitude stability mileage, specifically:

[0103] Determine the initial collection point of the effective collection section according to the navigation direction;

[0104] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

[0105] In an embodiment of the present invention, when the executable end point is in the effective collection segment and the executable range is less than or equal to the attitude stable mileage, the initial collection point of the effective collection segment is determined according to the navigation direction, and the collection point that deviates from the navigation direction and is at a distance of the attitude stable mileage from the initial collection point is determined as the continuation flight re-entry point. The continuation flight re-entry point can provide a distance for the UAV to adjust its posture before entering the effective collection segment, thereby ensuring that the UAV can collect stable data when entering the effective collection segment.

[0106] As an example of an embodiment of the present invention, see Figure 3 , is a second schematic diagram of the UAV route planning provided by the present invention. When the executable end point is in the effective collection segment, if the executable range is less than or equal to the attitude stable mileage, the last collection point of the previous effective collection segment of the effective collection segment where the executable end point is located is determined as the return point for continued flight. Since the executable range is less than or equal to the attitude stable mileage at this time, the last collection point of the previous effective collection segment is the last collection point for collecting valid data. And along the heading direction, the collection points after the last collection point are invalid data collection points, and the data collected at the subsequent collection points are all invalid data. Therefore, determining the last collection point of the previous effective collection segment as the return point for continued flight can avoid collecting data for subsequent invalid collection segments, save the energy and data collection time of the UAV, and ensure the accuracy of data collection. At this time, the initial collection point of the effective collection segment is determined according to the navigation direction, and the collection point that deviates from the navigation direction and is at a distance of attitude stable mileage from the initial collection point is determined as the re-entry point for continued flight. Setting the re-entry point for continued flight can enable the UAV to complete posture adjustment in the distance from the re-entry point to the initial collection point, ensuring that the UAV can collect stable data when entering the effective collection segment. Moreover, controlling the distance between the re-entry point of the continuation flight and the initial collection point as the attitude stabilization mileage can effectively save the energy consumption of the UAV.

[0107] Further, in an embodiment of the present invention, based on the comparison result, the attitude stable mileage and the navigation direction, determining a return point and a re-entry point in the planned route includes:

[0108] When the comparison result is that the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for the continued flight;

[0109] A reentry point for continued flight is determined according to the executable endpoint, the navigation direction and the attitude stabilization mileage.

[0110] In the embodiment of the present invention, when the executable end point is in the effective collection section, if the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for the continued flight, and the re-entry point for the continued flight is determined according to the executable end point, the navigation direction and the attitude stable mileage. Since the executable range is greater than the attitude stable mileage, the data collected by the drone are all valid data. Determining the executable end point as the return point for the continued flight can maximize the collection of valid data in the executable range and improve the efficiency of data collection.

[0111] Further, in an embodiment of the present invention, the continued flight reentry point is determined according to the executable end point, the navigation direction and the attitude stable mileage, specifically:

[0112] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the executable end point is determined as a continued flight reentry point.

[0113] In an embodiment of the present invention, when the executable endpoint is in the effective collection section and the executable range is greater than the attitude stable mileage, the collection point that deviates from the navigation direction and is at a distance of the attitude stable mileage from the executable endpoint is determined as the continuation flight re-entry point. The continuation flight re-entry point can provide a distance for the drone to adjust its posture before reaching the executable endpoint. After the posture adjustment is completed, data after the executable endpoint is continued to be collected, which can effectively improve the stability of the data.

[0114] As an example of an embodiment of the present invention, see Figure 4 , is the third schematic diagram of the UAV route planning provided by the present invention. When the executable end point is in the effective collection section, and the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for the continued flight. Since the executable range is greater than the attitude stable mileage, the data collected by the UAV from the last collection point of the previous effective collection section to the executable end point are all valid data. In order to maximize the collection of valid data in the executable range, the executable end point can be set as the return point for the continued flight to improve the efficiency of data collection. At this time, the collection point that deviates from the navigation direction and is at a distance of attitude stable mileage from the executable end point is determined as the re-entry point for the continued flight. Setting the re-entry point for the continued flight can enable the UAV to complete the posture adjustment from the re-entry point for the continued flight to the executable end point, and continue to collect data after the executable end point after the posture adjustment is completed, which can effectively improve the stability of the data. Moreover, controlling the distance between the re-entry point for the continued flight and the executable end point to be the attitude stable mileage can effectively save the energy consumption of the UAV.

[0115] Further, in an embodiment of the present invention, when the executable endpoint is in an invalid collection segment, based on the planned route, the attitude stable mileage and the navigation direction, a return point and a re-entry point are determined in the planned route, specifically:

[0116] When the executable end point is in an invalid collection segment, determining a previous valid collection segment of the invalid collection segment according to the planned route and the navigation direction;

[0117] Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight;

[0118] A reentry point for continued flight is determined according to the planned route, the navigation direction and the attitude stabilization mileage.

[0119] In an embodiment of the present invention, when the executable end point is in an invalid collection segment, the previous valid collection segment of the invalid collection segment is determined according to the planned route and navigation direction, the last collection point of the previous valid collection segment is determined as the return point for continued flight, and the re-entry point for continued flight is determined according to the planned route, navigation direction and attitude stability mileage. The present invention determines the last collection point of the previous valid collection segment as the return point for continued flight, which can avoid collecting data of subsequent invalid collection segments, save energy of the drone, and ensure the accuracy of data collection.

[0120] Further, in an embodiment of the present invention, the continued flight reentry point is determined according to the planned route, the navigation direction and the attitude stability mileage, specifically:

[0121] Determine a valid collection segment following the invalid collection segment according to the planned route and the navigation direction;

[0122] Determine the initial collection point of the next effective collection section according to the navigation direction;

[0123] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

[0124] In an embodiment of the present invention, when the executable end point is in an invalid collection segment, the next valid collection segment of the invalid collection segment is determined according to the planned route and the navigation direction, and the collection point that deviates from the navigation direction and is at a distance of attitude stable mileage from the initial collection point of the next valid collection segment is determined as the continuation flight re-entry point. The continuation flight re-entry point can provide a distance for the drone to adjust its attitude before entering the next valid collection segment, thereby ensuring that the drone can collect stable data when entering the valid collection segment.

[0125] As an example of an embodiment of the present invention, see Figure 5, is the fourth schematic diagram of the UAV route planning provided by the present invention. When the executable end point is in the invalid collection segment, the previous valid collection segment of the invalid collection segment is determined according to the planned route and the navigation direction, the last collection point of the previous valid collection segment is determined as the return point for continued flight, and the re-entry point for continued flight is determined according to the planned route, the navigation direction and the attitude stable mileage. Since the executable end point is in the invalid collection segment, the data collected by the UAV between the previous valid collection segment of the invalid collection segment and the executable end point are all invalid data. Therefore, in order to avoid collecting data of subsequent invalid collection segments and save the energy of the UAV, the last collection point of the previous valid collection segment is determined as the return point for continued flight, the UAV is controlled to return as soon as possible, and the accuracy of data collection is guaranteed. At this time, the next valid collection segment of the invalid collection segment is determined according to the planned route and the navigation direction, and the collection point that deviates from the navigation direction and is at a distance of attitude stable mileage from the initial collection point of the next valid collection segment is determined as the re-entry point for continued flight. Setting the re-entry point allows the drone to complete attitude adjustment in the distance from the re-entry point to the initial collection point of the next effective collection segment, ensuring that the drone can collect stable data when entering the effective collection segment. Moreover, controlling the distance between the re-entry point and the initial collection point of the next effective collection segment to be the attitude stable mileage can effectively save the drone's energy consumption.

[0126] Step 105: Control the UAV to return when navigating to the return point for continued flight, and continue flight from the re-entry point for continued flight.

[0127] In an embodiment of the present invention, the drone's continuation flight point is split into a continuation flight return point and a continuation flight re-entry point. The drone is controlled to return when it navigates to the continuation flight return point, and continues to fly from the continuation flight re-entry point. This can effectively reduce data collection costs and improve data quality, thereby improving data processing efficiency.

[0128] As an improved solution of an embodiment of the present invention, if the UAV interrupts its navigation due to force majeure factors such as harsh environment or mechanical failure, the interruption position is recorded, the interruption position is determined as the UAV's continued flight return point, and the UAV's continued flight re-entry point is analyzed based on the present invention.

[0129] In summary, the embodiment of the present invention provides a method for controlling the continued flight of a drone. When it is determined that the executable range of the drone is less than the total range, it is determined that the drone needs to continue flying, the planned route and navigation direction of the drone are obtained, the executable end point of the executable range of the drone is determined, and then the attitude stability mileage of the drone is obtained. The data collection segment where the executable end point is located in the planned route is analyzed, and the return point and the re-entry point of the continued flight are determined in the planned route in combination with the attitude stability mileage and the navigation direction. The drone is controlled to return when it navigates to the return point of the continued flight, and continues to fly from the re-entry point of the continued flight. The present invention splits the continued flight point of the drone into the return point of the continued flight and the re-entry point of the continued flight, which can effectively reduce the cost of data collection, improve data quality, and thus improve the efficiency of data processing.

[0130] Example 3

[0131] See also Figure 6 , is a schematic structural diagram of an embodiment of a UAV continuous flight control device provided by the present invention, the device includes a first acquisition module 201, a first determination module 202, a second acquisition module 203, a second determination module 204 and a control module 205;

[0132] The first acquisition module 201 is used to determine that the executable range of the drone is less than the total range, and to acquire the planned route and navigation direction of the drone; the planned route includes a preset starting point and a number of data collection segments;

[0133] The first determination module 202 is used to determine the executable end point of the drone based on the preset starting point and the executable range;

[0134] The second acquisition module 203 is used to acquire the attitude stability mileage of the UAV;

[0135] The second determination module 204 is used to determine the return point and the re-entry point in the planned route based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction;

[0136] The control module 205 is used to control the UAV to return when navigating to the return point for continued flight, and to continue flight from the re-entry point for continued flight.

[0137] Further, in an embodiment of the present invention, based on the data collection segment where the executable end point is located, the attitude stable mileage and the navigation direction, the return point and the re-entry point of the continued flight are determined in the planned route, specifically:

[0138] According to the planned route, the data collection segment where the executable end point is located is determined; the data collection segment is a valid collection segment or an invalid collection segment; the valid collection segment is set in a preset valid collection area, and the invalid collection segment is set in a preset invalid collection area;

[0139] When the executable endpoint is in the effective collection segment, comparing the executable range with the attitude stable mileage to form a comparison result;

[0140] Based on the comparison result, the attitude stabilization mileage and the navigation direction, determining a return point and a re-entry point in the planned route;

[0141] When the executable endpoint is in the invalid collection segment, a return point and a re-entry point are determined in the planned route based on the planned route, the attitude stabilization mileage and the navigation direction.

[0142] Further, in an embodiment of the present invention, based on the comparison result, the attitude stable mileage and the navigation direction, determining a return point and a re-entry point in the planned route includes:

[0143] When the comparison result is that the executable range is less than or equal to the attitude stable mileage, determining a previous valid collection segment of the valid collection segment according to the planned route and the navigation direction;

[0144] Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight;

[0145] A reentry point for continued flight is determined according to the navigation direction and the attitude stabilization mileage.

[0146] Further, in an embodiment of the present invention, the continued flight reentry point is determined according to the navigation direction and the attitude stability mileage, specifically:

[0147] Determine the initial collection point of the effective collection section according to the navigation direction;

[0148] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

[0149] Further, in an embodiment of the present invention, based on the comparison result, the attitude stable mileage and the navigation direction, determining a return point and a re-entry point in the planned route includes:

[0150] When the comparison result is that the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for the continued flight;

[0151] A reentry point for continued flight is determined according to the executable endpoint, the navigation direction and the attitude stabilization mileage.

[0152] Further, in an embodiment of the present invention, the continued flight reentry point is determined according to the executable end point, the navigation direction and the attitude stable mileage, specifically:

[0153] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the executable end point is determined as a continued flight reentry point.

[0154] Further, in an embodiment of the present invention, when the executable endpoint is in an invalid collection segment, based on the planned route, the attitude stable mileage and the navigation direction, a return point and a re-entry point are determined in the planned route, specifically:

[0155] When the executable end point is in an invalid collection segment, determining a previous valid collection segment of the invalid collection segment according to the planned route and the navigation direction;

[0156] Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight;

[0157] A reentry point for continued flight is determined according to the planned route, the navigation direction and the attitude stabilization mileage.

[0158] Further, in an embodiment of the present invention, the continued flight reentry point is determined according to the planned route, the navigation direction and the attitude stability mileage, specifically:

[0159] Determine a valid collection segment following the invalid collection segment according to the planned route and the navigation direction;

[0160] Determine the initial collection point of the next effective collection section according to the navigation direction;

[0161] A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

[0162] Furthermore, in the embodiment of the present invention, before determining that the executable range of the drone is less than the total range, the method further includes:

[0163] Get the total flight distance of the drone;

[0164] Obtaining the battery information of the drone; the battery information includes the battery power and power consumption curve;

[0165] Calculating the executable range of the drone according to the total range, the battery power and the battery information;

[0166] The executable range of the UAV is compared with the total range.

[0167] In summary, the embodiment of the present invention provides a drone flight control device, which is based on the organic combination of modules. When it is determined that the drone's executable range is less than the total range, it is determined that the drone needs to continue flying, the planned route and navigation direction of the drone are obtained, the executable end point of the drone's executable range is determined, and then the attitude stability mileage of the drone is obtained. The data collection section where the executable end point is located in the planned route is analyzed, and the flight return point and the flight re-entry point are determined in the planned route in combination with the attitude stability mileage and the navigation direction. The drone is controlled to return when it navigates to the flight return point, and continues to fly from the flight re-entry point. The present invention splits the drone's flight return point into a flight return point and a flight re-entry point, which can effectively reduce the cost of data collection, improve data quality, and thus improve the efficiency of data processing.

[0168] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling the continued flight of an unmanned aerial vehicle, characterized in that: include: Determining that the executable range of the drone is less than the total range, and obtaining a planned route and navigation direction of the drone; the planned route includes a preset starting point and a plurality of data collection segments; Determining an executable end point of the drone based on the preset starting point and the executable range; Obtaining the attitude stable mileage of the UAV; Based on the data collection segment where the executable endpoint is located, the attitude stabilization mileage and the navigation direction, determining a return point and a re-entry point in the planned route; The UAV is controlled to return when it navigates to the return point for continued flight, and to continue flight from the re-entry point for continued flight.

2. The method for controlling the continued flight of a UAV according to claim 1, characterized in that: The determining of the return point and the re-entry point in the planned route based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction is specifically as follows: According to the planned route, the data collection segment where the executable end point is located is determined; the data collection segment is a valid collection segment or an invalid collection segment; the valid collection segment is set in a preset valid collection area, and the invalid collection segment is set in a preset invalid collection area; When the executable endpoint is in the effective collection segment, comparing the executable range with the attitude stable mileage to form a comparison result; Based on the comparison result, the attitude stabilization mileage and the navigation direction, determining a return point and a re-entry point in the planned route; When the executable endpoint is in the invalid collection segment, a return point and a re-entry point are determined in the planned route based on the planned route, the attitude stabilization mileage and the navigation direction.

3. The method for controlling the continued flight of a UAV according to claim 2, characterized in that: The determining of a return point and a reentry point in the planned route based on the comparison result, the attitude stabilization mileage and the navigation direction includes: When the comparison result is that the executable range is less than or equal to the attitude stable mileage, determining a previous valid collection segment of the valid collection segment according to the planned route and the navigation direction; Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight; A reentry point for continued flight is determined according to the navigation direction and the attitude stabilization mileage.

4. The method for controlling the continued flight of a UAV according to claim 3, characterized in that: The determining of the reentry point according to the navigation direction and the attitude stabilization mileage is specifically as follows: Determine the initial collection point of the effective collection section according to the navigation direction; A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

5. The method for controlling the continued flight of a UAV according to claim 2, characterized in that: The determining of a return point and a reentry point in the planned route based on the comparison result, the attitude stabilization mileage and the navigation direction includes: When the comparison result is that the executable range is greater than the attitude stable mileage, the executable end point is determined as the return point for the continued flight; A reentry point for continued flight is determined according to the executable endpoint, the navigation direction and the attitude stabilization mileage.

6. The method for controlling the continued flight of a UAV according to claim 5, characterized in that: The determining of the reentry point according to the executable endpoint, the navigation direction and the attitude stabilization mileage is specifically: A collection point that deviates from the navigation direction and is at an attitude stable mileage from the executable end point is determined as a continued flight reentry point.

7. The method for controlling the continued flight of a UAV according to claim 2, characterized in that: When the executable endpoint is in the invalid collection segment, based on the planned route, the attitude stable mileage and the navigation direction, a return point and a re-entry point are determined in the planned route, specifically: When the executable end point is in an invalid collection segment, determining a previous valid collection segment of the invalid collection segment according to the planned route and the navigation direction; Determine the last acquisition point of the previous valid acquisition segment according to the navigation direction, and determine the last acquisition point as the return point for continued flight; A reentry point for continued flight is determined according to the navigation direction and the attitude stabilization mileage.

8. The method for controlling the continued flight of a UAV according to claim 7, characterized in that: The determining of the reentry point according to the planned route, the navigation direction and the attitude stabilization mileage is specifically as follows: Determine a valid collection segment following the invalid collection segment according to the planned route and the navigation direction; Determine the initial collection point of the next effective collection section according to the navigation direction; A collection point that deviates from the navigation direction and is at an attitude stable mileage from the initial collection point is determined as a continued flight reentry point.

9. The method for controlling the continued flight of a UAV according to claim 1, characterized in that: Before determining that the executable range of the UAV is less than the total range, the method further includes: Get the total flight distance of the drone; Obtaining the battery information of the drone; the battery information includes the battery power and power consumption curve; Calculating the executable range of the drone according to the total range, the battery power and the battery information; The executable range of the UAV is compared with the total range.

10. A UAV flight control device, characterized in that: include: A first acquisition module, a first determination module, a second acquisition module, a second determination module and a control module; The first acquisition module is used to determine that the executable range of the drone is less than the total range, and to acquire the planned route and navigation direction of the drone; the planned route includes a preset starting point and a plurality of data collection segments; The first determination module is used to determine the executable end point of the drone based on the preset starting point and the executable range; The second acquisition module is used to acquire the attitude stability mileage of the UAV; The second determination module is used to determine the return point and the re-entry point in the planned route based on the data collection segment where the executable end point is located, the attitude stabilization mileage and the navigation direction; The control module is used to control the UAV to return when navigating to the return point for continued flight, and to continue flight from the re-entry point for continued flight.

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