A method and device for controlling the continuation of flight of a UAV

Abstract

The application relates to the technical field of unmanned planes, and discloses an unmanned plane continuation flight control method and device, which comprises the following steps: determining that the executable range of an unmanned plane is smaller than the total range, acquiring the planned route and the sailing direction of the unmanned plane; the planned route comprises a preset starting point and a plurality of data acquisition sections; based on the preset starting point and the executable range, the executable endpoint of the unmanned plane is determined; the attitude stabilization mileage of the unmanned plane is acquired; based on the data acquisition section where the executable endpoint is located, the attitude stabilization mileage and the sailing direction, the continuation flight return point and the continuation flight reentry point are determined in the planned route; the unmanned plane is controlled to sail back when sailing to the continuation flight return point, and to continue flying from the continuation flight reentry point. The continuation flight points of the unmanned plane are split into the continuation flight return point and the continuation flight reentry point, the data acquisition cost can be effectively reduced, the data quality can be improved, and the data processing efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight continuation control method and device. BACKGROUND

[0002] An unmanned aerial vehicle often uses a mounted laser radar to collect data and perform three-dimensional reconstruction. The current traditional flight continuation method is to mark a last position when a previous flight is completed, and then to continue the flight from the continuation point to perform a subsequent flight task. However, when the unmanned aerial vehicle enters a flight path, the unmanned aerial vehicle needs to adjust the heading and attitude to correctly enter the flight path. If this flight continuation method is used, the data quality will be reduced when the data is collected in a large attitude jitter state. In addition, when the flight is continued from the end point of the previous flight, invalid region data is often collected, thereby reducing the effectiveness of the data collected by the unmanned aerial vehicle and increasing the power consumption. Moreover, too much invalid data will increase the data cropping workload of the post-processing personnel and increase the error probability, thereby affecting the data accuracy.

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

[0004] The present application provides an unmanned aerial vehicle flight continuation control method and device, which can improve data quality, reduce data collection cost, and thereby improve data processing efficiency.

[0005] To solve the above technical problems, the present application provides an unmanned aerial vehicle flight continuation control method, comprising:

[0006] determining that the executable distance of the unmanned aerial vehicle is less than the total distance, obtaining a planned flight path and a flight direction of the unmanned aerial vehicle; the planned flight path comprises a preset starting point and a plurality of data collection sections;

[0007] determining an executable end point of the unmanned aerial vehicle based on the preset starting point and the executable distance;

[0008] obtaining an attitude stabilization distance of the unmanned aerial vehicle;

[0009] determining a flight continuation return point and a flight continuation re-entry point in the planned flight path based on the data collection section where the executable end point is located, and the attitude stabilization distance and the flight direction;

[0010] controlling the unmanned aerial vehicle to return when flying to the flight continuation return point, and to continue flying from the flight continuation re-entry point.

[0011] The present application determines that the UAV needs to continue flying when the executable distance of the UAV is less than the total distance, acquires the planned flight path and the flight direction of the UAV, determines the executable end point of the executable distance of the UAV, further acquires the attitude stable mileage of the UAV, analyzes the data acquisition section where the executable end point is located in the planned flight path, determines the continue flying return point and the continue flying reentry point in the planned flight path in combination with the attitude stable mileage and the flight direction, controls the UAV to return when flying to the continue flying return point, and continues flying from the continue flying reentry point. The continue flying points of the UAV are split into the continue flying return point and the continue flying reentry point in the present application, which can effectively reduce the data acquisition cost, improve the data quality, and further improve the efficiency of data processing.

[0012] Further, the continue flying return point and the continue flying reentry point are determined in the planned flight path based on the data acquisition section where the executable end point is located, and the attitude stable mileage and the flight direction, specifically:

[0013] The data acquisition section where the executable end point is located is determined according to the planned flight path; the data acquisition section is an effective acquisition section or an ineffective acquisition section; the effective acquisition section is set in a preset effective acquisition area, and the ineffective acquisition section is set in a preset ineffective acquisition area;

[0014] When the executable end point is in the effective acquisition section, the executable distance and the attitude stable mileage are compared to form a comparison result;

[0015] The continue flying return point and the continue flying reentry point are determined in the planned flight path based on the comparison result, the attitude stable mileage and the flight direction;

[0016] When the executable end point is in the ineffective acquisition section, the continue flying return point and the continue flying reentry point are determined in the planned flight path based on the planned flight path, the attitude stable mileage and the flight direction.

[0017] The present application determines the continue flying return point and the continue flying reentry point according to different analysis methods based on the different data acquisition sections where the executable end point is located, which can effectively improve the continue flying return point and the continue flying reentry point, and further improve the data quality.

[0018] Further, the continue flying return point and the continue flying reentry point are determined in the planned flight path based on the comparison result, the attitude stable mileage and the flight direction, including:

[0019] determining a previous effective collection segment of the effective collection segment according to the planned flight route and the flight direction when the comparison result is that the executable distance is less than or equal to the attitude stabilization distance;

[0020] determining a last collection point of the previous effective collection segment according to the flight direction, and determining the last collection point as a continuation flight home point;

[0021] determining a continuation flight reentry point according to the flight direction and the attitude stabilization distance.

[0022] When the executable end point is in the effective collection segment, if the executable distance is less than or equal to the attitude stabilization distance, the previous effective collection segment of the effective collection segment is determined according to the planned flight route and the flight direction, the last collection point of the previous effective collection segment is determined as the continuation flight home point, and the continuation flight reentry point is determined according to the flight direction and the attitude stabilization distance. The last collection point of the previous effective collection segment is determined as the continuation flight home point, so that data of a subsequent ineffective collection segment can be avoided, energy of the unmanned aerial vehicle is saved, and the data collection accuracy is ensured.

[0023] Further, the determination of the continuation flight reentry point according to the flight direction and the attitude stabilization distance is specifically:

[0024] determining a first collection point of the effective collection segment according to the flight direction;

[0025] determining a collection point away from the flight direction and having a distance of the attitude stabilization distance from the first collection point as the continuation flight reentry point.

[0026] When the executable end point is in the effective collection segment and the executable distance is less than or equal to the attitude stabilization distance, the first collection point of the effective collection segment is determined according to the flight direction, and the collection point away from the flight direction and having a distance of the attitude stabilization distance from the first collection point is determined as the continuation flight reentry point. The continuation flight reentry point can provide a distance for the unmanned aerial vehicle to adjust the attitude before entering the effective collection segment, so that the unmanned aerial vehicle can collect stable data when entering the effective collection segment.

[0027] Further, the determination of the continuation flight home point and the continuation flight reentry point in the planned flight route based on the comparison result, the attitude stabilization distance and the flight direction includes:

[0028] determining the executable end point as the continuation flight home point when the comparison result is that the executable distance is greater than the attitude stabilization distance;

[0029] determining the continuation flight reentry point according to the executable end point, the flight direction and the attitude stabilization distance.

[0030] When the executable end point is in the effective collection section, if the executable flight range is greater than the attitude stabilization range, the executable end point is determined as the continuation flight return point, and the continuation flight reentry point is determined according to the executable end point, the navigation direction and the attitude stabilization range.

[0031] Further, the continuation flight reentry point is determined according to the executable end point, the navigation direction and the attitude stabilization range, specifically:

[0032] The collection point away from the navigation direction and having a distance of the attitude stabilization range from the executable end point is determined as the continuation flight reentry point.

[0033] When the executable end point is in the effective collection section and the executable flight range is greater than the attitude stabilization range, the collection point away from the navigation direction and having a distance of the attitude stabilization range from the executable end point is determined as the continuation flight reentry point, which can provide a distance for the UAV to adjust the attitude before reaching the executable end point, and continue to collect data after the attitude adjustment is completed, thereby effectively improving the stability of the data.

[0034] Further, when the executable end point is in the invalid collection section, the continuation flight return point and the continuation flight reentry point are determined in the planned flight route based on the planned flight route, the attitude stabilization range and the navigation direction, specifically:

[0035] When the executable end point is in the invalid collection section, the previous effective collection section of the invalid collection section is determined according to the planned flight route and the navigation direction;

[0036] The last collection point of the previous effective collection section is determined as the continuation flight return point according to the navigation direction;

[0037] The continuation flight reentry point is determined according to the planned flight route, the navigation direction and the attitude stabilization range.

[0038] When the executable end point is in the invalid collection section, the previous effective collection section of the invalid collection section is determined according to the planned flight route and the navigation direction, the last collection point of the previous effective collection section is determined as the continuation flight return point, and the continuation flight reentry point is determined according to the planned flight route, the navigation direction and the attitude stabilization range. The last collection point of the previous effective collection section is determined as the continuation flight return point, which can avoid collecting data of the subsequent invalid collection section, save the energy of the UAV, and ensure the accuracy of data collection.

[0039] Further, the reentry point is determined according to the planned flight path, the flight direction and the attitude stabilization distance, and specifically:

[0040] A next effective collection section of the ineffective collection section is determined according to the planned flight path and the flight direction;

[0041] An initial collection point of the next effective collection section is determined according to the flight direction;

[0042] A collection point, which is away from the flight direction and has a distance of the attitude stabilization distance from the initial collection point, is determined as the reentry point.

[0043] When the executable end point is in the ineffective collection section, the next effective collection section of the ineffective collection section is determined according to the planned flight path and the flight direction, and the collection point, which is away from the flight direction and has a distance of the attitude stabilization distance from the initial collection point of the next effective collection section, is determined as the reentry point, so that the reentry point can provide a distance for attitude adjustment before the unmanned aerial vehicle enters the next effective collection section, and the unmanned aerial vehicle can collect stable data when entering the effective collection section.

[0044] Further, before the executable distance of the unmanned aerial vehicle is determined to be less than the total distance, the method further comprises:

[0045] Obtaining the total distance of the unmanned aerial vehicle;

[0046] Obtaining battery information of the unmanned aerial vehicle; the battery information comprises a battery capacity and a power consumption curve;

[0047] Calculating the executable distance of the unmanned aerial vehicle according to the total distance, the battery capacity and the battery information;

[0048] Comparing the executable distance of the unmanned aerial vehicle with the total distance.

[0049] By obtaining the battery information of the unmanned aerial vehicle, which comprises the battery capacity and the power consumption curve, and combining the obtained total distance, the executable distance of the unmanned aerial vehicle can be obtained, and by comparing the executable distance of the unmanned aerial vehicle with the total distance, it can be determined whether the unmanned aerial vehicle will trigger the reentry control when executing the total distance, so as to ensure the safety of the unmanned aerial vehicle.

[0050] Correspondingly, the application provides a reentry control device for an unmanned aerial vehicle, which comprises a first obtaining module, a first determining module, a second obtaining module, a second determining module and a control module.

[0051] The first obtaining module is used to determine that the executable distance of the unmanned aerial vehicle is less than the total distance, and obtain a planned flight path and a flight direction of the unmanned aerial vehicle; the planned flight path comprises a preset starting point and a plurality of data collection sections;

[0052] The first determining module is configured to determine an executable terminal point of the UAV based on the preset starting point and the executable flight range.

[0053] The second obtaining module is configured to obtain a posture stabilization mileage of the UAV.

[0054] The second determining module is configured to determine a fly-again return point and a fly-again reentry point in the planned flight path based on a data acquisition section where the executable terminal point is located, and the posture stabilization mileage and the flight direction.

[0055] The control module is configured to control the UAV to return when flying to the fly-again return point, and to fly again from the fly-again reentry point. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 A flowchart of an embodiment of the UAV fly-again control method provided by the present application;

[0057] Figure 2 A first schematic diagram of the UAV flight path planning provided by the present application;

[0058] Figure 3 A second schematic diagram of the UAV flight path planning provided by the present application;

[0059] Figure 4 A third schematic diagram of the UAV flight path planning provided by the present application;

[0060] Figure 5 A fourth schematic diagram of the UAV flight path planning provided by the present application;

[0061] Figure 6 A structural schematic diagram of an embodiment of the UAV fly-again control device provided by the present application. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present application.

[0063] The flowchart shown in the drawings is only an example, and does not necessarily include all the contents and operations / steps, nor does it have to be executed in the described order. For example, some operations / steps can be decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0064] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0065] Example 1

[0066] like Figure 1 The diagram shown is a flowchart of an embodiment of the UAV flight continuation control method provided by the present invention. The method includes steps 101 to 105, and the specific details of each step are as follows:

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

[0068] Step 102: Based on the preset starting point and the executable flight path, determine the executable destination of the UAV.

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

[0070] Step 104: Based on the data acquisition segment where the executable endpoint is located, as well as the attitude stabilization mileage and the flight direction, determine the return point and reentry point in the planned flight route.

[0071] Step 105: Control the UAV to return to home when it reaches the return point, and continue flying from the return point.

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

[0073] In this embodiment of the invention, when the flight continuation control is triggered, the executable endpoint of the UAV can be determined based on the preset starting point and executable range in the planned flight path. This executable endpoint is the furthest position the UAV can fly based on its own battery information. The attitude stabilization mileage of the UAV is obtained; the attitude stabilization mileage is the distance the UAV travels from takeoff to attitude stabilization, and the attitude stabilization mileage varies between different UAVs. Based on the obtained data, the data acquisition segment where the executable endpoint is located is analyzed, and combined with the attitude stabilization mileage and flight direction, the flight continuation return point and flight continuation reentry point can be determined in the planned flight path. The flight continuation return point is the end position of the UAV's previous flight, and the UAV is controlled to return to home at this point. The flight continuation reentry point is the starting position of the UAV's next flight, and the UAV is controlled to continue flying at this point.

[0074] In summary, the embodiment of the present application determines that the UAV needs to fly again when the executable flight range of the UAV is less than the total flight range, acquires the planned flight path and the flight direction of the UAV, determines the executable end point of the executable flight range of the UAV, further acquires the attitude stable mileage of the UAV, analyzes the data acquisition section where the executable end point is located in the planned flight path, determines the fly-again return point and the fly-again reentry point in the planned flight path in combination with the attitude stable mileage and the flight direction, controls the UAV to return when flying to the fly-again return point, and flies again from the fly-again reentry point. The fly-again points of the UAV are split into the fly-again return point and the fly-again reentry point in the present application, which can effectively reduce the data acquisition cost and improve the data quality, and further improve the efficiency of data processing.

[0075] Embodiment 2

[0076] As Figure 1 shown in FIG. 1, which is a flowchart of an embodiment of the UAV fly-again control method provided by the present application, the method comprises steps 101 to 105, and each step is specifically as follows:

[0077] Step 101: Determine that the executable flight range of the UAV is less than the total flight range, and acquire the planned flight path and the flight direction of the UAV; the planned flight path comprises a preset start point and a plurality of data acquisition sections.

[0078] Further, in the embodiment of the present application, before determining that the executable flight range of the UAV is less than the total flight range, the method further comprises:

[0079] Acquire the total flight range of the UAV;

[0080] Acquire the battery information of the UAV; the battery information comprises the battery capacity and the power consumption curve;

[0081] Calculate the executable flight range of the UAV according to the total flight range, the battery capacity and the battery information;

[0082] Compare the executable flight range of the UAV with the total flight range.

[0083] In the embodiment of the present application, the total flight range is the flight range planned in advance by the UAV. The battery information of the UAV comprises the battery capacity and the power consumption curve. Based on the battery capacity and the power consumption curve of the UAV, the executable flight range of the UAV in the total flight range can be calculated. By comparing the executable flight range of the UAV with the total flight range, whether the UAV will trigger the fly-again control when executing the total flight range can be determined. When the executable flight range of the UAV is less than the total flight range, the fly-again control of the UAV is triggered, and the safety of the UAV is ensured.

[0084] Step 102: Determine the executable end point of the UAV based on the preset start point and the executable flight range.

[0085] In the embodiment of the present application, when the continuation flight control is triggered, the executable end point of the UAV can be determined according to the preset starting point in the planned route and the executable distance, and the executable end point is the position farthest that the UAV can navigate based on the battery information of the UAV itself.

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

[0087] In the embodiment of the present application, the attitude stabilization mileage is the distance from the take-off to the attitude stabilization of the UAV, and the attitude stabilization mileage can be calculated by multiplying the flight speed by the preset UAV coefficient. The preset UAV coefficient is related to the UAV device, and different UAV devices correspond to different preset UAV coefficients.

[0088] Step 104: Determine the continuation flight return point and the continuation flight reentry point in the planned route based on the data acquisition section where the executable end point is located, and the attitude stabilization mileage and the navigation direction.

[0089] In the embodiment of the present application, by analyzing the data acquisition section where the executable end point is located, and combining the attitude stabilization mileage and the navigation direction, the continuation flight return point and the continuation flight reentry point in the planned route can be determined. The continuation flight return point is the last flight end position of the UAV, and the UAV is controlled to return at the continuation flight return point. The continuation flight reentry point is the next flight start position of the UAV, and the UAV is controlled to continue flying at the continuation flight reentry point.

[0090] Further, in the embodiment of the present application, the continuation flight return point and the continuation flight reentry point in the planned route are determined based on the data acquisition section where the executable end point is located, and the attitude stabilization mileage and the navigation direction, specifically:

[0091] According to the planned route, determine the data acquisition section where the executable end point is located; the data acquisition section is an effective acquisition section or an ineffective acquisition section; the effective acquisition section is set in a preset effective acquisition area, and the ineffective acquisition section is set in a preset ineffective acquisition area;

[0092] When the executable end point is in the effective acquisition section, compare the size of the executable distance and the attitude stabilization mileage to form a comparison result;

[0093] Based on the comparison result, the attitude stabilization mileage and the navigation direction, determine the continuation flight return point and the continuation flight reentry point in the planned route;

[0094] When the executable end point is in the ineffective acquisition section, determine the continuation flight return point and the continuation flight reentry point in the planned route based on the planned route, the attitude stabilization mileage and the navigation direction.

[0095] As an example of the embodiment of the present application, refer to Figure 2Fig. 1 is a first schematic diagram of a planned route of a UAV provided by the present application. The route execution area of the UAV includes an effective data collection area and an ineffective data collection area. Based on the effective data collection area and the ineffective data collection area, the planned route of the UAV can be divided into a plurality of data collection sections, each of which is an effective data collection section or an ineffective data collection section. The data collected by the UAV in the effective data collection section is effective data, and the data collected in the ineffective data collection section is ineffective data.

[0096] In the embodiment of the present application, the data collection section where the executable end point is located is determined according to the planned route. When the executable end point is located in the effective data collection section, the executable distance and the attitude stabilization distance are compared in size. According to the comparison result, the attitude stabilization distance and the navigation direction, the continued flight return point and the continued flight reentry point are determined in the planned route. When the executable end point is located in the ineffective data collection section, the continued flight return point and the continued flight reentry point are determined in the planned route according to the planned route, the attitude stabilization distance and the navigation direction. Therefore, the continued flight return point and the continued flight reentry point are determined by different analysis methods according to the different data collection sections where the executable end point is located, which can effectively improve the data quality.

[0097] Further, in the embodiment of the present application, the continued flight return point and the continued flight reentry point are determined in the planned route according to the comparison result, the attitude stabilization distance and the navigation direction, which includes:

[0098] When the comparison result is that the executable distance is less than or equal to the attitude stabilization distance, the previous effective data collection section of the effective data collection section is determined according to the planned route and the navigation direction.

[0099] The last collection point of the previous effective data collection section is determined as the continued flight return point according to the navigation direction.

[0100] The continued flight reentry point is determined according to the navigation direction and the attitude stabilization distance.

[0101] In the embodiment of the present application, when the executable end point is located in the effective data collection section, if the executable distance is less than or equal to the attitude stabilization distance, the previous effective data collection section of the effective data collection section is determined according to the planned route and the navigation direction, the last collection point of the previous effective data collection section is determined as the continued flight return point, and the continued flight reentry point is determined according to the navigation direction and the attitude stabilization distance. The last collection point of the previous effective data collection section is determined as the continued flight return point, which can avoid collecting data of the subsequent ineffective data collection section, save the energy of the UAV, and ensure the accuracy of data collection.

[0102] Further, in the embodiment of the present application, the continued flight reentry point is determined according to the navigation direction and the attitude stabilization distance, which specifically includes:

[0103] determining an initial acquisition point of the effective acquisition section according to the sailing direction;

[0104] determining an acquisition point, which is away from the sailing direction and has a distance of the attitude stabilization mileage from the initial acquisition point, as a continuation reentry point.

[0105] In the embodiment of the present application, when the executable terminal point is in the effective acquisition section and the executable sailing distance is less than or equal to the attitude stabilization mileage, an initial acquisition point of the effective acquisition section is determined according to the sailing direction, and an acquisition point, which is away from the sailing direction and has a distance of the attitude stabilization mileage from the initial acquisition point, is determined as a continuation reentry point. The continuation reentry point can provide a distance for the UAV to perform attitude adjustment before entering the effective acquisition section, so as to ensure that the UAV can collect stable data when entering the effective acquisition section.

[0106] As an example of the embodiment of the present application, refer to Figure 3 When the executable terminal point is in the effective acquisition section, if the executable sailing distance is less than or equal to the attitude stabilization mileage, the last acquisition point of the previous effective acquisition section of the effective acquisition section where the executable terminal point is located is determined as a continuation reentry point. Since the executable sailing distance is less than or equal to the attitude stabilization mileage at this time, the last acquisition point of the previous effective acquisition section is the last acquisition point of collecting effective data. And along the sailing direction, the acquisition points behind the last acquisition point are invalid data acquisition points, and the data collected at the subsequent acquisition points are all invalid data. Therefore, determining the last acquisition point of the previous effective acquisition section as the continuation reentry point can avoid collecting data of the subsequent invalid acquisition section, save the energy of the UAV and the data collection time, and ensure the accuracy of data collection. At this time, the initial acquisition point of the effective acquisition section is determined according to the sailing direction, and the acquisition point, which is away from the sailing direction and has a distance of the attitude stabilization mileage from the initial acquisition point, is determined as the continuation reentry point. Setting the continuation reentry point can make the UAV complete attitude adjustment in the distance from the continuation reentry point to the initial acquisition point, so as to ensure that the UAV can collect stable data when entering the effective acquisition section. Moreover, controlling the distance between the continuation reentry point and the initial acquisition point to be the attitude stabilization mileage can effectively save the energy of the UAV.

[0107] Further, in the embodiment of the present application, based on the comparison result, the attitude stabilization mileage and the sailing direction, the continuation reentry point and the continuation reentry point are determined in the planned route, including:

[0108] When the comparison result is that the executable sailing distance is greater than the attitude stabilization mileage, the executable terminal point is determined as the continuation reentry point;

[0109] The continuation reentry point is determined according to the executable terminal point, the sailing direction and the attitude stabilization mileage.

[0110] In the embodiment of the present application, when the executable terminal point is in the effective collection segment, if the executable flight distance is greater than the attitude stabilization distance, the executable terminal point is determined as the continuation flight home point, and the continuation flight reentry point is determined according to the executable terminal point, the flight direction and the attitude stabilization distance. Since the executable flight distance is greater than the attitude stabilization distance, the data collected by the unmanned aerial vehicle is all valid data, the executable terminal point is determined as the continuation flight home point, the effective data in the executable flight distance is maximized, and the data collection efficiency is improved.

[0111] Further, in the embodiment of the present application, the continuation flight reentry point is determined according to the executable terminal point, the flight direction and the attitude stabilization distance, specifically:

[0112] The collection point away from the flight direction and having a distance of the attitude stabilization distance from the executable terminal point is determined as the continuation flight reentry point.

[0113] In the embodiment of the present application, when the executable terminal point is in the effective collection segment and the executable flight distance is greater than the attitude stabilization distance, the collection point away from the flight direction and having a distance of the attitude stabilization distance from the executable terminal point is determined as the continuation flight reentry point. The continuation flight reentry point can provide a distance for the unmanned aerial vehicle to adjust the attitude before reaching the executable terminal point, and the data after the executable terminal point is collected after the attitude adjustment is completed, so that the stability of the data is effectively improved.

[0114] As an example of the embodiment of the present application, refer to Figure 4 , which is the third schematic diagram of the unmanned aerial vehicle planning route provided by the present application. When the executable terminal point is in the effective collection segment and the executable flight distance is greater than the attitude stabilization distance, the executable terminal point is determined as the continuation flight home point. Since the executable flight distance is greater than the attitude stabilization distance, the data collected by the unmanned aerial vehicle from the last collection point in the previous effective collection segment to the executable terminal point is all valid data. In order to maximize the effective data in the executable flight distance, the executable terminal point is determined as the continuation flight home point, so as to improve the data collection efficiency. At this time, the collection point away from the flight direction and having a distance of the attitude stabilization distance from the executable terminal point is determined as the continuation flight reentry point. The continuation flight reentry point is set, so that the unmanned aerial vehicle completes the attitude adjustment in the distance from the continuation flight reentry point to the executable terminal point, and the data after the executable terminal point is collected after the attitude adjustment is completed, so that the stability of the data is effectively improved. Moreover, the distance between the continuation flight reentry point and the executable terminal point is controlled as the attitude stabilization distance, so that the energy consumption of the unmanned aerial vehicle is effectively saved.

[0115] Further, in the embodiment of the present application, when the executable terminal point is in the invalid collection segment, the continuation flight home point and the continuation flight reentry point are determined in the planning route based on the planning route, the attitude stabilization distance and the flight direction, specifically:

[0116] determining a previous valid collection segment of the invalid collection segment according to the planned flight route and the flight direction when the executable terminal point is in the invalid collection segment;

[0117] determining a last collection point of the previous valid collection segment according to the flight direction, and determining the last collection point as a continuation flight return point;

[0118] determining a continuation flight reentry point according to the planned flight route, the flight direction and the attitude stabilization mileage.

[0119] In the embodiment of the present application, when the executable terminal point is in the invalid collection segment, a previous valid collection segment of the invalid collection segment is determined according to the planned flight route and the flight direction, a last collection point of the previous valid collection segment is determined as a continuation flight return point, and a continuation flight reentry point is determined according to the planned flight route, the flight direction and the attitude stabilization mileage. The last collection point of the previous valid collection segment is determined as the continuation flight return point, so that the data of the subsequent invalid collection segment can be avoided, the energy of the unmanned aerial vehicle is saved, and the accuracy of data collection is ensured.

[0120] Further, in the embodiment of the present application, the continuation flight reentry point is determined according to the planned flight route, the flight direction and the attitude stabilization mileage, specifically:

[0121] determining a next valid collection segment of the invalid collection segment according to the planned flight route and the flight direction when the executable terminal point is in the invalid collection segment;

[0122] determining a first collection point of the next valid collection segment according to the flight direction;

[0123] determining a collection point away from the flight direction and having a distance of the attitude stabilization mileage from the first collection point as the continuation flight reentry point.

[0124] In the embodiment of the present application, when the executable terminal point is in the invalid collection segment, a next valid collection segment of the invalid collection segment is determined according to the planned flight route and the flight direction, and a collection point away from the flight direction and having a distance of the attitude stabilization mileage from a first collection point of the next valid collection segment is determined as a continuation flight reentry point. The continuation flight reentry point can provide a distance for attitude adjustment before the unmanned aerial vehicle enters the next valid collection segment, so that the unmanned aerial vehicle can collect stable data when entering the valid collection segment.

[0125] As an example of the embodiment of the present application, refer to Figure 5, is the fourth schematic diagram of the unmanned plane planning a route provided by the application. When the executable end point is in the invalid collection section, the previous valid collection section of the invalid collection section is determined according to the planned route and the sailing direction, the last collection point of the previous valid collection section is determined as the continuation flight return point, and the continuation flight re-entry point is determined according to the planned route, the sailing direction and the attitude stability mileage. Since the executable end point is in the invalid collection section, the data collected by the unmanned plane between the previous valid collection section of the invalid collection section and the executable end point is invalid data. Therefore, in order to avoid collecting data of the subsequent invalid collection section and save the energy of the unmanned plane, the last collection point of the previous valid collection section is determined as the continuation flight return point, the unmanned plane is controlled to return as soon as possible, and the accuracy of data collection is ensured. At this time, the next valid collection section of the invalid collection section is determined according to the planned route and the sailing direction, the collection point away from the sailing direction and having a distance of the attitude stability mileage from the initial collection point of the next valid collection section is determined as the continuation flight re-entry point. The setting of the continuation flight re-entry point can make the unmanned plane complete the attitude adjustment in the distance from the continuation flight re-entry point to the initial collection point of the next valid collection section, so as to ensure that the unmanned plane can collect stable data when entering the valid collection section. Moreover, the distance between the continuation flight re-entry point and the initial collection point of the next valid collection section is controlled to be the attitude stability mileage, so as to effectively save the energy consumption of the unmanned plane.

[0126] Step 105: control the unmanned plane to return when sailing to the continuation flight return point, and continue to fly from the continuation flight re-entry point.

[0127] In the embodiment of the application, the continuation flight point of the unmanned plane is split into the continuation flight return point and the continuation flight re-entry point, the unmanned plane is controlled to return when sailing to the continuation flight return point, and the unmanned plane is controlled to continue to fly from the continuation flight re-entry point, so as to effectively reduce the data collection cost, improve the data quality, and further improve the efficiency of data processing.

[0128] As an improved scheme of the embodiment of the application, if the unmanned plane is interrupted due to adverse environment or mechanical failure and other uncontrollable factors, the interruption position is recorded, the interruption position is determined as the continuation flight return point of the unmanned plane, and the continuation flight re-entry point of the unmanned plane is analyzed based on the application.

[0129] In summary, the embodiment of the present application provides a UAV continuation flight control method, which determines that the UAV needs continuation flight when determining that the executable flight range of the UAV is less than the total flight range, acquires the planned flight route and the flight direction of the UAV, determines the executable end point of the executable flight range, further acquires the attitude stable mileage of the UAV, analyzes the data acquisition section where the executable end point is located in the planned flight route, determines the continuation flight return point and the continuation flight reentry point in the planned flight route in combination with the attitude stable mileage and the flight direction, controls the UAV to return when flying to the continuation flight return point, and controls the UAV to continue flying from the continuation flight reentry point. The continuation flight points of the UAV are split into the continuation flight return point and the continuation flight reentry point in the present application, which can effectively reduce the data acquisition cost, improve the data quality, and further improve the efficiency of data processing.

[0130] Embodiment 3

[0131] Referring to Figure 6 , which is a structural schematic diagram of an embodiment of the UAV continuation flight control device provided by the present application, the device comprises 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 configured to determine that the executable flight range of the UAV is less than the total flight range, and acquire the planned flight route and the flight direction of the UAV; the planned flight route comprises a preset starting point and a plurality of data acquisition sections;

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

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

[0135] The second determination module 204 is configured to determine the continuation flight return point and the continuation flight reentry point in the planned flight route based on the data acquisition section where the executable end point is located, and the attitude stable mileage and the flight direction;

[0136] The control module 205 is configured to control the UAV to return when flying to the continuation flight return point, and control the UAV to continue flying from the continuation flight reentry point.

[0137] Further, in the embodiment of the present application, the continuation flight return point and the continuation flight reentry point are determined in the planned flight route based on the data acquisition section where the executable end point is located, and the attitude stable mileage and the flight direction, specifically:

[0138] According to the planned flight route, the data acquisition section where the executable end point is located is determined; the data acquisition section is an effective acquisition section or an ineffective acquisition section; the effective acquisition section is arranged in a preset effective acquisition area, and the ineffective acquisition section is arranged in a preset ineffective acquisition area;

[0139] comparing the executable flight path and the attitude stabilization range, to form a comparison result;

[0140] determining a continuation return point and a continuation reentry point in the planned flight path based on the comparison result, the attitude stabilization range and the flight direction;

[0141] determining a continuation return point and a continuation reentry point in the planned flight path based on the planned flight path, the attitude stabilization range and the flight direction when the executable end point is in the invalid acquisition segment.

[0142] Further, in the embodiment of the present application, determining a continuation return point and a continuation reentry point in the planned flight path based on the comparison result, the attitude stabilization range and the flight direction, comprises:

[0143] determining a previous valid acquisition segment of the valid acquisition segment according to the planned flight path and the flight direction when the comparison result is that the executable flight path is less than or equal to the attitude stabilization range;

[0144] determining a last acquisition point of the previous valid acquisition segment according to the flight direction, and determining the last acquisition point as the continuation return point;

[0145] determining a continuation reentry point according to the flight direction and the attitude stabilization range.

[0146] Further, in the embodiment of the present application, determining a continuation reentry point according to the flight direction and the attitude stabilization range, specifically comprises:

[0147] determining a first acquisition point of the valid acquisition segment according to the flight direction;

[0148] determining an acquisition point, which is away from the flight direction and has a distance of the attitude stabilization range from the first acquisition point, as the continuation reentry point.

[0149] Further, in the embodiment of the present application, determining a continuation return point and a continuation reentry point in the planned flight path based on the comparison result, the attitude stabilization range and the flight direction, comprises:

[0150] determining the executable end point as the continuation return point when the comparison result is that the executable flight path is greater than the attitude stabilization range;

[0151] determining a continuation reentry point according to the executable end point, the flight direction and the attitude stabilization range.

[0152] Further, in the embodiment of the present application, determining a continuation reentry point according to the executable end point, the flight direction and the attitude stabilization range, specifically comprises:

[0153] determining a collection point, which is away from the flight direction and has a distance of the attitude stabilization mileage from the initial collection point, as the continuation reentry point.

[0154] Further, in the embodiment of the present application, when the executable terminal point is in the invalid collection section, based on the planned flight route, the flight direction and the attitude stabilization mileage, the continuation reentry point is determined in the planned flight route, specifically:

[0155] when the executable terminal point is in the invalid collection section, determining a previous valid collection section of the invalid collection section according to the planned flight route and the flight direction;

[0156] determining a last collection point of the previous valid collection section according to the flight direction, and determining the last collection point as the continuation reentry point;

[0157] determining a continuation reentry point according to the planned flight route, the flight direction and the attitude stabilization mileage.

[0158] Further, in the embodiment of the present application, the continuation reentry point is determined according to the planned flight route, the flight direction and the attitude stabilization mileage, specifically:

[0159] determining a next valid collection section of the invalid collection section according to the planned flight route and the flight direction;

[0160] determining an initial collection point of the next valid collection section according to the flight direction;

[0161] determining a collection point, which is away from the flight direction and has a distance of the attitude stabilization mileage from the initial collection point, as the continuation reentry point.

[0162] Further, in the embodiment of the present application, before determining that the executable flight range of the unmanned aerial vehicle is less than the total flight range, further comprising:

[0163] obtaining the total flight range of the unmanned aerial vehicle;

[0164] obtaining battery information of the unmanned aerial vehicle; the battery information includes battery power and power consumption curve;

[0165] calculating the executable flight range of the unmanned aerial vehicle according to the total flight range, the battery power and the battery information;

[0166] comparing the executable flight range of the unmanned aerial vehicle with the total flight range.

[0167] To sum up, the embodiment of the present application provides a UAV continuation flight control device, which is based on the organic combination among modules, determines that the UAV needs to continue to fly when the executable flight range of the UAV is less than the total flight range, acquires the planned flight route and the flight direction of the UAV, determines the executable end point of the executable flight range, further acquires the attitude stable mileage of the UAV, analyzes the data acquisition section where the executable end point is located in the planned flight route, determines the continuation flight return point and the continuation flight reentry point in the planned flight route in combination with the attitude stable mileage and the flight direction, controls the UAV to return when flying to the continuation flight return point, and controls the UAV to continue to fly from the continuation flight reentry point. The continuation flight points of the UAV are split into the continuation flight return point and the continuation flight reentry point in the present application, which can effectively reduce the data acquisition cost, improve the data quality, and further improve the efficiency of data processing.

[0168] The above-described specific embodiments further explain the purpose, technical solutions and advantages of the present application. It should be understood that the above-described specific embodiments are merely examples of the present application and are not intended to limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling the continued flight of an unmanned aerial vehicle (UAV), characterized in that, include: The executable range of the UAV is determined to be less than the total range, and the planned route and direction of the UAV are obtained; the planned route includes a preset starting point and several data acquisition segments; Based on the preset starting point and the executable flight path, determine the executable destination of the UAV; Obtain the attitude stabilization mileage of the UAV; Based on the data acquisition segment where the executable endpoint is located, as well as the attitude stability mileage and the flight direction, the return point and reentry point are determined in the planned flight path: Based on the planned route, determine the data collection segment where the executable endpoint is located; the data collection segment is either 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 acquisition segment, the executable range and the attitude stabilization mileage are compared to form a comparison result; Based on the comparison results, the attitude stability mileage, and the flight direction, the return point and reentry point are determined in the planned flight route. When the executable endpoint is in an invalid data acquisition segment, based on the planned route, the attitude stability mileage and the flight direction, the return point and reentry point are determined in the planned route. The drone is controlled to return to its home base when it reaches the reentry point, and then resume flight from the reentry point.

2. The UAV flight continuation control method according to claim 1, characterized in that, The process of determining the return point and reentry point within the planned flight path based on the comparison results, the attitude stability mileage, and the flight direction includes: When the comparison result is that the executable range is less than or equal to the attitude stability mileage, the previous valid acquisition segment of the valid acquisition segment is determined according to the planned route and the navigation direction. The last collection point of the previous effective collection segment is determined based on the flight direction, and the last collection point is determined as the return point for continued flight. The reentry point is determined based on the flight direction and the attitude stabilization mileage.

3. The UAV flight continuation control method according to claim 2, characterized in that, The determination of the reentry point based on the flight direction and the attitude stability mileage specifically involves: The initial collection point of the effective collection segment is determined based on the navigation direction; The data collection point that is opposite to the flight direction and whose distance from the initial data collection point is the attitude stability mileage is determined as the reentry point.

4. The UAV flight continuation control method according to claim 1, characterized in that, The process of determining the return point and reentry point within the planned flight path based on the comparison results, the attitude stability mileage, and the flight direction includes: When the comparison result shows that the executable range is greater than the attitude stabilization mileage, the executable endpoint is determined as the return point for continued flight. The reentry point is determined based on the executable endpoint, the direction of flight, and the attitude stability mileage.

5. The UAV flight continuation control method according to claim 4, characterized in that, The determination of the reentry point based on the executable endpoint, the flight direction, and the attitude stability mileage specifically involves: The data collection point that is opposite to the stated flight direction and is at a distance of attitude stability mileage from the stated executable endpoint is determined as the reentry point.

6. The UAV flight continuation control method according to claim 1, characterized in that, When the executable endpoint is in an invalid data acquisition segment, based on the planned flight path, the attitude stability mileage, and the flight direction, the follow-up return point and the follow-up reentry point are determined within the planned flight path, specifically as follows: When the executable endpoint is in an invalid data collection segment, the preceding valid data collection segment is determined based on the planned route and the navigation direction. The last collection point of the previous effective collection segment is determined based on the flight direction, and the last collection point is determined as the return point for continued flight. The reentry point is determined based on the flight direction and the attitude stabilization mileage.

7. The UAV flight continuation control method according to claim 6, characterized in that, The determination of the reentry point based on the planned flight path, the flight direction, and the attitude stability mileage specifically involves: The next valid data collection segment is determined based on the planned route and the direction of travel; The initial collection point of the next effective collection segment is determined based on the navigation direction; The data collection point that is opposite to the flight direction and whose distance from the initial data collection point is the attitude stability mileage is determined as the reentry point.

8. The UAV flight continuation control method according to claim 1, characterized in that, Before determining that the executable range of the UAV is less than the total range, the method also includes: Obtain the total flight range of the drone; Obtain the battery information of the drone; the battery information includes battery level and power consumption curve; The executable range of the UAV is calculated based on the total flight range, the battery charge, and the battery information. The executable range of the drone is compared with the total range.

9. A drone flight continuation control device, characterized in that, include: The system comprises 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 UAV is less than the total range, and to acquire the planned route and direction of the UAV; the planned route includes a preset starting point and several data acquisition segments; The first determining module is used to determine the executable endpoint of the UAV based on the preset starting point and the executable flight path; The second acquisition module is used to acquire the attitude stabilization mileage of the UAV; The second determining module is used to determine the return point and reentry point on the planned flight path based on the data acquisition segment where the executable endpoint is located, the attitude stabilization mileage, and the flight direction: Based on the planned route, determine the data collection segment where the executable endpoint is located; the data collection segment is either 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 acquisition segment, the executable range and the attitude stabilization mileage are compared to form a comparison result; Based on the comparison results, the attitude stability mileage, and the flight direction, the return point and reentry point are determined in the planned flight route. When the executable endpoint is in an invalid data acquisition segment, based on the planned route, the attitude stability mileage and the flight direction, the return point and reentry point are determined in the planned route. The control module is used to control the UAV to return to home when it reaches the return point and to continue flying from the return point.

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