Unmanned aerial vehicle control method and device, vehicle and storage medium

Abstract

The invention provides an unmanned aerial vehicle control method and device, a vehicle and a storage medium, the method is applied to the field of unmanned aerial vehicle control, and the method comprises the steps: after receiving a state signal fed back by an unmanned aerial vehicle, judging whether the unmanned aerial vehicle can return to the vehicle according to the state signal, and if not, generating and executing a control strategy for the unmanned aerial vehicle; generating a navigation route according to the current position of the vehicle and the position information fed back by the unmanned aerial vehicle; and finally displaying the navigation route to guide the user to retrieve the unmanned aerial vehicle. The method can help the user to find the unmanned aerial vehicle when the unmanned aerial vehicle cannot return to the vehicle, improves the efficiency of finding the unmanned aerial vehicle, and avoids the property loss of the user caused by the loss of the unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control, and more particularly, to a control method, device, vehicle, and storage medium for a UAV in the field of UAV control. Background Art

[0002] With the increasing maturity of UAV technology, its functions have gradually become more comprehensive, and the application scenarios have become more diverse. Against this background, in-vehicle UAVs combined with vehicle driving have emerged. An in-vehicle UAV can fly away from the vehicle under the control of the vehicle driver and perform tasks according to the actual needs of the driver.

[0003] However, when an in-vehicle UAV cannot return to the vehicle due to a malfunction or insufficient battery power, situations such as falling, falling into water, colliding, being run over, or getting lost are likely to occur, thereby causing property losses to users. Summary of the Invention

[0004] This application provides a control method, device, vehicle, and storage medium for a UAV. This method can help users find the UAV when the UAV cannot return to the vehicle, improve the efficiency of retrieving the UAV, and avoid property losses to users caused by the loss of the UAV.

[0005] In a first aspect, a control method for a UAV is provided. The method includes: when receiving a status signal fed back by the UAV, judging whether the UAV can return to the vehicle according to the status signal; if it is determined that the UAV cannot return to the vehicle, generating a control strategy for the UAV based on the status signal, and controlling the UAV according to the control strategy; generating a navigation route based on the current position of the vehicle and the position information fed back by the UAV; and displaying the navigation route to instruct the user to retrieve the UAV according to the navigation route.

[0006] In the above technical solution, after receiving the status signal fed back by the UAV, it can be judged whether the UAV can return to the vehicle according to the received status signal, enabling users to timely understand the operating status of the UAV, facilitating taking measures in advance for UAVs that cannot return to the vehicle, and avoiding the loss of the UAV due to loss of control. When it is determined that the UAV cannot return to the vehicle, a control strategy for the UAV can be generated based on the status signal of the UAV, and the UAV can be controlled based on the generated control strategy, avoiding the loss of the UAV due to blind flight. A navigation route can also be generated and displayed based on the current position of the vehicle and the position information fed back by the UAV, which can facilitate users to accurately find the UAV, greatly improve the efficiency of retrieving the UAV, and avoid property losses to users caused by the loss of the UAV.

[0007] In combination with the first aspect, in some implementations of the first aspect, based on the status signal, a control strategy for the drone is generated, including: based on the status signal, determining the reason why the drone cannot return to the vehicle; and generating a control strategy for the drone according to the reason why the drone cannot return to the vehicle.

[0008] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the status signal includes a power signal and a fault signal. According to the status signal, determining whether the drone can return to the vehicle includes: if the power signal indicates that the current power of the drone is less than a preset power threshold, determining that the drone cannot return to the vehicle; if the fault signal indicates that the drone has a preset fault, determining that the drone cannot return to the vehicle.

[0009] The above technical solution can more accurately determine whether the drone can return to the vehicle based on the power signal and the fault signal fed back by the drone. By accurately judging whether the drone can return to the vehicle, it helps the user to reasonably arrange subsequent actions. For example, the user can decide whether to take rescue measures to retrieve the drone based on this information, or adjust the subsequent flight plan to avoid delays in work or tasks caused by the drone's inability to return, which can effectively improve the user's experience.

[0010] In combination with the first aspect and the above implementations, in some implementations of the first aspect, based on the status signal, determining the reason why the drone cannot return to the vehicle includes: if the status signal indicates that the current power of the drone is less than a preset power threshold, determining that the reason why the drone cannot return to the vehicle is that the drone is in a low-power state; if the status signal indicates that the power function of the drone is limited, determining that the reason why the drone cannot return to the vehicle is that the drone is in a first fault state; if the status signal indicates that the drone has lost its operating ability, determining that the reason why the drone cannot return to the vehicle is that the drone is in a second fault state; where the severity of the second fault state is higher than that of the first fault state.

[0011] The above technical solution can accurately determine the specific reason why the drone cannot return to the vehicle through the analysis of the status signal. By determining the specific reason why the drone cannot return to the vehicle, it helps to provide a reliable basis for taking appropriate control strategies subsequently, avoids blind operations, and improves the pertinence and effectiveness of drone fault handling.

[0012] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, according to the reason why the drone cannot return to the vehicle, a control strategy for the drone is generated, including: if the reason why the drone cannot return to the vehicle is that the drone is in a low battery state or the drone is in a first failure state, the control strategy generated for the drone is: controlling the drone to land at a target parking location, controlling the drone to enter a low power consumption mode when the drone has landed at the target parking location, and instructing the drone to feedback location information to the vehicle; wherein, the power consumption of the drone in the low power consumption mode is less than or equal to a preset power consumption; if the reason why the drone cannot return to the vehicle is that the drone is in a second failure state, the control strategy generated for the drone is: instructing the drone to feedback location information to the vehicle, controlling the lights in the drone to flash at a preset frequency, and controlling the drone to emit a voice prompt message; wherein, the voice prompt message is used to request the people around the location of the drone to move the drone to the target parking location.

[0013] In the above technical solution, when the drone is in a low battery state or a first failure state, controlling the drone to land at the target parking location in time can avoid the drone getting out of control and crashing due to power exhaustion or the aggravation of the failure, and can effectively protect the drone. Controlling the drone to enter the low power consumption mode when the drone has landed at the target parking location can effectively save power, extend the standby time of the drone on the ground, so that the user can find the drone in time, and at the same time avoid unnecessary waste of the drone's power. When the drone is in a second failure state, by controlling the lights in the drone to flash, it can attract the attention of the people around the location of the drone, prevent the drone from being accidentally touched, damaged or lost, and increase the safety of the drone in the failure state. At the same time, by controlling the drone to emit a voice prompt message, it can request the people around to move the drone to the target parking location, make full use of the surrounding human resources, and increase the possibility of retrieving the drone. Especially when the user cannot arrive in time, it can rely on the strength of the people around to make the drone return to a safe position as soon as possible. In addition, regardless of what failure state the drone is in, it is instructed to feedback location information to the vehicle, so that the user can master the location of the drone in real time, improve the efficiency of retrieving the drone, and avoid property losses to the user caused by the loss of the drone.

[0014] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, based on the current position of the vehicle and the location information feedback by the drone, a navigation route is generated, including: if the status signal feedback by the drone is not received within a preset duration, it is determined that the drone is in a lost connection state; in the case that the drone is in a lost connection state, based on the current position of the vehicle and the location information feedback by the drone received last time, the navigation route is generated.

[0015] In the above technical solution, when the status signal feedback from the drone is not received within the preset duration, it is determined that the drone is in a lost connection state. By promptly detecting the abnormal situation of the drone, it is possible to avoid delaying the opportunity to search for the drone due to waiting for the feedback signal from the drone for a long time, and precious time can be gained for taking effective measures subsequently. When the drone is in a lost connection state, a navigation route is generated based on the current position of the vehicle and the last received position information, providing a clear guidance for searching for the drone. Moreover, the user can follow this navigation route to the position where the drone last appeared to search for the drone, improving the efficiency and accuracy of the search.

[0016] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, after generating the navigation route based on the current position of the vehicle and the position information feedback from the drone, the method further includes: sending the navigation route to an electronic device connected to the vehicle to instruct the user to retrieve the drone according to the navigation route.

[0017] In the above technical solution, the navigation route is sent to an electronic device (such as the user's mobile phone, tablet computer, etc.), which is convenient for the user to view at any time. When the user needs to retrieve the drone on foot, the navigation route can be directly obtained through a common electronic device and the drone can be found according to the guidance of the navigation route, making the process of retrieving the drone more convenient.

[0018] In a second aspect, a control device for a drone is provided. The device includes: a judgment module, configured to judge whether the drone can return to the vehicle according to the status signal when the status signal feedback from the drone is received; a control module, configured to generate a control strategy for the drone based on the status signal and control the drone according to the control strategy if it is determined that the drone cannot return to the vehicle; a generation module, configured to generate a navigation route based on the current position of the vehicle and the position information feedback from the drone; and a display module, configured to display the navigation route to instruct the user to retrieve the drone according to the navigation route.

[0019] Combined with the second aspect, in some implementation manners of the second aspect, the control module is specifically configured to: determine the reason why the drone cannot return to the vehicle based on the status signal; and generate a control strategy for the drone according to the reason why the drone cannot return to the vehicle.

[0020] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the status signal includes a power signal and a fault signal. The judgment module is specifically configured to: determine that the drone cannot return to the vehicle if the power signal indicates that the current power of the drone is less than a preset power threshold; and determine that the drone cannot return to the vehicle if the fault signal indicates that the drone has a preset fault.

[0021] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the control module includes a determination unit, and the determination unit is specifically configured to: if the status signal indicates that the current power of the drone is less than a preset power threshold, determine that the reason why the drone cannot return to the vehicle is that the drone is in a low power state; if the status signal indicates that the power function of the drone is limited, determine that the reason why the drone cannot return to the vehicle is that the drone is in a first failure state; if the status signal indicates that the drone has lost its operating ability, determine that the reason why the drone cannot return to the vehicle is that the drone is in a second failure state; wherein, the severity of the second failure state is higher than that of the first failure state.

[0022] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the control module includes a generation unit, and the generation unit is specifically configured to: if the reason why the drone cannot return to the vehicle is that the drone is in a low power state or the drone is in a first failure state, generate a control strategy for the drone as follows: control the drone to land at a target parking location, control the drone to enter a low power consumption mode when the drone has landed at the target parking location, and instruct the drone to feedback location information to the vehicle; wherein, the power consumption of the drone in the low power consumption mode is less than or equal to a preset power consumption; if the reason why the drone cannot return to the vehicle is that the drone is in a second failure state, generate a control strategy for the drone as follows: instruct the drone to feedback location information to the vehicle, control the lights in the drone to flash at a preset frequency, and send out a voice prompt message; wherein, the voice prompt message is used to ask the people around the location of the drone to move the drone to the target parking location.

[0023] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the generation module is specifically configured to: if the status signal feedback by the drone is not received within a preset duration, determine that the drone is in a lost connection state; in the case that the drone is in a lost connection state, generate the navigation route based on the current location of the vehicle and the location information feedback by the drone for the last time.

[0024] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the device further includes a sending module, and the sending module is specifically configured to: send the navigation route to an electronic device connected to the vehicle to instruct the user to retrieve the drone according to the navigation route.

[0025] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the control method of the drone in the first aspect and any possible implementation of the first aspect described above.

[0026] In a fourth aspect, a computer program product is provided, which includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute the control method of the drone in the first aspect and any possible implementation of the first aspect described above.

[0027] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code, when the computer program code runs on a computer, it causes the computer to execute the control method of the drone in the first aspect and any possible implementation of the first aspect described above. Description of the Drawings

[0028] Figure 1 is a schematic flowchart of a control method for a drone provided by an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of a display interface of a prompt message provided by an embodiment of the present application;

[0030] Figure 3 is a schematic structural diagram of a control device for a drone provided by an embodiment of the present application;

[0031] Figure 4 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed Embodiments

[0032] Hereinafter, the technical solutions in the present application will be clearly and elaborately described in conjunction with the drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can represent A or B: "and / or" in the text is only a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0033] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0034] With the increasing maturity of drone technology, its functions have gradually become more comprehensive, and its application scenarios have become increasingly rich. Against this background, in-vehicle drones combined with vehicle driving have emerged. An in-vehicle drone can fly away from the vehicle under the control of the vehicle driver and perform tasks according to the actual needs of the driver.

[0035] However, when an in-vehicle drone fails to return to the vehicle due to a malfunction or insufficient battery power, it is prone to situations such as falling, falling into water, colliding, being run over, or getting lost, which may cause property losses to users.

[0036] To solve the above technical problems, the embodiments of the present application provide a control method for a drone. The execution subject of this method is a vehicle, specifically, a controller in the vehicle. This method can generate a control strategy for the drone when it is determined that the drone cannot return to the vehicle, and control the drone to return to the vehicle according to this control strategy. It can also generate a navigation route based on the current position of the vehicle and the position information feedback by the drone, so as to instruct the user to retrieve the drone according to the navigation route, facilitating the user to accurately find the drone, greatly improving the efficiency of retrieving the drone, and avoiding property losses to the user caused by the loss of the drone.

[0037] Figure 1 It is a schematic flowchart of a control method for a drone provided by the embodiments of the present application.

[0038] Exemplarily, as Figure 1 shown, the method 100 includes:

[0039] S101, when receiving the status signal feedback by the drone, judge whether the drone can return to the vehicle according to the status signal;

[0040] S102, if it is determined that the drone cannot return to the vehicle, generate a control strategy for the drone based on the status signal, and control the drone according to the control strategy;

[0041] S103, generate a navigation route based on the current position of the vehicle and the position information feedback by the drone;

[0042] S104, display the navigation route to instruct the user to retrieve the drone according to the navigation route.

[0043] In the embodiments of the present application, after receiving the status signal feedback from the drone, it is possible to determine whether the drone can return to the vehicle based on the received status signal, enabling the user to promptly understand the operating status of the drone, facilitating taking measures in advance for drones that cannot return to the vehicle, and preventing the drone from being lost due to loss of control. When it is determined that the drone cannot return to the vehicle, a control strategy for the drone can be generated based on the status signal of the drone, and the drone can be controlled based on the generated control strategy to prevent the drone from being lost due to blind flight. It is also possible to generate and display a navigation route based on the current position of the vehicle and the position information feedback by the drone, which can facilitate the user to accurately find the drone, greatly improving the efficiency of retrieving the drone and preventing property losses to the user caused by the loss of the drone.

[0044] The following specifically describes the implementation methods of each step in the Figure 1 illustrated embodiments:

[0045] Regarding the above S101, it can be understood that the above drone can specifically be an in-vehicle drone, which is a drone closely integrated with a vehicle, equivalent to integrating the mobility of the drone and the mobility of the vehicle. Simply put, an in-vehicle drone is a drone that can be carried, launched, recovered, and controlled on a vehicle.

[0046] The status signal feedback by the above drone can include the battery power of the drone, the flight attitude of the drone, the relative position between the drone and the vehicle, whether the drone has a hardware failure, etc.

[0047] Under normal circumstances, the drone can continuously feedback status signals to the controller of the vehicle, including signals such as the current battery power, the current position, and the current fault status.

[0048] The above status signal can be collected by the drone through its own sensors such as a battery sensor, Global Positioning System (GPS), gyroscope, etc. Then the drone can send the collected status signal to the relevant receiving device in the vehicle (such as the controller in the vehicle).

[0049] Furthermore, after the vehicle receives the status signal feedback by the drone, it can determine whether the drone can return to the vehicle based on this status signal.

[0050] In a possible implementation manner, the status signal includes a battery power signal and a fault signal. According to this status signal, determining whether the drone can return to the vehicle includes: if the battery power signal indicates that the current battery power of the drone is less than a preset battery power threshold, it is determined that the drone cannot return to the vehicle; if the fault signal indicates that the drone has a preset fault, it is determined that the drone cannot return to the vehicle.

[0051] Among them, the above power signal refers to a signal used to reflect the current remaining power of the UAV; the above fault signal refers to a signal used to indicate whether the UAV has a fault.

[0052] Exemplarily, the above power threshold can be set to the minimum power required for the UAV to return from the current position to the position of the vehicle. For example, if the minimum power required for the UAV to return from the current position to the position of the vehicle is 30%, then the above preset power threshold can be set to 30%.

[0053] Specifically, first, according to the position information feedback by the UAV, the shortest distance between the current position of the UAV and the current position of the vehicle can be determined, and then, combined with the actual energy consumption information of the UAV, the minimum power required for the UAV to return from the current position to the position of the vehicle can be determined.

[0054] Exemplarily, based on the position information feedback by the UAV and the actual energy consumption information of the UAV, it is determined that the minimum power required for the UAV to return from the current position to the position of the vehicle is 30%, that is, the preset power threshold is determined to be 30%. If the power signal of the received UAV characterizes that the current remaining power of the UAV is 20%, it can be determined that the current power of the UAV is less than the preset power threshold, indicating that the current power of the UAV is not enough to support the UAV to return from the current position to the vehicle, that is, the UAV cannot return to the vehicle.

[0055] The above preset faults refer to some faults that are recognized as having a serious and probably insurmountable impact on the UAV's ability to return to the vehicle, such as power system faults, flight control system faults, airframe structure faults, etc.

[0056] Exemplarily, if the received fault signal of the UAV characterizes that the UAV has a power system fault, it can be determined that the UAV has a preset fault, indicating that the UAV cannot safely return to the vehicle according to the predetermined route, that is, the UAV cannot return to the vehicle.

[0057] The above method, based on the power signal and fault signal feedback by the UAV, can more accurately determine whether the UAV can return to the vehicle. By accurately judging whether the UAV can return to the vehicle, it helps users to reasonably arrange subsequent actions. For example, users can decide whether to take rescue measures to retrieve the UAV based on this information, or adjust the subsequent flight plan to avoid delays in work or tasks caused by the UAV's inability to return, which can effectively improve the user experience.

[0058] In some embodiments, the drone can also directly feedback signals such as that the current power of the drone is insufficient or there is a preset fault in the drone to the vehicle. For example, it can directly send a prompt message of "the current power of the drone is low and it can no longer return to the vehicle" or a message of "there is a fault in the power system of the drone and it can no longer return to the vehicle" to the vehicle.

[0059] Regarding the above S102, it can be understood that in the case where the drone cannot return to the vehicle, in order to ensure the safe landing of the vehicle, the controller of the vehicle can generate a control strategy for the drone and transmit the generated control strategy to the drone through an instruction, so that after receiving the instruction, the drone can perform control operations according to the specific control strategy.

[0060] In one possible implementation, based on the status signal, generating a control strategy for the drone includes: based on the status signal, determining the reason why the drone cannot return to the vehicle; according to the reason why the drone cannot return to the vehicle, generating a control strategy for the drone.

[0061] It can be understood that by knowing the reason why the drone cannot return to the vehicle, the remaining resources of the drone can be utilized to ensure the safety of the drone to the greatest extent.

[0062] For example, if the reason why the drone cannot return to the vehicle is that the power of the drone is insufficient and the drone can perform some simple operations to find a suitable landing location within a limited time, the drone can be immediately controlled to find a safe location to land.

[0063] Exemplarily, the reason why the drone cannot return to the vehicle can also be determined according to the status signal feedback by the drone.

[0064] In one possible implementation, based on the status signal, determining the reason why the drone cannot return to the vehicle includes: if the status signal indicates that the current power of the drone is less than a preset power threshold, determining that the reason why the drone cannot return to the vehicle is that the drone is in a low-power state; if the status signal indicates that the power function of the drone is limited, determining that the reason why the drone cannot return to the vehicle is that the drone is in a first fault state; if the status signal indicates that the drone has lost its operating ability, determining that the reason why the drone cannot return to the vehicle is that the drone is in a second fault state; wherein, the severity of the second fault state is higher than that of the first fault state.

[0065] It can be understood that the above low-power state refers to a state where the remaining power of the drone has dropped to a critical level and is not sufficient to support the drone to return to the vehicle.

[0066] The above-mentioned first failure state refers to a state in which a fault occurs in the power system of the unmanned aerial vehicle (UAV), resulting in some functions of the UAV being restricted and unable to support the UAV to return to the vehicle.

[0067] The above-mentioned second failure state refers to a state in which the UAV has a relatively serious fault, such as a fault in the hardware structure due to being hit, causing the UAV to lose its operating ability and may fall at any time.

[0068] When the status signal indicates that the current battery power of the UAV is less than the preset battery power threshold, it means that the battery power is the key factor restricting the UAV from returning to the vehicle. In this case, the reason why the UAV cannot return to the vehicle can be defined as the UAV being in a low battery state.

[0069] Exemplarily, if the preset battery power threshold is 20%, and the vehicle currently receives a battery power signal feedback from the UAV of 15%, indicating that the current battery power of the UAV is less than or equal to the preset battery power threshold, it can be determined that the reason why the UAV cannot return to the vehicle is that the UAV is in a low battery state.

[0070] When the status signal indicates that the power function of the UAV is restricted, such as there may be a fault in the motor or the propeller, at this time some functions of the UAV are restricted but it can still work for a period of time, it can be determined that the reason why the UAV cannot return to the vehicle is that the UAV is in the first failure state.

[0071] Exemplarily, if the motor speed sensor of the UAV detects that the speed of a certain motor is significantly lower than that of other motors, indicating that there is a fault in the current motor, and the fault in the motor will cause the power function of the vehicle to be restricted, then a signal that the power function of the UAV is restricted can be sent to the vehicle. After the vehicle receives the signal that there is a fault in the vehicle, and determines that the power function of the UAV is restricted, it can be determined that the reason why the UAV cannot return to the vehicle is that the UAV is in the first failure state.

[0072] When the status signal indicates that the UAV has lost its operating ability, such as there may be damage to the hardware structure of the UAV due to being hit, at this time the UAV can no longer operate and may fall at any time, it can be determined that the reason why the UAV cannot return to the vehicle is that the UAV is in the second failure state.

[0073] Exemplarily, if the attitude sensor of the UAV detects chaotic attitude data and exceeds the range allowed for normal flight, indicating that the UAV cannot continue to fly and may already be in the process of falling, then a signal that the UAV has lost its operating ability can be sent to the vehicle. After the vehicle receives the signal that the UAV has lost its operating ability, it can be determined that the reason why the UAV cannot return to the vehicle is that the UAV is in the second failure state.

[0074] Through the analysis of the status signal, the above method can accurately determine the specific reason why the UAV cannot return to the vehicle. By determining the specific reason why the UAV cannot return to the vehicle, it helps to provide a reliable basis for subsequent adoption of appropriate control strategies, avoiding blind operations and improving the pertinence and effectiveness of UAV fault handling.

[0075] In some embodiments, the UAV can also directly determine its current state based on the signals of its own sensors, and then feedback the corresponding state information to the vehicle. For example, if it determines that it is in a low battery state, it directly sends a signal of "the UAV is in a low battery state" to the vehicle. Based on the received signal, the vehicle can determine that the UAV cannot return to the vehicle because it is in a low battery state.

[0076] Furthermore, the controller of the vehicle can determine different control strategies for the UAV according to the reason why the UAV cannot return to the vehicle.

[0077] In a possible implementation, according to the reason why the UAV cannot return to the vehicle, a control strategy for the UAV is generated, including: if the reason why the UAV cannot return to the vehicle is that the UAV is in a low battery state or the UAV is in a first fault state, then the control strategy generated for the UAV is: control the UAV to land at a target parking location, and when the UAV has landed at the target parking location, control the UAV to enter a low power consumption mode, and instruct the UAV to feedback position information to the vehicle; wherein, the power consumption of the UAV in the low power consumption mode is less than or equal to a preset power consumption.

[0078] It can be understood that the above target parking location refers to a relatively safe location determined according to factors such as the current position of the UAV and the surrounding environment. For example, the target parking location can be a relatively open location in a water area or on a road.

[0079] The above low power consumption mode refers to a working mode in which the UAV reduces the operating power of some of its own functions, thereby reducing power consumption.

[0080] Exemplarily, the above preset power consumption can be set according to actual needs. For example, the maximum power consumption required for the UAV to feedback position information to the vehicle can be set as the preset power consumption.

[0081] When the UAV is in a low battery state or the first fault state, the UAV is usually only function-limited and can still fly for a period of time. At this time, the primary task is to ensure the safe landing of the UAV. Therefore, the UAV can be controlled to land at a relatively safe target parking location, thereby reducing the risk of damage to the UAV during the landing process and avoiding harm to surrounding personnel and property.

[0082] Further, after determining that the drone has landed at the target parking location, in order to reduce the power consumption of the drone and extend the usage time of the remaining battery power as much as possible, the drone can be controlled to enter the low-power mode so that the drone consumes less power during the waiting process for being retrieved.

[0083] Exemplarily, it can be determined whether the drone has currently completed landing according to the sensor signals of the drone itself. For example, it can be judged whether the drone has landed on the ground according to the reflection signal of the ground detected by the ultrasonic sensor in the drone.

[0084] In order to ensure that the user can quickly retrieve the drone, it can be instructed that after the drone parks at the target location, it feeds back the current position information to the vehicle in a timely manner.

[0085] In some embodiments, it can be instructed that the drone feeds back the position information to the vehicle according to a preset sending period.

[0086] Exemplarily, the preset sending period can be set to the maximum value that can save power. For example, the preset sending period can be set to send once every minute.

[0087] Further, the preset sending period can also be adjusted according to the current power of the drone. For example, after the drone enters the low-power mode, the preset sending period is first set to send once every minute. If it is detected that the power of the drone continues to decrease, the preset sending period can be extended and changed to send once every five minutes to reduce the power consumption of the drone.

[0088] Exemplarily, if the vehicle controller determines that the reason why the drone cannot return to the vehicle is that the drone is in a low-power state or the drone is in a first failure state, an instruction of "find an open space to land" and an instruction of "enter the low-power mode after parking is completed in the open space" can be sent to the drone. After receiving the instructions, the drone can determine a target parking location that avoids waters and roads based on the current position information, then land at the target parking location, and immediately enter the low-power mode after landing at the target parking location. And the drone can also feed back the current position information to the vehicle according to the sending period of once a minute. If it is detected that the current power of the drone continues to decrease and is close to the calibration threshold 1 (such as 10%) when the user has not yet found the drone, the sending period can be changed to send once every five minutes.

[0089] As described above, usually the drone continuously feeds back the position information to the vehicle controller, and the sending period for the drone to feed back the position information to the vehicle controller can be set in advance by the user.

[0090] Therefore, the instruction sent by the vehicle to the UAV may not include an instruction to feedback location information. After the UAV enters the low-power mode, it can directly feedback location information to the vehicle according to the transmission period set in advance by the user. As the power of the UAV is continuously consumed, the transmission period can also be adjusted to reduce the power consumption of the UAV.

[0091] In a possible implementation, according to the reason why the UAV cannot return to the vehicle, a control strategy for the UAV is generated, including: if the reason why the UAV cannot return to the vehicle is that the UAV is in the second failure state, the control strategy generated for the UAV is: instruct the UAV to feedback location information to the vehicle, control the lights in the UAV to flash at a preset frequency, and control the UAV to emit a voice prompt message; wherein, the voice prompt message is used to ask the people around the location of the UAV to move the UAV to the target parking location.

[0092] Exemplarily, the above preset frequency can be set according to actual needs, for example, it can be set to flash once per second. The above voice prompt message can also be set according to actual needs, for example, it can be set to "Please help me move to an open position, thank you".

[0093] As described above, when the UAV is in the second failure state, it means that the UAV can no longer fly, and perhaps the UAV has fallen. If the UAV is damaged due to falling, resulting in the loss of communication function, it may not be able to continue to feedback location information to the vehicle. Therefore, the UAV can be instructed to continuously feedback location information to the vehicle, so that the vehicle can obtain the location of the UAV in time.

[0094] Exemplarily, in the case of determining that the UAV is in the second failure state, the UAV can be instructed to continuously feedback location information to the vehicle according to a transmission period of once per second, so as to avoid being unable to obtain the location information of the UAV after it falls.

[0095] Furthermore, in order to avoid the UAV being collided or crushed after falling, the UAV can be instructed to control the lights to flash at a preset frequency, so as to attract the attention of the people around within a certain range. At the same time, the UAV can also be instructed to emit a voice prompt message to ask the people around the location of the UAV to move the UAV to the target parking location.

[0096] Exemplarily, if the vehicle's controller determines that the reason the drone cannot return to the vehicle is that the drone is in a second fault state, it can send an instruction to the drone to "control the lights to flash at a preset frequency and emit a voice prompt message to seek help from the surrounding people". After receiving this instruction, the drone can, while real-time feedbacking the position information to the vehicle, control the lights on the fuselage to flash at a preset frequency and emit a voice prompt message "Please help me move to an open position, thank you" to seek help from the surrounding people.

[0097] In some embodiments, if the communication function is not completely lost after the drone crashes, the drone can be instructed to continuously feedback the current position information to the vehicle.

[0098] In other embodiments, in order to avoid the drone being unable to receive the instructions sent by the vehicle due to the loss of the communication signal between the drone and the vehicle, the above control strategy can be stored in the drone in advance, so that when the communication signal between the drone and the vehicle is lost, the drone can directly find the corresponding control strategy according to its own sensor signals and perform self-rescue operations according to the corresponding control strategy.

[0099] In the above method, when the drone is in a low battery state or a first fault state, controlling the drone to land at the target parking location in time can avoid the drone getting out of control and crashing due to power exhaustion or the aggravation of the fault, and can effectively protect the drone. Controlling the drone to enter the low-power mode when the drone has landed at the target parking location can effectively save power, extend the standby time of the drone on the ground, so that the user can find the drone in time, and at the same time avoid unnecessary waste of the drone's power. When the drone is in a second fault state, by controlling the lights on the drone to flash, it can attract the attention of the people around the location of the drone, prevent the drone from being accidentally touched, damaged or lost, and increase the safety of the drone in the fault state. At the same time, by controlling the drone to emit a voice prompt message, it can seek help from the surrounding people to move the drone to the target parking location, make full use of the surrounding human resources, and increase the possibility of retrieving the drone. Especially when the user cannot arrive in time, it can rely on the strength of the surrounding people to make the drone return to a safe position as soon as possible. In addition, no matter what fault state the drone is in, it is instructed to feedback the position information to the vehicle, so that the user can master the position of the drone in real time, improve the efficiency of retrieving the drone, and avoid property losses caused to the user due to the loss of the drone.

[0100] Furthermore, in addition to controlling the drone to land safely, it can also help the user quickly and accurately retrieve the drone and avoid the user's property losses.

[0101] For the above S103 and S104, it can be understood that the position information fed back by the above drone to the vehicle may include data such as longitude and latitude coordinates, altitude, etc.

[0102] After the navigation system in the vehicle receives the position information fed back by the drone, it can determine the best path from the current position of the vehicle to the position of the drone based on the current position of the vehicle and the position information of the drone, using specific algorithms and map data.

[0103] Exemplarily, the navigation system will consider various factors, including the type of road (highway, urban road, rural path, etc.), traffic conditions (whether congested, whether there are accidents, etc.), distance, etc. If there are multiple roads to choose from between the current position of the vehicle and the position of the drone, the navigation system can preferentially select a road with a shorter distance and good traffic conditions as the final navigation route.

[0104] Further, after determining the navigation route, the generated navigation route can be presented to the user in a visual form, such as displaying a map and route instructions on the in-vehicle screen. At the same time, voice prompts can also be provided to the user to prompt the user to retrieve the drone as soon as possible according to the generated navigation route.

[0105] Exemplarily, as Figure 2 shown, after generating the navigation route according to the current position of the vehicle and the position information of the drone, a prompt message 2011 can be displayed on the in-vehicle screen 201. The prompt message 2011 specifically asks the user whether to retrieve the drone immediately and provides two options: "Yes" and "Not for now". And the prompt message 2011 can also include information such as the distance between the vehicle and the drone, the estimated time required to reach the position of the drone, and the current status of the drone. For example, the status information "The current battery of the drone is low and it has landed at the target parking location", the distance information "The target parking location is 890 meters away from the current position", and the time information "It is estimated that it will take 3 minutes to arrive".

[0106] At the same time, the vehicle can also send out a voice prompt message "The current battery of the drone is low and it has landed at the target parking location. The target parking location is 890 meters away from the current position. It is estimated that it will take 3 minutes to arrive. Do you need to retrieve the drone immediately?" to remind the user to retrieve the drone.

[0107] Further, if the user selects the option "Yes", the navigation route to the position of the drone can be immediately displayed on the in-vehicle screen. If the vehicle is driving according to another navigation route when the user selects the option "Yes", the user can be further asked whether to immediately switch the navigation route, so as to facilitate the user to choose the timing of switching the navigation route according to the real-time road conditions.

[0108] If the user selects the option of "not using it for the time being", a reminder message "Please retrieve the drone as soon as possible to avoid damage or loss" can be sent again when the vehicle makes the first stop within the current driving cycle of the vehicle, so as to prompt the user to retrieve the drone as soon as possible.

[0109] It can be understood that the above-mentioned current driving cycle refers to the process from the vehicle being powered on to being powered off this time. If it is detected that the vehicle is in a parked state during the process from being powered on to being powered off this time, the reminder message can be sent again.

[0110] Exemplarily, if it is detected that the current driving speed of the vehicle is 0 and the current gear is in the parking gear, or it is detected that the vehicle's handbrake is pulled up, it can be determined that the vehicle is in a parked state.

[0111] In the above method, the prompt information shown to the user includes the distance between the vehicle and the drone, the estimated time for the vehicle to reach the location of the drone, and the current state of the drone, which is convenient for the user to more accurately evaluate the urgency and feasibility of retrieving the drone based on this information, so as to make a reasonable decision. And the user is given the right to make an independent choice. The user can decide whether to switch the navigation route according to factors such as the real-time road conditions, avoiding driving chaos caused by suddenly switching the navigation route, ensuring the safety and smoothness of driving, and at the same time improving the flexibility of the operation of retrieving the drone. If the user chooses not to retrieve the drone temporarily, reminding the user to retrieve the drone again when the vehicle makes the first stop within the current driving cycle of the vehicle can effectively prevent the user from missing the opportunity to retrieve the drone due to being busy or forgetting, reducing the risk of the drone being damaged or lost due to being placed for a long time, and protecting the user's property safety.

[0112] Furthermore, if the vehicle cannot directly drive to the location of the drone and the user may need to walk there, the navigation route can be sent to the user's electronic device.

[0113] In a possible implementation manner, after generating the navigation route based on the current position of the vehicle and the position information fed back by the drone, the method further includes: sending the navigation route to an electronic device connected to the vehicle to instruct the user to retrieve the drone according to the navigation route.

[0114] Exemplarily, the above-mentioned electronic device refers to a device that has established a certain connection relationship with the vehicle, such as a smart phone, a smart watch, an in-vehicle tablet computer, etc. Among them, the specific connection method can be Bluetooth connection, Wi-Fi connection or other wireless communication technologies.

[0115] It can be understood that sending the generated navigation route to the electronic device connected to the vehicle is convenient for the user to view the generated navigation route using the electronic device when walking to the location of the drone.

[0116] Furthermore, the navigation route sent by the vehicle's navigation system to the electronic device may include detailed route information, such as driving directions (turn left, turn right, go straight, etc.), driving distances, names of places passed by, etc.

[0117] In the above method, the navigation route is sent to the electronic device (such as the user's mobile phone, tablet computer, etc.), which is convenient for the user to view at any time. When the user needs to retrieve the drone on foot, the navigation route can be directly obtained through the common electronic device and the drone can be found according to the guidance of the navigation route, making the process of retrieving the drone more convenient.

[0118] In a possible situation, if the communication signal between the drone and the vehicle is interrupted, the vehicle cannot obtain the specific position information of the drone. For example, the drone cannot work properly after falling and cannot feedback the status signal to the vehicle. At this time, the status signal feedback by the drone received last time can be obtained, and the drone can be retrieved based on this status signal.

[0119] In a possible implementation, a navigation route is generated based on the current position of the vehicle and the position information feedback by the drone, including: if the status signal feedback by the drone is not received within a preset duration, it is determined that the drone is in a lost connection state; in the case that the drone is in a lost connection state, a navigation route is generated based on the current position of the vehicle and the position information feedback by the drone received last time.

[0120] Exemplarily, the above preset duration can be set according to actual requirements, specifically according to the frequency of the drone feedbacking the status signal to the vehicle under normal circumstances. For example, if the drone normally feedbacks the status signal to the vehicle every 10 seconds, the above preset duration can be set to 20 seconds.

[0121] It can be understood that if the vehicle does not receive any status signal feedback by the drone within this preset duration, it can be determined that the drone is in a lost connection state.

[0122] For example, originally the drone would feedback the status signal to the vehicle every 10 seconds, but within the set preset duration of 20 seconds, the vehicle has not received the status signal of the drone all the time, then it can be determined that the drone is in a lost connection state.

[0123] Furthermore, in the case that it is determined that the drone is in a lost connection state, since the real-time position of the drone cannot be obtained, the position information feedback by the drone received last time can be obtained.

[0124] It can be understood that the above position information received last time records the position of the drone before the lost connection.

[0125] Furthermore, the navigation system of the vehicle may generate a navigation route based on the current position of the vehicle and the last received position information.

[0126] As mentioned above, the navigation route can be the optimal path between the current position of the vehicle and the location where the drone loses contact, determined by the vehicle's navigation system using specific algorithms and map data and taking into account multiple factors.

[0127] For example, assuming that the preset time is 20 seconds, if 20 seconds have passed since the last time the status signal fed back by the drone was received, and the vehicle controller still has not received the status signal fed back by the drone, it can be determined that the drone is in a disconnected state. At this time, the vehicle controller can obtain the location information fed back by the drone received last time. For example, if the location information fed back by the drone received last time is that the drone is at location A (the location information can specifically include the latitude and longitude information and altitude information of location A), a navigation route can be generated from location B where the vehicle is located to location A where the drone was last located, and the route information can be presented to the user in a visual or voice prompting manner so that the user can find the drone according to the navigation route.

[0128] The above method determines that the drone is in a lost connection state when no status signal from the drone is received within a preset time. By timely detecting abnormal conditions of the drone, the opportunity to find the drone is avoided due to a long wait for the drone's feedback signal, which can buy precious time for subsequent effective measures. When the drone is in a lost connection state, a navigation route is generated based on the vehicle's current position and the last received position information, providing clear guidance for finding the drone, and the user can go to the last location of the drone according to the navigation route to find the drone, improving the efficiency and accuracy of the search.

[0129] Figure 3 It is a structural schematic diagram of a control device for a drone provided in an embodiment of the present application.

[0130] For example, Figure 3 As shown, the device 300 includes:

[0131] The judging module 301 is used to judge whether the drone can return to the vehicle according to the status signal after receiving the status signal fed back by the drone;

[0132] The control module 302 is used to generate a control strategy for the drone based on the status signal if it is determined that the drone cannot return to the vehicle, and control the drone according to the control strategy;

[0133] A generation module 303, configured to generate a navigation route based on the current position of the vehicle and the position information fed back by the UAV.

[0134] A display module 304, configured to display the navigation route to instruct the user to retrieve the UAV according to the navigation route.

[0135] In a possible implementation, the control module is specifically configured to: determine the reason why the UAV cannot return to the vehicle based on the status signal; generate a control strategy for the UAV according to the reason why the UAV cannot return to the vehicle.

[0136] In a possible implementation, the status signal includes a power signal and a fault signal. The judgment module is specifically configured to: if the power signal indicates that the current power of the UAV is less than a preset power threshold, determine that the UAV cannot return to the vehicle; if the fault signal indicates that the UAV has a preset fault, determine that the UAV cannot return to the vehicle.

[0137] In a possible implementation, the control module includes a determination unit. The determination unit is specifically configured to: if the status signal indicates that the current power of the UAV is less than a preset power threshold, determine that the reason why the UAV cannot return to the vehicle is that the UAV is in a low-power state; if the status signal indicates that the power function of the UAV is limited, determine that the reason why the UAV cannot return to the vehicle is that the UAV is in a first fault state; if the status signal indicates that the UAV has lost its operating ability, determine that the reason why the UAV cannot return to the vehicle is that the UAV is in a second fault state; wherein, the severity of the second fault state is higher than that of the first fault state.

[0138] In a possible implementation, the control module includes a generation unit. The generation unit is specifically configured to: if the reason why the UAV cannot return to the vehicle is that the UAV is in a low-power state or the UAV is in a first fault state, generate a control strategy for the UAV as: control the UAV to land at a target parking location, control the UAV to enter a low-power mode after the UAV has landed at the target parking location, and instruct the UAV to feed back position information to the vehicle; wherein, the power consumption of the UAV in the low-power mode is less than or equal to a preset power consumption; if the reason why the UAV cannot return to the vehicle is that the UAV is in a second fault state, generate a control strategy for the UAV as: instruct the UAV to feed back position information to the vehicle, control the lights in the UAV to flash at a preset frequency, and send a voice prompt message; wherein, the voice prompt message is used to ask the people around the location of the UAV to move the UAV to the target parking location.

[0139] In a possible implementation, the generation module is specifically configured to: determine that the drone is in a lost connection state if a status signal fed back by the drone is not received within a preset time period; and generate the navigation route based on the current position of the vehicle and the position information fed back by the drone received last time when the drone is in the lost connection state.

[0140] Optionally, the device further includes a sending module, which is specifically configured to: send the navigation route to an electronic device connected to the vehicle to instruct the user to retrieve the drone according to the navigation route.

[0141] Figure 4 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0142] Exemplarily, as Figure 4 shown, the vehicle 400 includes: a memory 401 and a processor 402. Among them, an executable program code 4011 is stored in the memory 401, and the processor 402 is configured to call and execute the executable program code 4011 to execute a control method for a drone.

[0143] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor. Among them, an executable program code is stored in the memory, and the processor is configured to call and execute the executable program code to execute a control method for a drone provided by an embodiment of the present application.

[0144] In this embodiment, the device may be divided into function modules according to the above method example. For example, each function module may correspond, or two or more functions may be integrated into one processing module. The above integrated module may be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0145] In the case of dividing each function into corresponding function modules, the device may further include a judgment module, a control module, a generation module, a display module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding function module, and will not be repeated here.

[0146] It should be understood that the device provided in this embodiment is used to execute the above control method for a drone, so the same effect as the above implementation method can be achieved.

[0147] In the case of adopting an integrated unit, the device may include a processing module and a storage module. Among them, when the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle to execute relevant program codes, data, etc.

[0148] Among them, the processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules, and circuits shown in combination with the disclosure of the present application. The processor may also be a combination that realizes computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0149] In addition, the device provided in the embodiment of the present application may specifically be a chip, a component, or a module. The chip may include a connected processor and a memory. Among them, the memory is used to store instructions. When the processor calls and executes the instructions, the chip may execute a control method for an unmanned aerial vehicle provided in the above embodiment.

[0150] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a control method for an unmanned aerial vehicle provided in the above embodiment.

[0151] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a control method for an unmanned aerial vehicle provided in the above embodiment.

[0152] Among them, the device, the computer-readable storage medium, the computer program product, or the chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0153] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and conciseness of description, only the above division of each functional module is used as an example for illustration. In practical applications, the above functions may be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0154] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0155] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling an unmanned aerial vehicle, characterized in that: The method comprises: When receiving a status signal fed back by the drone, judging whether the drone can return to the vehicle according to the status signal; If it is determined that the drone cannot return to the vehicle, generating a control strategy for the drone based on the status signal, and controlling the drone according to the control strategy; Generate a navigation route based on the current position of the vehicle and the position information fed back by the drone; The navigation route is displayed to instruct the user to find the drone according to the navigation route.

2. The method according to claim 1, characterized in that The generating a control strategy for the UAV based on the state signal includes: Based on the status signal, determining why the drone cannot return to the vehicle; According to the reason why the drone cannot return to the vehicle, a control strategy for the drone is generated.

3. The method according to claim 1 or 2, characterized in that: The state signal includes a power signal and a fault signal, and judging whether the drone can return to the vehicle according to the state signal includes: If the power signal indicates that the current power of the drone is less than a preset power threshold, it is determined that the drone cannot return to the vehicle; If the fault signal indicates that the drone has a preset fault, it is determined that the drone cannot return to the vehicle.

4. The method according to claim 2, characterized in that: Determining the reason why the drone cannot return to the vehicle based on the status signal includes: If the status signal indicates that the current battery level of the drone is less than a preset battery level threshold, it is determined that the reason why the drone cannot return to the vehicle is that the drone is in a low battery state; If the state signal indicates that the power function of the drone is limited, determining that the reason why the drone cannot return to the vehicle is that the drone is in a first fault state; If the status signal indicates that the drone has lost its ability to operate, it is determined that the reason why the drone cannot return to the vehicle is that the drone is in a second fault state; wherein the severity of the second fault state is higher than the severity of the first fault state.

5. The method according to claim 4, characterized in that The generating a control strategy for the drone according to the reason why the drone cannot return to the vehicle includes: If the reason why the drone cannot return to the vehicle is that the drone is in a low-power state or the drone is in a first fault state, a control strategy for the drone is generated: control the drone to land at a target parking location, control the drone to enter a low-power consumption mode when the drone has landed at the target parking location, and instruct the drone to feed back location information to the vehicle; wherein the power consumption of the drone in the low-power consumption mode is less than or equal to a preset power consumption; If the reason why the drone cannot return to the vehicle is that the drone is in the second fault state, a control strategy generated for the drone is: instructing the drone to feedback location information to the vehicle, controlling the light in the drone to flash at a preset frequency, and controlling the drone to issue a voice prompt message; wherein the voice prompt message is used to seek help from people around the location of the drone to move the drone to the target parking location.

6. The method according to claim 1, characterized in that The generating of a navigation route based on the current position of the vehicle and the position information fed back by the drone includes: If the status signal fed back by the drone is not received within the preset time, it is determined that the drone is in a lost connection state; When the drone is in a disconnected state, the navigation route is generated based on the current position of the vehicle and the last received position information fed back by the drone.

7. The method according to claim 1, characterized in that After generating a navigation route based on the current position of the vehicle and the position information fed back by the drone, the method further includes: The navigation route is sent to an electronic device connected to the vehicle to instruct the user to find the drone according to the navigation route.

8. A control device for an unmanned aerial vehicle, characterized in that: The device comprises: A judgment module, configured to judge whether the drone can return to the vehicle based on the status signal fed back by the drone when receiving the status signal; A control module, configured to generate a control strategy for the drone based on the status signal if it is determined that the drone cannot return to the vehicle, and control the drone according to the control strategy; A generation module, used to generate a navigation route based on the current position of the vehicle and the position information fed back by the drone; The display module is used to display the navigation route to instruct the user to find the drone according to the navigation route.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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