Return-to-home control method and system, unmanned aerial vehicle, and storage medium
By dynamically updating the return point, the problem of the UAV's return point deviating from the takeoff point was solved, improving the safety and accuracy of the UAV's return.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SHENZHEN POTENSIC INTELLIGENT CO LTD
- Filing Date
- 2025-11-12
- Publication Date
- 2026-05-21
AI Technical Summary
If an unmanned aerial vehicle (UAV) takes off from a moving object, the return point may deviate from the takeoff point, increasing the risk of damage to the UAV.
The unmanned aerial vehicle enters dynamic return-to-home mode, dynamically updates the return-to-home point by acquiring the location information from the control terminal, and determines the last acquired terminal location as the target return-to-home point until it receives a return-to-home command.
It improves the landing safety and return accuracy of unmanned aerial vehicles (UAVs) and reduces the risk of damage to UAVs.
Smart Images
Figure CN2025134352_21052026_PF_FP_ABST
Abstract
Description
Return-to-home control methods, systems, unmanned aerial vehicles, and storage media Technical Field
[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a return-to-home control method, system, UAV, and storage medium. Background Technology
[0002] The return-to-home function of unmanned aerial vehicles (UAVs) is an important component of their autonomous flight capability. It ensures that UAVs can safely return when they lose control or encounter emergencies, thereby greatly improving the safety and reliability of UAV applications.
[0003] In related technologies, unmanned aerial vehicles (UAVs) receive satellite signals through their built-in Global Positioning System (GPS) module to determine their own location. Upon takeoff, the UAV stores the GPS coordinates of its takeoff point as its return-home point. When a return-home is needed, the UAV returns to the pre-stored return-home point (takeoff point). However, if the UAV takes off from a moving object, and after takeoff, the moving object moves away from the takeoff point or the user moves away from the takeoff point, then using the takeoff point as the return-home point for landing may be detrimental to the UAV's landing safety. For example, it may lead to the UAV being lost or landing in a dangerous area, increasing the risk of damage to the drone. Summary of the Invention
[0004] In view of this, this application provides a return-to-home control method, system, unmanned aerial vehicle (UAV), and storage medium to solve the problem in the related art that the return-to-home control method of the UAV may cause the UAV to land in a dangerous area, increasing the risk of damage to the UAV.
[0005] A first aspect of this application provides a return-to-home control method applied to an unmanned aerial vehicle (UAV), wherein the UAV is communicatively connected to a control terminal. The return-to-home control method includes: responding to a first command to enter a dynamic return-to-home mode; acquiring the current position of the UAV, a first vector velocity of the UAV in a horizontal plane, a second vector velocity of the control terminal in a horizontal plane, and a preset position of a preset return-to-home point; if the first vector velocity and the second vector velocity are the same, and the distance between the current position of the UAV and the preset position meets a preset condition, acquiring the terminal position of the control terminal according to a preset time interval until a return-to-home command is received, and determining the last terminal position acquired from the control terminal as a target return-to-home point; determining a return-to-home path based on the current position of the UAV and the target return-to-home point, and flying to the target return-to-home point according to the return-to-home path.
[0006] In some embodiments, the method further includes: after the unmanned aerial vehicle acquires the terminal position of the control terminal each time, it uses the terminal position as the updated return point until it receives the return command, and uses the last updated return point as the target return point.
[0007] In some embodiments, the method further includes: before receiving the return-to-home command, if the first vector velocity, the second vector velocity, and the distance between the current position and the preset position always satisfy the condition that the first vector velocity and the second vector velocity are inconsistent, and / or the distance between the current position of the unmanned aerial vehicle and the preset position does not satisfy the preset condition, then when receiving the return-to-home command, the preset return-to-home point is used as the target return-to-home point.
[0008] In some embodiments, the method further includes: if the distance between the current position and the preset position is greater than or equal to a preset distance threshold, the distance between the current position and the preset position satisfies the preset condition; if the distance between the current position and the preset position is less than the preset distance threshold, the distance between the current position and the preset position does not satisfy the preset condition.
[0009] In some embodiments, the method further includes: upon receiving a second instruction to exit the dynamic return-to-home mode, responding to the user's selection of a preset return-to-home point, and using the preset return-to-home point as the target return-to-home point.
[0010] In some embodiments, the method further includes: if the first vector velocity is consistent with the second vector velocity, and the distance between the current position and the preset position meets the preset condition, generating a prompt message, and sending the prompt message to the control terminal to instruct the user to adjust the return point of the unmanned aerial vehicle.
[0011] A second aspect of this application provides a return-to-home control system, comprising: an unmanned aerial vehicle (UAV) for executing the aforementioned return-to-home control method; and a control terminal communicatively connected to the UAV for sending the terminal position of the control terminal to the UAV.
[0012] In some embodiments, the control terminal is further configured to send a first instruction to the unmanned aerial vehicle to enter the dynamic return-to-home mode, or to send a second instruction to the unmanned aerial vehicle to exit the dynamic return-to-home mode.
[0013] A third aspect of this application provides an unmanned aerial vehicle, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the aforementioned return-to-home control method when executing the computer-readable instructions.
[0014] A fourth aspect of this application provides a computer-readable storage medium storing computer-readable instructions that, when executed by a processor, implement the aforementioned return-to-home control method.
[0015] This application provides a return-to-home control method in which an unmanned aerial vehicle (UAV) responds to a first command to enter a dynamic return-to-home mode and dynamically updates its return-to-home point. When the UAV's first vector velocity in the horizontal plane matches the control terminal's second vector velocity in the horizontal plane, and the distance between the preset position of the preset return-to-home point and the UAV's current position meets a preset condition, it indicates that the UAV may be in follow mode, or that the UAV is following the control terminal's movement, and there is a certain distance between the preset position of the preset return-to-home point and the UAV's current position. In this case, the UAV obtains the control terminal's terminal position according to a preset time interval until it receives a return-to-home command, and then determines the last terminal position obtained from the control terminal as the target return-to-home point. By dynamically updating the UAV's return-to-home point based on the control terminal's terminal position when the control terminal moves away from the UAV, the safety of UAV landing can be improved. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 is an application scenario diagram of the return-to-home control method provided in the embodiments of this application.
[0018] Figure 2 is a flowchart of the implementation of the return-to-home control method provided in the embodiments of this application.
[0019] Figure 3 is an example diagram of the display map of the control terminal provided in the embodiment of this application.
[0020] Figure 4 is a schematic diagram of the return control device provided in the embodiment of this application.
[0021] Figure 5 is a structural schematic diagram of the unmanned aerial vehicle provided in the embodiment of this application. Detailed Implementation
[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0023] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, " / " in this application means "or". For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. "At least one" refers to one or more. "More than one" refers to two or more. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, and a, b, and c (seven cases).
[0025] Please refer to Figure 1, which illustrates an application scenario of the return-to-home control method provided in this application embodiment. As shown in Figure 1, the unmanned aerial vehicle (UAV) 100 is communicatively connected to the control terminal 200. During the return-to-home control process, the control terminal 200 sends a first command to the UAV 100 to enter dynamic return-to-home mode. The UAV 100 responds to the first command, acquiring its first vector velocity in the horizontal plane, the control terminal 200's second vector velocity in the horizontal plane, and the preset position of the preset return-to-home point. If the first and second vector velocities are consistent, and the distance between the UAV 100's current position and the preset position of the preset return-to-home point meets preset conditions, the UAV 100 acquires the control terminal 200's terminal position according to preset time intervals until it receives a return-to-home command. The last terminal position acquired from the control terminal 200 is then determined as the target return-to-home point. The UAV 100 determines its return path based on its current position and the target return-to-home point, and flies to the target return-to-home point according to the return path.
[0026] In some embodiments, the unmanned aerial vehicle 100 can be a multi-rotor drone, an unmanned aerial vehicle, etc. The control terminal 200 can be a remote controller or a user terminal, such as any one or more of a mobile phone, tablet computer, wearable device, etc. This application embodiment does not limit the specific device types of the unmanned aerial vehicle 100 and the control terminal 200.
[0027] In some embodiments, the communication connection includes, but is not limited to, a wireless communication connection. For example, the wireless channel from the unmanned aerial vehicle (UAV) 100 to the control terminal 200 can be used to transmit data collected by the UAV 100, such as video, images, sensor data, and status information of the UAV 100. The wireless channel from the control terminal 200 to the UAV 100 can be used to transmit remote control data, such as flight control commands and control commands such as return-to-home commands, photo capture commands, and video recording commands.
[0028] The scenario shown in Figure 1 is merely an illustrative example, and the return-to-home control method provided in this application can also be applied to other scenarios. For example, in some scenarios, it may include an unmanned aerial vehicle 100 but not a control terminal 200; in other scenarios, it may include other types of equipment. This application does not limit the specific application scenarios of the return-to-home control method.
[0029] Please refer to Figure 2, which is a flowchart illustrating the implementation of the return-to-home control method provided in this embodiment. This method is applied to unmanned aerial vehicles (UAVs), and this embodiment uses the application of this method to the UAV 100 shown in Figure 1 as an example for explanation. The method includes the following steps.
[0030] S11: In response to the first command to enter dynamic return-to-home mode, obtain the current position of the UAV, the first vector velocity of the UAV in the horizontal plane, the second vector velocity of the control terminal in the horizontal plane, and the preset position of the preset return-to-home point.
[0031] In some embodiments, dynamic return-to-home mode refers to a mode that dynamically updates the return-to-home point of the unmanned aerial vehicle.
[0032] In some embodiments, the return-to-home point represents the location or area where the unmanned aerial vehicle (UAV) will land. A preset return-to-home point represents a pre-defined location or area where the UAV will land. The preset return-to-home point can be customized; for example, it can be determined based on the UAV's takeoff point or a location specified by the user. This application embodiment does not limit the method for determining the preset return-to-home point.
[0033] In some embodiments, the first vector velocity represents the speed and direction of the unmanned aerial vehicle's movement in the horizontal plane. The second vector velocity represents the speed and direction of the control terminal's movement in the horizontal plane.
[0034] In some embodiments, the preset location of the preset return point can be represented by coordinates, such as GPS coordinates. The unmanned aerial vehicle can obtain data information such as longitude, latitude, and altitude of the preset return point (preset location) to represent the preset location.
[0035] In some embodiments, the unmanned aerial vehicle (UAV) can utilize one or more sensors, such as Global Navigation Satellite System (GNSS), optical flow sensors, and inertial measurement units (IMUs), to detect a first vector velocity of the UAV in the horizontal plane. This application does not limit the method of obtaining the first vector velocity.
[0036] In some embodiments, in response to a first command, the unmanned aerial vehicle (UAV) may send a request to the control terminal to obtain the control terminal's second vector velocity in the horizontal plane. The control terminal then responds to the request and sends the second vector velocity to the UAV. The control terminal may calculate the second vector velocity based on parameters such as the distance, time, and direction of movement of the control terminal in the horizontal plane. This application does not limit the method of obtaining the second vector velocity.
[0037] In some embodiments, the unmanned aerial vehicle (UAV) can obtain the preset location of the preset return-to-home point through a satellite navigation system (e.g., GPS), or through user settings and recording. For example, the user can set the preset return-to-home point during or before flight through the UAV's control system or a corresponding application. After the user sets the preset return-to-home point, the UAV can save the location information of the preset return-to-home point. This application embodiment does not limit the method of obtaining the preset location.
[0038] S12: If the first vector velocity is the same as the second vector velocity, and the distance between the current position of the UAV and the preset position meets the preset conditions, the terminal position of the control terminal is obtained according to the preset time interval until the return command is received, and the terminal position obtained from the control terminal last time is determined as the target return point.
[0039] In some embodiments, the current location represents the latest location information of the unmanned aerial vehicle (UAV) at any given time. The current location can be represented by coordinates, such as GPS coordinates. The UAV can determine its current location by acquiring data such as the longitude, latitude, altitude, speed, and environmental factors (e.g., wind direction and speed). This application does not limit the method of acquiring the current location.
[0040] In some embodiments, if the distance between the current location and the preset location is greater than or equal to a preset distance threshold, the distance between the current location and the preset location meets the preset condition; if the distance between the current location and the preset location is less than the preset distance threshold, the distance between the current location and the preset location does not meet the preset condition.
[0041] In some embodiments, the preset time interval is customizable and can be an average time interval or a non-average time interval. This application does not limit the preset time interval. For example, the preset time interval can be set to 2 seconds, 3 seconds, 5 seconds, etc.
[0042] In some embodiments, the terminal position of the control terminal can be represented by the coordinates of the control terminal, such as GPS coordinates.
[0043] In some embodiments, during the process of obtaining the terminal position of the control terminal according to a preset time interval, the unmanned aerial vehicle may send a terminal position acquisition request to the control terminal according to the preset time interval, and the control terminal responds to the acquisition request and returns the current terminal position to the unmanned aerial vehicle.
[0044] In other embodiments, during the process of acquiring the terminal position of the control terminal according to a preset time interval, the unmanned aerial vehicle (UAV) may also send a position acquisition command to the control terminal. The position acquisition command instructs the control terminal to send its terminal position to the UAV according to the preset time interval. This application does not limit the method of acquiring the terminal position.
[0045] In some embodiments, the target return point generally refers to the final determined landing location or area of the unmanned aerial vehicle.
[0046] In some embodiments, if the first vector velocity is determined to be consistent with the second vector velocity, it indicates that the UAV is currently in follow mode. The UAV and the control terminal move synchronously in the horizontal direction. When the control terminal moves away from the preset return-to-home point, the UAV also moves away from the preset return-to-home point. In this case, if the UAV dynamically updates the return-to-home point according to the terminal position of the control terminal and sets the return-to-home point as the terminal position, it can help prevent the UAV from losing its way in complex environments or under signal interference. In addition, when encountering emergencies (such as low battery, signal loss, etc.), the UAV can quickly return to the following terminal position, avoiding accidents such as crashes, improving the safety of the UAV and preventing UAV loss.
[0047] However, sometimes a user may accidentally activate the control terminal, causing the first vector velocity to match the second vector velocity. In this case, if the distance between the UAV's current position and the preset return-to-home point is less than a preset distance threshold, it indicates that the distance between the UAV's current position and the preset return-to-home point may be small. In this situation, the user may be able to more easily observe the environment around the preset return-to-home point, and the UAV may not need to update the return-to-home point, or the preset return-to-home point may still be used as the UAV's landing location or area.
[0048] If the first vector velocity and the second vector velocity are consistent, and the distance between the current position of the UAV and the preset position of the preset return point is greater than the preset distance threshold, the UAV determines that its position is far from the preset return point. If the UAV uses the preset return point as the target return point for landing, it needs to fly a long distance. Since GPS positioning has certain errors, the UAV's long-distance flight to return to the preset return point will affect the accuracy of the UAV's return.
[0049] To address the aforementioned issues, if the first vector velocity and the second vector velocity are determined to be consistent, and the distance between the UAV's current position and the preset position of the preset return-to-home point is greater than a preset distance threshold, the UAV can dynamically update its return-to-home point based on the terminal position of the control terminal. Specifically, the UAV acquires the control terminal's terminal position at preset time intervals until it receives a return-to-home command, at which point the last terminal position acquired from the control terminal is determined as the target return-to-home point. On one hand, setting the return-to-home point as the terminal position in follow mode improves the safety of the UAV and reduces the risk of UAV loss; on the other hand, it improves the accuracy of the UAV's return-to-home process.
[0050] In some embodiments, when an unmanned aerial vehicle receives a return-to-home command, it will stop updating the return-to-home point.
[0051] In some embodiments of this application, the unmanned aerial vehicle can use the terminal position as the updated return point after each acquisition of the terminal position of the control terminal, until a return command is received, and then use the last updated return point as the target return point.
[0052] In other embodiments, the unmanned aerial vehicle may not use the terminal position as the updated return point after each acquisition of the control terminal's position, but only determine the last terminal position acquired from the control terminal as the target return point when a return command is received. This application does not limit the specific method of updating the return point.
[0053] In some other embodiments of this application, before receiving the return-to-home command, if the first vector velocity, the second vector velocity, and the distance between the current position and the preset position always satisfy the condition that the first vector velocity and the second vector velocity are inconsistent, and / or the distance between the current position of the UAV and the preset position does not meet the preset condition, then when the return-to-home command is received, the preset return-to-home point is used as the target return-to-home point.
[0054] In some embodiments, if the first vector velocity and the second vector velocity are inconsistent, and / or the distance between the current position of the UAV and the preset position does not meet the preset condition, the UAV will not update the return-to-home point. Once it is determined that the first vector velocity and the second vector velocity are consistent, and the distance between the current position of the UAV and the preset position meets the preset condition, the UAV will update the return-to-home point, obtain the terminal position of the control terminal according to the preset time interval, until a return-to-home command is received, and determine the last terminal position obtained from the control terminal as the target return-to-home point.
[0055] In some embodiments, after determining that the first vector velocity and the second vector velocity are consistent, and that the distance between the current position of the UAV and the preset position meets the preset condition, the UAV can stop calculating the first vector velocity and the second vector velocity, as well as the distance between the preset position and the current position. Alternatively, after determining that the first vector velocity and the second vector velocity are consistent, and that the distance between the current position of the UAV and the preset position meets the preset condition, changes in the first vector velocity, the second vector velocity, and the distance between the current position and the preset position will not affect the determination of the target return point. In other words, the UAV continues to acquire the terminal position of the control terminal according to the preset time interval until it receives the return command, and then determines the last terminal position acquired from the control terminal as the target return point.
[0056] In some embodiments of this application, if the first vector velocity is consistent with the second vector velocity, and the distance between the current position and the preset position meets the preset conditions, a prompt message is generated and sent to the control terminal to instruct the user to adjust the return point of the unmanned aerial vehicle.
[0057] In this embodiment, the distance between the current position and the preset position meets a preset condition, namely, the distance between the current position and the preset position is greater than or equal to a preset distance threshold, indicating that the distance between the current position of the UAV and the preset position of the preset return point is relatively far. If the environment around the preset return point cannot be observed, returning to the preset return point may affect the landing safety and accuracy of the UAV. In this case, the UAV can generate a prompt message and send it to the control terminal, instructing the user to adjust the UAV's return point to ensure that the environment around the adjusted return point is suitable for UAV landing, thus guaranteeing landing safety.
[0058] In some embodiments, the UAV can adjust its return-to-home point by adjusting the joystick, preset function keys, etc., on the control terminal. The control terminal updates the return-to-home point in response to user input.
[0059] In other embodiments, the display device of the control terminal can display a map containing corresponding icons for the unmanned aerial vehicle (UAV), return point, and control terminal. As shown in Figure 3, the map 20 displays the corresponding icon 21 for the UAV, the corresponding icon 22 for the control terminal, and the corresponding icon 23 for the return point.
[0060] As shown in Figure 3, users can adjust the UAV's return-to-home point by dragging the corresponding icon 23 on the displayed map to other locations. Alternatively, users can select any location or area on the displayed map as the updated return-to-home point. The control terminal responds to the user's operation and updates the return-to-home point.
[0061] In some embodiments, the unmanned aerial vehicle (UAV) can send information such as its flight status and location to a control terminal. Based on this information, the control terminal can update the relative position and coordinates of the UAV on the displayed map.
[0062] In another embodiment, the target return point can also be specified by the user, or it can be a location determined during autonomous return, such as when returning from a low battery state.
[0063] In other embodiments, upon receiving a second instruction to exit the dynamic return-to-home mode, the system responds to the user's selection of a preset return-to-home point and uses the preset return-to-home point as the target return-to-home point.
[0064] In some embodiments, the control terminal may have pre-set selection controls for the dynamic return-to-home mode, such as selection buttons and exit buttons for the dynamic return-to-home mode. In response to the selection operation to enter the dynamic return-to-home mode, the control terminal generates a first command to enter the dynamic return-to-home mode and sends the first command to the unmanned aerial vehicle (UAV). In response to the selection operation to exit the dynamic return-to-home mode, the control terminal generates a second command to exit the dynamic return-to-home mode and sends the second command to the UAV.
[0065] In this embodiment, the UAV and control terminal can store the location information of a preset return-to-home point. After the UAV exits the dynamic return-to-home mode, the user can reselect a preset return-to-home point as the target return-to-home point. The UAV responds to the user's selection of the preset return-to-home point and uses the preset return-to-home point as the target return-to-home point.
[0066] S13: Determine the return path based on the current position of the unmanned aerial vehicle and the target return point, and fly to the target return point according to the return path.
[0067] In some embodiments, data reflecting the current position of the unmanned aerial vehicle (UAV) includes, but is not limited to, the UAV's current geographic location data, such as longitude, latitude, and altitude. Data reflecting the location of the target return point includes, but is not limited to, the GPS coordinates of the target return point.
[0068] In some embodiments, the unmanned aerial vehicle (UAV) can utilize path planning algorithms to calculate a safe and efficient return path based on various factors, such as the terrain of the UAV's flight area, the UAV's safe flight altitude limits, weather conditions (e.g., wind speed, wind direction, and rainfall), air traffic control restrictions, and potential obstacles. Furthermore, during the return path planning process, the UAV can also consider factors such as its remaining battery power, flight speed, flight time, and possible emergency avoidance measures to ensure a smooth return and safe landing.
[0069] After determining the return path, the unmanned aerial vehicle (UAV) can activate its built-in flight control system and fly automatically according to the planned return path. In some embodiments, during flight, the UAV can continuously monitor its position and flight status through its sensors and navigation system, and make necessary adjustments according to changes in the environment, such as adjusting flight altitude, speed, and direction, to ensure that it can fly stably and accurately to the target return point along the planned return path.
[0070] In some embodiments, a landing procedure or algorithm may be pre-programmed in the unmanned aerial vehicle (UAV) for pre-landing preparation and adjustments. When the UAV approaches the target return point, it can activate the pre-programmed landing procedure or algorithm to prepare and adjust for landing, ensuring a safe and smooth landing at the target return point.
[0071] This application provides a return-to-home control method in which an unmanned aerial vehicle (UAV) responds to a first command to enter a dynamic return-to-home mode and dynamically updates its return-to-home point. When the UAV's first vector velocity in the horizontal plane matches the control terminal's second vector velocity in the horizontal plane, and the distance between the preset position of the preset return-to-home point and the UAV's current position meets a preset condition, it indicates that the UAV may be in follow mode, or that the UAV is following the control terminal's movement, and there is a certain distance between the preset position of the preset return-to-home point and the UAV's current position. In this case, the UAV obtains the control terminal's terminal position according to a preset time interval until it receives a return-to-home command, and then determines the last terminal position obtained from the control terminal as the target return-to-home point. By dynamically updating the UAV's return-to-home point based on the control terminal's terminal position when the control terminal moves away from the UAV, the safety of UAV landing can be improved.
[0072] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.
[0073] Please refer to Figure 4, which shows a structural diagram of the return-to-home control device provided in this embodiment. It can realize the details of the return-to-home control method in the above embodiment and achieve the same effect. As shown in Figure 4, the return-to-home control device 10 can be applied to an unmanned aerial vehicle with data processing function. The return-to-home control device 10 includes: a response module 11, used to respond to a first command to enter the dynamic return-to-home mode, and obtain the first vector velocity of the unmanned aerial vehicle in the horizontal plane, the second vector velocity of the control terminal in the horizontal plane, and the preset position of the preset return-to-home point; an update module 12, used to obtain the terminal position of the control terminal according to a preset time interval if the first vector velocity and the second vector velocity are consistent, and the distance between the current position of the unmanned aerial vehicle and the preset position meets the preset conditions, until a return-to-home command is received, and determine the last terminal position obtained from the control terminal as the target return-to-home point; and a return-to-home module 13, used to determine the return-to-home path according to the current position of the unmanned aerial vehicle and the target return-to-home point, and fly to the target return-to-home point according to the return-to-home path.
[0074] Specific limitations regarding the return-to-home control device 10 can be found in the limitations of the return-to-home control method described above, and will not be repeated here. Each module in the aforementioned return-to-home control device 10 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the unmanned aerial vehicle (UAV), or stored in software in the UAV's memory, so that the processor can call and execute the corresponding operations of each module.
[0075] Please refer to Figure 5, which is a structural schematic diagram of an unmanned aerial vehicle (UAV) provided in an embodiment of this application. The UAV 100 includes, but is not limited to, any one of multi-rotor drones, unmanned aerial vehicles, etc. The network in which the UAV 100 operates includes, but is not limited to, the Internet, wide area network (WAN), metropolitan area network (MAN), local area network (LAN), and virtual private network (VPN).
[0076] As shown in Figure 5, the unmanned aerial vehicle 100 includes a communication module 101, a memory 102, a processor 103, an input / output interface 104, and a bus 105. The processor 103 is coupled to the communication module 101, the memory 102, and the input / output interface 104 via the bus 105.
[0077] The communication module 101 can be a wireless communication module or a mobile communication module. The wireless communication module can provide solutions for wireless communication used on the unmanned aerial vehicle 100, including Wireless Local Area Networks (WLAN) (e.g., Wireless Fidelity, Wi-Fi), Bluetooth (BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR) technologies. The mobile communication module can provide solutions for wireless communication used on the unmanned aerial vehicle 100, including 2G / 3G / 4G / 5G technologies.
[0078] Memory 102 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 103, and can be used to store executable programs (e.g., machine instructions) of the operating system or other running programs, as well as user and application data. The RAM may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM, such as fifth-generation DDR SDRAM, generally referred to as DDR5 SDRAM), etc.
[0079] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 103. Non-volatile memory can include disk storage devices and flash memory.
[0080] The memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include multiple instructions that, when executed by the processor 103, enable a return-to-home control method to be executed on the unmanned aerial vehicle 100.
[0081] In other embodiments, the unmanned aerial vehicle 100 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the unmanned aerial vehicle 100.
[0082] Processor 103 may include one or more processing units, such as application processor (AP), modem processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor, and / or neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.
[0083] The processor 103 provides computing and control capabilities. For example, the processor 103 is used to execute computer programs stored in the memory 102 to implement the aforementioned return-to-home control method.
[0084] The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input / output devices, such as a mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.
[0085] Bus 105 is used at least to provide a channel for communication between the communication module 101, memory 102, processor 103, and input / output interface 104 in the unmanned aerial vehicle 100.
[0086] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the unmanned aerial vehicle 100. In other embodiments of this application, the unmanned aerial vehicle 100 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
[0087] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to the return-to-home control method in the above embodiments of this application.
[0088] The computer-readable storage medium can be the internal storage of the unmanned aerial vehicle (UAV) described in the above embodiments, such as the UAV's hard drive or memory. Alternatively, the computer-readable storage medium can be an external storage device for the UAV, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the UAV.
[0089] Furthermore, the computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system, at least one application program required for a function, etc.; and the data storage area may store data created based on the use of the unmanned aerial vehicle, etc.
[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.
Claims
1. A return flight control method applied to an unmanned aerial vehicle, characterized in that, The unmanned aerial vehicle is communicatively connected to a control terminal, and the return-to-home control method includes: In response to the first command to enter dynamic return-to-home mode, the current position of the unmanned aerial vehicle, the first vector velocity of the unmanned aerial vehicle in the horizontal plane, the second vector velocity of the control terminal in the horizontal plane, and the preset position of the preset return-to-home point are obtained. If the first vector velocity is the same as the second vector velocity, and the distance between the current position of the unmanned aerial vehicle and the preset position meets the preset conditions, the terminal position of the control terminal is obtained according to the preset time interval until a return command is received, and the terminal position obtained from the control terminal last time is determined as the target return point; The return path is determined based on the current position of the unmanned aerial vehicle and the target return point, and the vehicle flies to the target return point according to the return path.
2. The return control method according to claim 1, characterized by, The method further includes: Each time the unmanned aerial vehicle acquires the terminal position of the control terminal, it uses the terminal position as the updated return point until it receives the return command, at which point the last updated return point is used as the target return point.
3. The return control method according to claim 1, characterized by, The method further includes: Before receiving the return-to-home command, if the first vector velocity, the second vector velocity, and the distance between the current position and the preset position always satisfy the condition that the first vector velocity and the second vector velocity are inconsistent, and / or the distance between the current position of the UAV and the preset position does not satisfy the preset condition, then when the return-to-home command is received, the preset return-to-home point will be used as the target return-to-home point.
4. The return flight control method according to claim 1 or 3, characterized by, The method further includes: If the distance between the current position and the preset position is greater than or equal to a preset distance threshold, the distance between the current position and the preset position satisfies the preset condition; If the distance between the current location and the preset location is less than the preset distance threshold, the distance between the current location and the preset location does not meet the preset condition.
5. The return control method according to claim 1, characterized by, The method further includes: Upon receiving a second instruction to exit the dynamic return-to-home mode, the system responds to the user's selection of a preset return-to-home point and uses the preset return-to-home point as the target return-to-home point.
6. The return control method according to claim 1, wherein The method further includes: If the first vector velocity is consistent with the second vector velocity, and the distance between the current position and the preset position meets the preset condition, a prompt message is generated and sent to the control terminal to instruct the user to adjust the return point of the unmanned aerial vehicle.
7. A return-to-home control system, characterized in that, include: An unmanned aerial vehicle for performing the return-to-home control method as described in any one of claims 1 to 6; A control terminal, which is communicatively connected to the unmanned aerial vehicle (UAV), is used to send the terminal position of the control terminal to the UAV.
8. The return-to-home control system as described in claim 7, characterized in that, The control terminal is also used to send a first command to the unmanned aerial vehicle to enter the dynamic return-to-home mode, or to send a second command to the unmanned aerial vehicle to exit the dynamic return-to-home mode.
9. An unmanned aerial vehicle, characterized in that, It includes a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the computer-readable instructions, when executed by the processor, implement the return-to-home control method as described in any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions that, when executed by a processor, implement the return-to-home control method as described in any one of claims 1 to 6.