Method for acquiring return point, control device, unmanned aerial vehicle, and unmanned aerial vehicle control system

Abstract

The present embodiments disclose a method for acquiring a return point, a control device, an unmanned aerial vehicle, and an unmanned aerial vehicle control system. The method for acquiring a return point comprises: determining a return point of an unmanned aerial vehicle on the basis of at least one among a preset number of states of a target control device, the target control device comprising at least one of a first control device of the unmanned aerial vehicle and a second control device of the unmanned aerial vehicle.

Description

Methods for obtaining return-to-home points, control equipment, drones, and drone control systems Technical Field

[0001] This application relates to, but is not limited to, the field of unmanned aerial vehicle (UAV) control, and particularly to a method for obtaining a return point, a control device, a UAV, and a UAV control system. Background Technology

[0002] The return-to-home point (ROW) of a drone refers to its takeoff or return point. During flight, the drone's control equipment uses this location to return to home or perform other flight tasks. However, current ROW update methods rely on manual updates, requiring manual updates within the drone's control equipment. This necessitates constant manual updates, especially in scenarios involving rapid user movement, resulting in low operational convenience. Furthermore, failure to update the ROW in a timely manner poses a safety risk, as the drone may be unable to return to the user's location. Summary of the Invention

[0003] This application provides a method for obtaining a return point, a control device, a drone, and a drone control system.

[0004] According to a first aspect of the embodiments of this application, a method for obtaining a return point is provided, the method comprising:

[0005] The return point of the UAV is determined based on at least one of the preset quantity states of the target control device, wherein the target control device includes at least one of the first control device and the second control device of the UAV.

[0006] According to a second aspect of the embodiments of this application, another method for obtaining a return-to-home point is provided, applied to a drone, the method comprising:

[0007] Receive a return-to-home point update command; the return-to-home point update command is determined based on at least one of a preset number of target control devices, the target control devices including at least one of the first control device and the second control device of the UAV;

[0008] Based on the return point update command, the return point is updated to the current location of the target control device.

[0009] According to a third aspect of the embodiments of this application, a control device for a drone is provided. The control device is either a first control device or a second control device for the drone, wherein the first control device or the second control device includes a processor and a memory for storing a computer program capable of running on the processor; wherein...

[0010] The processor is used to run the computer program to execute any of the above-described methods for updating the return point of the control device.

[0011] According to a fourth aspect of the embodiments of this application, a drone is provided, the drone including a processor and a memory for storing a computer program capable of running on the processor; wherein,

[0012] The drone is used to run the computer program to perform the above-described method for updating the drone's return point.

[0013] According to a fifth aspect of the embodiments of this application, a drone control system is provided, the drone control system including the drone, at least one of the first control devices, and at least one of the second control devices; the drone forms a communication connection with at least one of the first control device and the second control device, and the first control device forms a communication connection with the second control device.

[0014] According to a sixth aspect of the present application, a drone control system is provided, the drone control system including the drone and at least one of the second control devices; the drone is communicatively connected to each of the second control devices.

[0015] As can be seen, this embodiment of the application does not require the user to input new return-to-home points in real time on the first or second control device. Instead, it can determine the UAV's return-to-home point promptly based on at least one of the preset states of the target control device. This reduces the frequency of users manually inputting new return-to-home points and improves operational convenience. Furthermore, by considering the state of the target control device, the UAV's return-to-home point can be determined more accurately, thereby helping to reduce the risk of UAVs returning to home.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 is a flowchart of a method for obtaining a return point according to an embodiment of this application;

[0019] Figure 2 is a flowchart of another method for obtaining the return point according to an embodiment of this application;

[0020] Figure 3 is a schematic diagram of the architecture of the first unmanned aerial vehicle control system according to an embodiment of this application;

[0021] Figure 4 is a schematic diagram of the architecture of the second unmanned aerial vehicle control system according to an 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 the present invention, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[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 herein is for descriptive purposes only and is not intended to be limiting of this application.

[0025] This application proposes a method for obtaining a return-to-home point. This method can be applied to a first control device, a second control device, a cloud device, etc. of a drone. For example, the first control device can be a head-mounted display device such as flight goggles, or other control devices used to control the drone. The number of first control devices can be one or more. The second control device can be a motion-sensing control device, a remote controller, a handle, or other control devices used to control the drone. The second control device may or may not have a display screen. The number of second control devices can be one or more.

[0026] In some embodiments, the above-described method for acquiring a drone can be implemented through a drone control system. In one example, the drone control system includes a drone, a first control device, and a second control device. The first control device and the second control device form a communication connection. The drone can form a communication connection with both the first and second control devices, or it can form a communication connection with either the first or the second control device. For example, the second control device can form a communication connection with the first control device, and the first control device can form a communication connection with the drone. In this case, the first control device can act as a relay device between the second control device and the drone. Alternatively, the first control device can form a communication connection with both the second control device and the drone. In this case, the second control device can act as a relay device between the first control device and the drone.

[0027] In another example, the drone control system includes a drone and a second control device, which are connected in communication. For instance, the second control device may have a display screen, allowing the user to interact with the drone control system via this screen. Alternatively, the second control device itself may not have a display screen, but it can connect in communication with other devices that have displays, enabling the user to interact with the drone control system via these other devices when needed.

[0028] Figure 1 is a flowchart of a method for obtaining a return point according to an embodiment of this application. As shown in Figure 1, the process includes:

[0029] Step 101: Determine the return point of the UAV based on at least one of the preset quantity states of the target control device, wherein the target control device includes at least one of the first control device and the second control device of the UAV.

[0030] In this embodiment, the state of the target control device includes, but is not limited to: the moving distance of the target control device, the duration of the target control device maintaining a stable position, the communication connection status between the target control device and the drone, whether the target control device receives an operation from the user to update the drone's return point, etc.

[0031] In some embodiments, the return-to-home point of the drone can be determined based on one of a preset number of states of the target control device. For example, the state of the target control device can be specifically defined as the movement distance of the target control device. Multiple different distance thresholds can be set for the movement distance of the target control device, and different distance thresholds correspond to different methods for determining the drone's return-to-home point. For example, with a distance threshold L1, when the movement distance of the target control device is determined to be greater than L1, the drone's return-to-home point can be directly updated to the current position of the target control device. As another example, the state of the target control device can be specifically defined as whether the target control device has received an operation from the user to update the drone's return-to-home point. For example, if the target control device receives an operation from the user to update the drone's return-to-home point, and this operation instructs the drone's return-to-home point to be updated to the current position of the target control device, then the drone's return-to-home point can be directly updated to the current position of the target control device.

[0032] In some embodiments, the return-to-home point of the UAV can be determined based on multiple preset states of the target control device. For example, the states of the target control device may specifically include the distance traveled by the target control device, the duration of time the target control device maintains a stable position, the communication connection status between the target control device and the UAV, and whether the target control device has received an update operation from the user regarding the UAV's return-to-home point. In this example, there can be multiple ways to determine the UAV's return-to-home point; please refer to the descriptions and examples below for details.

[0033] As can be seen, this embodiment of the application does not require the user to input new return-to-home points in real time on the first or second control device. Instead, it can determine the UAV's return-to-home point promptly based on at least one of the preset states of the target control device. This reduces the frequency of users manually inputting new return-to-home points and improves operational convenience. Furthermore, by considering the state of the target control device, the UAV's return-to-home point can be determined more accurately, thereby helping to reduce the risk of UAVs returning to home.

[0034] In some embodiments, the process of determining the return point of the UAV based on at least one of the preset number states of the target control device may include: updating the return point of the UAV to the current position of the target control device when the movement distance of the target control device is detected to be greater than a first preset distance.

[0035] As an example, when it is necessary to determine the distance the target control device has moved from its initial position to its current position, it can be determined by judging the relative distance between the initial position and the current position. For example, the distance between the line connecting the initial position and the current position can be calculated to determine the distance the target control device has moved.

[0036] The first set distance can be a pre-set distance based on actual needs. For example, the first set distance can be any distance among 20m, 40m, 60m, 80m, and 100m. The first set distance can also be a dynamically adjusted distance based on actual needs. For example, the first set distance can be dynamically adjusted based on the current flight scenario, or based on the current pilot's identity, and so on.

[0037] In some embodiments, the system may have a default first set distance, so that the user does not need to configure the first set distance separately, and can use the default first set distance to implement the return point update method of this application.

[0038] As can be seen, this embodiment of the application only updates the drone's return-to-home point to the target control device's current position when the detected movement distance of the target control device exceeds a first preset distance. This reduces the frequency of manual input of the return-to-home point by the user, improving operational convenience compared to related technologies. Furthermore, when the detected movement distance of the target control device exceeds the first preset distance, it can be considered that there is an actual need to update the return-to-home point; in this case, updating the return-to-home point helps reduce the risk of the drone returning to its home position.

[0039] In some embodiments, the process of updating the return point of the UAV to the current position of the target control device when the detected movement distance of the target control device is greater than a first preset distance may include:

[0040] If the detected movement distance of the target control device exceeds a first preset distance, a first prompt message is displayed, wherein the first prompt message is used to prompt the update of the drone's return point;

[0041] In response to the confirmation trigger operation for the first prompt message, a return point update command is generated;

[0042] Based on the return-to-home update command, the return-to-home point of the UAV is updated to the current location of the target control device.

[0043] In this embodiment of the application, the first prompt information can be presented through visual prompts, auditory prompts, tactile prompts or other means. For example, the first prompt information can be a virtual control, which can prompt the user to update the drone's return point. The user can interact with the virtual control to provide feedback on whether to update the drone's return point.

[0044] It is worth noting that the controls in this application can take the form of icons, interfaces, display areas, input boxes, and buttons, etc., which will not be elaborated on further.

[0045] For example, when the first control device is a device such as flight goggles, if the first control device detects that the movement distance of the target control device is greater than a first preset distance, a first prompt message can be displayed on the first control device. For example, when the second control device is a motion-sensing control device with a display screen, if the second control device detects that the movement distance of the target control device is greater than a first preset distance, a first prompt message can be displayed on the display screen of the second control device.

[0046] In the first example, the target control device is a first control device, which is equipped with a positioning system. The first control device detects its own movement distance according to the parameters of the positioning system. If the detected movement distance is greater than a first set distance, a first prompt message can be displayed.

[0047] In the second example, the target control device is a second control device equipped with a positioning system, and the first control device and the second control device form a communication connection. The second control device can detect its own movement distance based on the parameters of the positioning system and send the detected movement distance to the first control device. Thus, if the first control device determines that the movement distance of the second control device is greater than a first preset distance, it can display a first prompt message.

[0048] In the third example, the target control device is a first control device equipped with a positioning system. The first control device establishes a communication connection with a second control device, which is equipped with a display screen. The first control device can detect its own movement distance based on the parameters of the positioning system and send the detected movement distance to the second control device. Thus, if the second control device determines that the movement distance of the first control device is greater than a first preset distance, it can display a first prompt message.

[0049] In the fourth example, the target control device is a second control device, which is equipped with a positioning system. The second control device detects its own movement distance according to the parameters of the positioning system. If the detected movement distance is greater than the first set distance, the second control device can display the first prompt information.

[0050] In some embodiments, if the movement distance of the target control device is detected to be greater than a first set distance, a first prompt message is displayed; in response to the rejection of the trigger operation for the first prompt message, it is confirmed that the return point will not be updated.

[0051] Since the first prompt message is used to suggest updating the drone's return-to-home point, the "refuse to trigger" operation in response to the first prompt message refers to indicating that the update of the drone's return-to-home point should be refused. For example, the first prompt message can be presented in the form of a prompt control with "yes" and "no" interactive options. The user can refuse to update the drone's return-to-home point by triggering the "no" interactive option.

[0052] It is worth noting that the triggering operation in this application can be a specific touch operation, such as a single click, long press, double click, or swipe, or it can be triggered by voice or other means; optionally, it can also be a combination of a series of operations. This application does not limit this, and it will not be elaborated further below.

[0053] It can be seen that upon receiving a rejection trigger operation in response to the first prompt message, it can be assumed that there is no actual need to update the return point, thus determining that there is no need to update the return point. This can reduce the frequency of users entering return point information to a certain extent and improve the convenience of operation.

[0054] In some embodiments, if the detected movement distance of the target control device is less than or equal to a first preset distance, it can be determined that no return point update is required.

[0055] Since the first prompt message is used to indicate that the drone's return-to-home point needs to be updated, the confirmation trigger operation for the first prompt message refers to the operation of confirming the update of the drone's return-to-home point. For example, the first prompt message can be presented in the form of a prompt control with "Yes" and "No" interactive options. The user can confirm the update of the drone's return-to-home point by triggering the "Yes" interactive option.

[0056] By confirming the first prompt message, it can be confirmed that the return-to-home point of the UAV needs to be updated. Therefore, after receiving the confirmation prompt message, the first control device or the second control device can further generate a return-to-home point update instruction, which refers to the relevant instruction used to update the return-to-home point.

[0057] For example, in response to a confirmation trigger operation for the first prompt information, the current position of the target control device can be obtained; based on the current position of the target device, a return point update command can be generated, wherein the return point update command carries position indication information, which indicates the current position of the target device.

[0058] In this embodiment of the application, the first control device or the second control device can send a return-to-home point update command to the UAV to inform the UAV that it needs to use the updated return-to-home point when returning, thereby updating the UAV's return-to-home point to the current position of the target control device.

[0059] It is worth noting that this application does not limit the way the first control device or the second control device sends the return-to-home point update command to the drone. For example, the first control device or the second control device can directly send the return-to-home point update command to the drone; or, the first control device or the second control device can send the return-to-home point update command to the relay device so that the relay device can send the return-to-home point update command to the drone.

[0060] In the first example, the target control device is a first control device, which is equipped with a positioning system. The first control device detects its own movement distance according to the parameters of the positioning system. If the detected movement distance is greater than a first set distance, it can display a first prompt message. In response to the confirmation trigger operation for the first prompt message, a return-to-home point update command is generated. Based on the return-to-home point update command, the return-to-home point of the UAV is updated to the current position of the first control device.

[0061] In the second example, the target control device is a second control device equipped with a positioning system, and the first control device and the second control device form a communication connection. The second control device can detect its own movement distance based on the parameters of the positioning system and send the detected movement distance to the first control device. Thus, if the first control device determines that the movement distance of the second control device is greater than a first preset distance, it displays a first prompt message; in response to the confirmation trigger operation of the first prompt message, it generates a return-to-home point update command; based on the return-to-home point update command, it updates the drone's return-to-home point to the current position of the second control device.

[0062] In the third example, the target control device is a first control device equipped with a positioning system. The first control device establishes a communication connection with a second control device, which is equipped with a display screen. The first control device can detect its own movement distance based on the parameters of the positioning system and send this detected distance to the second control device. Thus, if the second control device determines that the first control device's movement distance exceeds a first preset distance, it displays a first prompt message. In response to a confirmation trigger operation for the first prompt message, it generates a return-to-home point update command. Based on the return-to-home point update command, it updates the drone's return-to-home point to the current position of the first control device.

[0063] In the fourth example, the target control device is a second control device, which is equipped with a positioning system. The second control device detects its own movement distance according to the parameters of the positioning system. If the detected movement distance is greater than a first set distance, it can display a first prompt message. In response to the confirmation trigger operation for the first prompt message, a return-to-home point update command is generated. Based on the return-to-home point update command, the return-to-home point of the UAV is updated to the current position of the second control device.

[0064] As can be seen, this embodiment of the application does not require the user to input new return-to-home points in real time on the first or second control device. Instead, the first or second control device can first detect whether the moving distance of the target control device is greater than a first preset distance. Only when the moving distance of the target control device is detected to be greater than the first preset distance will a first prompt message be displayed to prompt the user to input a new return-to-home point. This reduces the frequency of the user manually inputting new return-to-home points and improves operational convenience. Furthermore, when the moving distance of the target control device is detected to be greater than the first preset distance, it can be considered that there is an actual need to update the return-to-home point. At this time, displaying the first prompt message can promptly remind the user to update the return-to-home point, thereby helping to reduce the risk of the drone returning to its home position.

[0065] In some embodiments, before displaying the first prompt message, a first distance configuration control may be displayed on the first control device or the second control device. The first distance configuration control is used to configure the movement distance parameters of the drone. For example, the first distance configuration control may be used to configure a first set distance. In response to a confirmation trigger operation for the first distance configuration control, the first set distance is determined. The confirmation trigger operation for the first distance configuration control is used to determine the first set distance configured by the first distance control. For example, a user may select the desired first set distance through the first distance configuration control and confirm their selection through a confirmation trigger operation for the first distance configuration control. In this way, the first control device or the second control device can determine the first set distance configured by the user in response to the confirmation trigger operation for the first distance configuration control.

[0066] For example, the first control device or the second control device does not display the first distance configuration control by default. The user can trigger a button for configuring the first set distance in the relevant page or entry of the return point setting, thereby displaying the first distance configuration control. After the first distance configuration control is displayed, the first control device or the second control device can receive a confirmation trigger operation for the first distance configuration control, so as to determine the configured first set distance through the confirmation trigger operation for the first distance configuration control.

[0067] In some embodiments, a first control device may receive a first set distance sent by a second control device; the second control device is configured to display a first distance configuration control and determine the first set distance in response to a confirmation trigger operation for the first distance configuration control.

[0068] In some embodiments, a first set distance can be received by a second control device from a first control device; the first control device is configured to display a first distance configuration control and determine the first set distance in response to a confirmation trigger operation for the first distance configuration control.

[0069] It is worth noting that this application does not limit the configuration step of the first set distance to be performed before each display of the first prompt information. For example, this step can be performed only when the user needs to adjust the first set distance. In this way, if the user only needs to set the first set distance once, then this step only needs to be performed once, instead of having to set it every time before the first prompt information is displayed.

[0070] As can be seen, in the embodiments of this application, the configuration of the first set distance can be conveniently achieved by confirming and triggering the first distance configuration control in the first control device or the second control device.

[0071] In some embodiments, the process of displaying a first prompt message when the detected movement distance of the target control device exceeds a first preset distance may include:

[0072] If the detected movement distance of the target control device is greater than the first preset distance, and the target control device maintains a stable position for a first preset time period, the first prompt message is displayed.

[0073] In this embodiment of the application, the first preset duration can be preset according to actual needs. For example, the first preset duration can be 5 seconds or other durations; the first preset duration can also be dynamically adjusted according to actual needs.

[0074] There are several ways to determine whether the target control device maintains a stable position within a first preset time period. For example, if the target control device's position is detected to be within a preset range throughout the first preset time period, it can be determined that the target control device has remained stable during the first preset time period. For instance, this preset range can be set to ±2m from the initial position of the target control device. Alternatively, if the change in the target control device's position is detected to be no greater than a preset distance threshold within the first preset time period, it can be determined that the target control device has remained stable during the first preset time period; and so on.

[0075] For example, when the detected movement distance of the target control device is greater than the first set distance, the position change of the target control device within the first preset time period can be detected. When the position change of the target control device within the first preset time period is less than or equal to 2m, it can be considered that the target control device has maintained a stable position within the first preset time period.

[0076] For example, if the target control device is detected to have moved a distance greater than a first set distance, and the target control device has not maintained a stable position within a first preset time period, the first prompt message may not be displayed.

[0077] It can be seen that when the first or second control device detects that the moving distance of the target control device is greater than the first set distance, it further determines whether the target control device maintains a stable position within the first preset time period. If the target control device maintains a stable position within the first preset time period, it can be reliably determined that the moving distance of the target control device is relatively long, thereby accurately determining that there is a need to update the return point. By displaying the first prompt information, the need to update the return point can be met.

[0078] In some embodiments, when the detected movement distance of the target control device is greater than a second preset distance, and the target control device maintains a stable position for a first preset time period, a second prompt message is displayed, wherein the second preset distance is greater than the first preset distance, the second prompt message is used to prompt the update of the return point of the UAV, and the prompt priority of the second prompt message is higher than the prompt priority of the first prompt message.

[0079] In this embodiment of the application, similarly, the second prompt information can be presented through visual prompts, auditory prompts, tactile prompts, or other means. For example, the second prompt information can be a virtual control, which can prompt the user to update the drone's return point. The user can interact with the virtual control to provide feedback on whether to update the drone's return point. The second set distance is greater than the first set distance. For example, when the first set distance is 40m, the second set distance can be 50m, 70m, or other distances.

[0080] Since the second set distance is greater than the first set distance, when the target control device is detected to have moved a distance greater than the second set distance and the target control device remains in a stable position for a first preset time period, it can be determined that the conditions for displaying the first prompt information are met. In this case, the first prompt information and the second prompt information can be displayed simultaneously, or only the second prompt information can be displayed.

[0081] Here, the second prompt and the first prompt can be presented in different ways. Compared to the first prompt, the second prompt can be presented in a more prominent way, thus giving the second prompt a higher priority than the first prompt. For example, the first prompt can be presented as ordinary text, while the second prompt can be presented as highlighted text. Of course, the second prompt can also be presented in other ways, and the embodiments of this application are not limited to the content described above.

[0082] As can be seen, since the second prompt has a higher priority than the first prompt, both prompts can be displayed simultaneously, with the second prompt being more prominently displayed; alternatively, only the second prompt, which has the higher priority, can be displayed. This allows for more effective reminders regarding the return point update, thus facilitating timely updates.

[0083] In some embodiments, the system may have a default second set distance, so that the user does not need to configure the second set distance himself, and can use the default second set distance to implement the return point update method of this application.

[0084] In some embodiments, before displaying the second prompt message, a second distance configuration control may be displayed on the first or second control device. The second distance configuration control is used to configure the movement distance parameters of the drone. For example, the second distance configuration control may be used to configure a second set distance. In response to a confirmation trigger operation for the second distance configuration control, the second set distance is determined. The confirmation trigger operation for the second distance configuration control is used to determine the second set distance configured by the second distance control. For example, a user may select the desired second set distance through the second distance configuration control and confirm their selection through a confirmation trigger operation for the second distance configuration control. In this way, the first or second control device can determine the second set distance configured by the user in response to the confirmation trigger operation for the second distance configuration control.

[0085] For example, the first control device or the second control device does not display the second distance configuration control by default. The user can trigger the button for configuring the second set distance on the return point setting page to display the second distance configuration control. After the second distance configuration control is displayed, the first control device or the second control device can receive a confirmation trigger operation for the second distance configuration control to determine the configured second set distance through the confirmation trigger operation for the second distance configuration control.

[0086] In some embodiments, a first control device may receive a second set distance sent by a second control device; the second control device is configured to display a second distance configuration control and determine the second set distance in response to a confirmation trigger operation for the second distance configuration control.

[0087] In some embodiments, a second control device may receive a second set distance sent by a first control device; the first control device is configured to display a second distance configuration control and determine the second set distance in response to a confirmation trigger operation for the second distance configuration control.

[0088] It is worth noting that this application does not limit the configuration step of the aforementioned second setting distance to be performed before each display of the second prompt message. For example, this step can be performed only when the user needs to adjust the second setting distance. In this way, if the user only needs to set the second setting distance once, then this step only needs to be performed once, instead of needing to be set twice each time before the second prompt message is displayed.

[0089] As can be seen, the embodiments of this application can conveniently implement the configuration of the second set distance by confirming the trigger operation of the second distance configuration control in the first control device or the second control device.

[0090] In some embodiments, if the detected movement distance of the target control device is greater than a third preset distance and the target control device maintains a stable position for a first preset time period, a return-to-home point update command can be generated; based on the return-to-home point update command, the return-to-home point of the UAV can be updated to the current position of the target control device; the third preset distance is greater than the first preset distance.

[0091] In this embodiment, the third preset distance is greater than the first preset distance. For example, when the first preset distance is 40m, the second preset distance can be 80m, 100m, or other distances. Optionally, the third preset distance can also be set to be greater than the second preset distance.

[0092] As can be seen, since the third set distance is greater than the first set distance, if the target control device moves a distance greater than the third set distance and the target control device remains stable within the first preset time, it can be considered that the target control device has moved a long distance. In this case, there is no need to display a prompt message, but a return point update command can be generated directly, which is conducive to the safe return of the UAV.

[0093] In some embodiments, the communication status between the first control device or the second control device and the UAV can also be detected, and the movement distance of the target control device can be detected immediately when the communication status between the first control device or the second control device and the UAV recovers from the communication disconnection state to the communication normal state.

[0094] If the detected movement distance of the target control device is greater than the first preset distance, and the target control device maintains a stable position within a second preset time period, the first prompt message is displayed; wherein the second preset time period is less than the first preset time period.

[0095] In this embodiment of the application, the second preset duration is a shorter duration than the first preset duration. For example, when the first preset duration is 5s, the second preset duration is 2s.

[0096] It can be seen that when the communication status between the control device and the drone is restored from a disconnected state to a normal communication state, by detecting the movement distance of the target control device and judging the position change of the target control device within a short period of time, it is possible to accurately determine whether to generate a prompt message to update the return point within a short period of time. This is beneficial for timely prompting the user to update the return point, and thus helps to achieve the safe return of the drone.

[0097] This application provides another method for obtaining the return point, which can be applied to unmanned aerial vehicles (UAVs).

[0098] Figure 2 is a flowchart of another method for obtaining a return point according to an embodiment of this application. As shown in Figure 2, the process includes:

[0099] Step 201: Receive return point update instruction; the return point update instruction is determined based on at least one of the preset quantity states of the target control device, which includes at least one of the first control device and the second control device of the UAV.

[0100] The method for generating the return-to-home point update command has been explained in the aforementioned description. The target control device can send the return-to-home point update command to the UAV.

[0101] Step 202: Based on the return point update command, update the current return point to the current location of the target control device.

[0102] As can be seen, this embodiment of the application does not require the user to input new return-to-home points in real time on the first or second control device. Instead, it can determine the UAV's return-to-home point promptly based on at least one of the preset states of the target control device. This reduces the frequency of users manually inputting new return-to-home points and improves operational convenience. Furthermore, by considering the state of the target control device, the UAV's return-to-home point can be determined more accurately, thereby helping to reduce the risk of UAVs returning to home.

[0103] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0104] Based on the method for obtaining a return point for a target control device proposed in the foregoing embodiments, this application also proposes a control device for a drone. The control device for the drone is a first control device or a second control device for the drone. The first control device or the second control device includes a processor and a memory for storing a computer program that can run on the processor. The processor is used to run the computer program to execute any of the above-mentioned methods for obtaining a return point for a target control device.

[0105] Based on the method for obtaining a return point for a drone proposed in the foregoing embodiments, this application also proposes a drone, which includes a processor and a memory for storing a computer program that can run on the processor; wherein the processor is used to run the computer program to execute any of the above-described methods for obtaining a return point for a drone.

[0106] This application embodiment also provides a first unmanned aerial vehicle (UAV) control system. Referring to FIG3, the first UAV control system 30 includes the UAV 301 described above, at least one first control device 302 described above, and at least one second control device 303 described above. The UAV 301 forms a communication connection with at least one of the first control device 302 and the second control device 303, and the first control device 302 forms a communication connection with the second control device 303.

[0107] This application embodiment also provides a second unmanned aerial vehicle (UAV) control system. Referring to FIG4, the second UAV control system 40 includes the UAV 301 described above and at least one second control device 303 described above, and the UAV 301 and the second control device 303 form a communication connection.

[0108] It should be noted that the description of the above device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0109] It should be noted that, in the embodiments of this application, if the above methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a terminal, server, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0110] Correspondingly, this application embodiment further provides a computer program product, which includes computer-executable instructions for implementing any of the UAV control methods provided in this application embodiment.

[0111] Accordingly, this application embodiment further provides a computer storage medium storing computer-executable instructions, which are used to implement any of the UAV control methods provided in the above embodiments.

[0112] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0113] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0114] The methods disclosed in the various method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict.

[0115] The features disclosed in the various product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0116] The features disclosed in the various method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0117] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A method for obtaining a return point, the method comprising: The return point of the UAV is determined based on at least one of the preset quantity states of the target control device, wherein the target control device includes at least one of the first control device and the second control device of the UAV.

2. The method according to claim 1, wherein, Determining the return point of the UAV based on at least one of the preset quantity states of the target control device includes: If the detected movement distance of the target control device is greater than a first preset distance, the return point of the UAV is updated to the current position of the target control device.

3. The method according to claim 2, wherein, The step of updating the return point of the UAV to the current position of the target control device when the detected movement distance of the target control device is greater than a first preset distance includes: If the detected movement distance of the target control device is greater than a first set distance, a first prompt message is displayed, wherein the first prompt message is used to prompt the update of the return point of the UAV; In response to the confirmation trigger operation for the first prompt information, a return point update command is generated; Based on the return-to-home point update command, the return-to-home point of the UAV is updated to the current location of the target control device.

4. The method according to claim 3, wherein, Before displaying the first prompt message, the method further includes: Display a first distance configuration control, which is used to configure the movement distance parameters of the UAV; in response to a confirmation trigger operation on the first distance configuration control, determine the first set distance; Alternatively, the first control device receives the first set distance sent by the second control device; the second control device is configured to display a first distance configuration control and, in response to a confirmation trigger operation for the first distance configuration control, determine the first set distance. Alternatively, the first set distance can be received by the second control device from the first control device; the first control device is configured to display a first distance configuration control and determine the first set distance in response to a confirmation trigger operation for the first distance configuration control.

5. The method according to claim 3, wherein, When the detected movement distance of the target control device exceeds a first preset distance, the first prompt message is displayed, including: If the detected movement distance of the target control device is greater than the first set distance, and the target control device maintains a stable position for a first preset time period, the first prompt message is displayed.

6. The method according to claim 5, wherein, The method further includes: If the target control device moves a distance greater than a second preset distance and the target control device remains in a stable position for a first preset time period, a second prompt message is displayed. The second preset distance is greater than the first preset distance. The second prompt message is used to prompt the update of the UAV's return point. Furthermore, the prompt priority of the second prompt message is higher than that of the first prompt message.

7. The method according to claim 5, wherein, The method further includes: If the detected movement distance of the target control device is greater than a third preset distance, and the target control device maintains a stable position for a first preset time period, a return-to-home point update command is generated; based on the return-to-home point update command, the return-to-home point of the UAV is updated to the current position of the target control device; the third preset distance is greater than the first preset distance.

8. The method according to claim 5, wherein, The method further includes: detecting the movement distance of the target control device when the communication status between the first control device or the second control device and the UAV recovers from a communication disconnection state to a normal communication state; The step of displaying a first prompt message when the detected movement distance of the target control device is greater than a first preset distance includes: displaying the first prompt message when the detected movement distance of the target control device is greater than the first preset distance and the target control device maintains a stable position for a second preset time period; wherein the second preset time period is less than the first preset time period.

9. A method for obtaining a return-to-home point, applied to an unmanned aerial vehicle (UAV), the method comprising: Receive return point update command; The return point update command is determined based on at least one of the preset quantity states of the target control device, which includes at least one of the first control device and the second control device of the UAV. Based on the return point update command, the return point is updated to the current location of the target control device.

10. A control device for an unmanned aerial vehicle (UAV), the control device comprising at least one of a first control device and a second control device for the UAV, the control device comprising a processor and a memory for storing a computer program capable of running on the processor; wherein, The processor is used to run the computer program to perform the method according to any one of claims 1 to 8.

11. An unmanned aerial vehicle (UAV) comprising a processor and a memory for storing a computer program capable of running on the processor; wherein, The processor is used to run the computer program to perform the method of claim 9.

12. A drone control system, comprising the drone of claim 11, at least one first control device of claim 10, and at least one second control device of claim 10; wherein the drone is communicatively connected to at least one of the first control device and the second control device, and the first control device is communicatively connected to the second control device.

13. A drone control system, comprising the drone of claim 11 and at least one second control device of claim 10; wherein the drone and the second control device are in a communication connection.

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