Unmanned aerial vehicle, aircraft, unmanned aerial vehicle return-to-home control methods and apparatuses, aircraft return-to-home control method and apparatus, control device, and storage medium

Abstract

An unmanned aerial vehicle return-to-home control method, comprising: obtaining a gesture of a user extending a palm (S110); in response to the gesture of extending the palm, controlling an unmanned aerial vehicle to return to the extended palm of the user, wherein controlling the unmanned aerial vehicle to return to the extended palm of the user comprises: during the return-to-home process of the unmanned aerial vehicle, in response to the position of the palm or the position of the user moving, controlling the unmanned aerial vehicle to return to the moving palm; or during the return-to-home process of the unmanned aerial vehicle, in response to the position of the palm or the position of the user moving, controlling the unmanned aerial vehicle to follow the moving position of the palm or follow the moving position of the user (S120). The present application improves the efficiency of return-to-home control for unmanned aerial vehicles and the flexibility of return-to-home control of unmanned aerial vehicles. Further provided are control apparatuses, an unmanned aerial vehicle, an aircraft, a control device, and a storage medium.

Description

Unmanned aerial vehicles, aircraft and their return-to-home control methods, devices, control equipment and storage media Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a UAV, an aircraft, and a method, device, control equipment, and storage medium for returning to home. Background Technology

[0002] Some miniaturized, portable drones can land on landing platforms such as a user's palm, improving the ease of drone landing and giving users a greater sense of participation and control, thus enhancing the user experience. Related technologies allow drones to return to the user's palm, but this method still has some room for improvement. Summary of the Invention

[0003] Based on this, this application provides a drone, an aircraft, and a return-to-home control method, device, control equipment, and storage medium, which can improve the control efficiency and flexibility of the return-to-home control of drones and other aircraft.

[0004] In a first aspect, embodiments of this application provide a method for controlling the return-to-home of a drone, comprising:

[0005] Obtain the user's outstretched hand gesture;

[0006] In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0007] The step of controlling the drone to return to the user's outstretched palm includes:

[0008] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0009] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0010] In this embodiment, the user's outstretched hand gesture serves as the command to trigger the drone's return-to-home mechanism, while the outstretched hand acts as the platform for the drone's return. This makes the operation more convenient and improves the control efficiency of the drone's return-to-home. Supporting the drone's return-to-home mechanism on a moving hand expands the applicable scenarios for drone return-to-home and enhances the drone's control flexibility.

[0011] Secondly, embodiments of this application provide a method for controlling the return-to-home of a drone, comprising:

[0012] Received return-to-base instruction;

[0013] In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm;

[0014] The control of the drone to return to the user's outstretched palm includes:

[0015] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0016] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0017] This application embodiment supports drones returning to their home position on a mobile palm, expanding the applicable scenarios for palm-based drone return and improving the control flexibility of drones.

[0018] Thirdly, embodiments of this application provide a method for controlling the return of an aircraft, including:

[0019] Obtain the operation to deploy the landing platform;

[0020] In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform;

[0021] The process of controlling the aircraft to return to the deployed landing platform includes:

[0022] During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform;

[0023] Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

[0024] In this embodiment, the entity that triggers the aircraft's return to home and the entity that determines the aircraft's landing location are the same landing platform. This makes the return-to-home control process and the process of identifying the landing platform more convenient and improves the efficiency of the aircraft's return-to-home control. It also supports the aircraft returning to a moving landing platform, expanding the applicable scenarios for the aircraft's return-to-home and improving the control flexibility of the aircraft.

[0025] Fourthly, embodiments of this application provide a control device for a drone, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0026] Obtain the user's outstretched hand gesture;

[0027] In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0028] The step of controlling the drone to return to the user's outstretched palm includes:

[0029] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0030] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0031] Fifthly, embodiments of this application provide a drone, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0032] The processor is used for:

[0033] Obtain the user's outstretched hand gesture;

[0034] In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0035] The step of controlling the drone to return to the user's outstretched palm includes:

[0036] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0037] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0038] Sixthly, embodiments of this application provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0039] The processor is used for:

[0040] Obtain the user's outstretched hand gesture;

[0041] In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0042] The step of controlling the drone to return to the user's outstretched palm includes:

[0043] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0044] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0045] In a seventh aspect, embodiments of this application provide a control device for an unmanned aerial vehicle (UAV), comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0046] Received return-to-base instruction;

[0047] In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm;

[0048] The control of the drone to return to the user's outstretched palm includes:

[0049] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0050] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0051] Eighthly, embodiments of this application provide a drone, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0052] The processor is used for:

[0053] Received return-to-base instruction;

[0054] In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm;

[0055] The control of the drone to return to the user's outstretched palm includes:

[0056] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0057] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0058] Ninthly, embodiments of this application provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program;

[0059] The processor is used for:

[0060] Received return-to-base instruction;

[0061] In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm;

[0062] The control of the drone to return to the user's outstretched palm includes:

[0063] During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm.

[0064] Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

[0065] In a tenth aspect, embodiments of this application provide a control device for an aircraft, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0066] Obtain the operation to deploy the landing platform;

[0067] In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform;

[0068] The process of controlling the aircraft to return to the deployed landing platform includes:

[0069] During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform;

[0070] Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

[0071] Eleventhly, embodiments of this application provide an aircraft, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program;

[0072] The processor is used for:

[0073] Obtain the operation to deploy the landing platform;

[0074] In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform;

[0075] The process of controlling the aircraft to return to the deployed landing platform includes:

[0076] During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform;

[0077] Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

[0078] In a twelfth aspect, embodiments of this application provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0079] The processor is used for:

[0080] Obtain the operation to deploy the landing platform;

[0081] In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform;

[0082] The process of controlling the aircraft to return to the deployed landing platform includes:

[0083] During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform;

[0084] Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

[0085] In a thirteenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the method described in any one of the first to third aspects.

[0086] The embodiments of this application improve the control efficiency and flexibility of drone and other aircraft return-to-home control.

[0087] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0088] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0089] Figure 1 is a flowchart illustrating a return-to-home control method for an unmanned aerial vehicle (UAV) according to an embodiment of this application.

[0090] Figure 2 is a schematic diagram of the control equipment and the drone;

[0091] Figure 3 is a flowchart illustrating a return-to-home control method for an unmanned aerial vehicle (UAV) according to another embodiment of this application.

[0092] Figure 4 is a flowchart illustrating a return-to-home control method for an unmanned aerial vehicle (UAV) according to another embodiment of this application.

[0093] Figure 5 is a schematic diagram of a control device for an unmanned aerial vehicle provided in an embodiment of this application;

[0094] Figure 6 is a schematic diagram of a drone provided in an embodiment of this application;

[0095] Figure 7 is a schematic diagram of an aircraft provided in an embodiment of this application;

[0096] Figure 8 is a schematic diagram of a control device provided in an embodiment of this application;

[0097] Figure 9 is a schematic diagram of an unmanned aerial vehicle system provided in an embodiment of this application;

[0098] Figure 10 is a schematic diagram of an aircraft system provided in an embodiment of this application. Detailed Implementation

[0099] 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.

[0100] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0101] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0102] Currently, some small drones can be controlled by the user to perform handheld landings, allowing the user to easily retrieve the drones and safely retrieve them in scenarios where ground landing is not suitable.

[0103] Please refer to Figure 1, which is a flowchart illustrating a return-to-home control method for a drone according to an embodiment of this application. The return-to-home control method for a drone can be applied to the drone's control device for controlling processes such as the drone's return to home.

[0104] Figure 2 shows a schematic diagram of an unmanned aerial vehicle (UAV) system provided in an embodiment of this application. The UAV system may include a UAV and a control device, with the UAV and control device communicatively connected. The control device can be used to acquire data from the UAV and display it, and can also be used to control the UAV.

[0105] The control device for the drone can be mounted on the drone, mounted on a control device, or mounted independently of the drone and the control device. In some other embodiments, the control device mounted on the drone and the control device mounted on the control device jointly execute the steps of the return-to-home control method of the embodiments of this application.

[0106] Drones can include multi-rotor drones, helicopters, etc.

[0107] In some embodiments, the drone includes a fuselage, a power system, and an imaging device. The fuselage may include a nose. In some embodiments, the drone also includes an arm connected to the fuselage, which is used to mount the power system; in other embodiments, the power system may be directly mounted on the fuselage. The power system provides flight propulsion for the drone and may include a motor and a propeller mounted on and driven by the motor. The power system can drive the drone's fuselage to rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage's nose changes; that is, the yaw rotation of the fuselage can be controlled by controlling the power system. It should be understood that the motor can be a DC motor or an AC motor. Additionally, the motor can be a brushless motor or a brushed motor. The imaging device is directly mounted on or mounted on the fuselage via a gimbal for capturing images, which may be pictures and / or videos.

[0108] The control device may include at least one of a remote control, smartphone, tablet, wearable device, and server. The wearable device may include a head-mounted display, which may be a virtual reality (VR) display or a first-person view (FPV) display. In some embodiments, the control device may include a terminal device for controlling the drone. The control device can establish a communication connection with the drone via wired or wireless communication methods.

[0109] The control device may include an input device that can detect control operations performed by the user. The control device can then generate control commands for the drone based on these detected user operations. For example, the control device can generate a yaw control command based on the user's detected yaw control operation, and then send the yaw control command to the drone.

[0110] In some embodiments, the control device includes a remote controller, which is equipped with an input device and a communication device. The communication device may be a wireless communication device, which can use private or public communication methods. The wireless communication device may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device is used to generate corresponding control commands in response to user input, thereby enabling the remote controller to control the drone to adjust its flight attitude and / or flight speed through the control commands. The input device includes at least one of buttons, a joystick, a dial, and a touchscreen display. Users can generate control commands by using buttons, joysticks, or dials, or by inputting onto the touchscreen display; this is not limited to these methods.

[0111] In some embodiments, the control device can receive images transmitted by the drone and display them on a display device. The display device can be integrated into the control device or set separately from the control device and communicate with the control device. The communication connection can be a wired communication connection or a wireless communication connection. For example, the wireless communication connection can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection.

[0112] Currently, the technology for returning portable drones to a user's palm requires the user to first control the drone into palm-based return-to-home mode, then extend their palm for the drone to land, a rather cumbersome process. Furthermore, the current technology for controlling drone return-to-home to a user's palm does not consider palm-based return-to-home in mobile scenarios, resulting in low flexibility and inconvenience.

[0113] Based on this, this application provides a return-to-home control method for a drone. As shown in FIG1, the return-to-home control method for a drone in this application includes steps S110 to S120, and the return-to-home control method for a drone is applied to the control device of the drone.

[0114] Step S110: Obtain the user's extended palm gesture.

[0115] Step S120: In response to the gesture of extending a palm, control the drone to return to the user's extended palm; wherein, controlling the drone to return to the user's extended palm includes: during the drone's return process, in response to the movement of the palm's position or the user's position, controlling the drone to return to the moving palm; or, during the drone's return process, in response to the movement of the palm's position or the user's position, controlling the drone to follow the movement of the palm's position or the user's position.

[0116] In this embodiment, the user's outstretched hand gesture serves as the command to trigger the drone's return-to-home mechanism. Simultaneously, the outstretched hand acts as the platform for the drone's return, meaning that the entity triggering the drone's return and the entity determining the drone's landing location are the same user's outstretched hand. The user's outstretched hand gesture, as a single input, controls the drone's return to the user's hand, making the operation more convenient and improving the control efficiency of the drone's return.

[0117] Furthermore, the implementation methods of controlling the drone to return to the user's palm in related technologies do not explicitly consider palm-based return in mobile scenarios. However, this application takes into account some special use cases and supports the drone to return to a mobile palm, expanding the applicable scenarios for drone return. In some mobile return scenarios (such as when the user is in a moving car or boat, or when the user is walking), the drone can be conveniently controlled to return to the user's side, improving the control flexibility of the drone.

[0118] In some implementations, during the drone's return-to-home process, in response to changes in the position of the hand or the user, after controlling the drone to follow the movement of the hand or the user, the process further includes: controlling the drone to return to the stationary hand when the hand or the user is stationary. That is, while the aircraft is moving to follow the position of the moving hand or the user, it continues to detect whether the hand or the user has switched from a moving state to a stationary state, so that it can control the drone to return to the stationary hand when it detects that the hand or the user is stationary.

[0119] It should be noted that "hand stationary" includes both absolute stillness relative to the ground and a relatively small speed of movement relative to the ground. For example, a speed of movement less than or equal to 0.5 meters per second can also be considered as the hand being stationary. For instance, when a drone follows the movement of a hand, the drone's direction of movement is the same as the direction of movement of the hand, and the drone's speed is the same as the speed of movement of the hand; and / or the distance between the drone and the hand remains approximately constant when the drone follows the movement of the hand.

[0120] Among them, the method of controlling the drone to return to the moving hand in response to the movement of the palm or the user's position is more efficient; the method of controlling the drone to return to the stationary hand when the hand is stationary is safer.

[0121] In other implementations, in response to movement of the hand or user's position, the drone can be controlled to return to the moving hand, or to follow the hand's or user's position, depending on the scenario. For example, the return-to-home method can be determined based on the user's type and / or movement speed. For instance, if the user is a minor or elderly person with limited reaction time, and / or the user is moving at a high speed, the drone can be controlled to follow the hand's or user's position; if the user is a more responsive person, and / or the user is moving at a lower speed, the drone can be controlled to return to the moving hand while the user is moving.

[0122] In some embodiments, the movement of the palm position includes: the user being in a walking state, and / or the user being on a moving platform. Walking can include slow walking or fast walking (or running), and the moving platform can include powered or unpowered platforms such as vehicles, ships, and skateboards. In other embodiments, the movement of the palm position may also include the user rotating their arm to the left or right or rotating their entire body while in an outstretched position.

[0123] In some implementations, obtaining the user's outstretched hand gesture includes: the drone obtaining the user's outstretched hand gesture based on detection data from its own sensors. For example, when the drone is close to the user, it can obtain an image including the user based on its own sensor detection data, detect whether the user's outstretched hand gesture is present in the image, and control the drone to return to the user's outstretched hand in response to the gesture, resulting in higher return-to-home control efficiency. Optionally, when the drone is far from the user, it may not need to detect whether the user's outstretched hand gesture is present in the image, thus saving the drone's workload.

[0124] In other embodiments, obtaining the user's outstretched hand gesture includes: the drone obtaining the user's outstretched hand gesture from a control device. For example, the drone's control device determines whether the user has extended their hand based on detection data from its own sensors. Upon determining that the user has extended their hand, the control device sends relevant information about the user's outstretched hand gesture to the drone. In response to this information, the drone controls itself to return to the user's outstretched hand. Because the control device is closer to the user than the drone itself during flight, it can obtain the user's gesture more conveniently, accurately, and promptly; allowing the user to trigger the drone to return to their hand from a greater distance using an outstretched hand gesture.

[0125] In some implementations, controlling the drone to return to the moving hand in response to movement of the hand's position or the user's position includes: acquiring the position of the moving hand and adjusting the drone's position based on the position of the moving hand to control the drone to return to the moving hand.

[0126] During the drone's return-to-home process, the drone can obtain the position of the user's hand based on its own sensor data, or the position of the hand detected by the control device; it can then adjust its position according to the hand's location to control the drone to return to the moving hand. By adjusting the drone's current position based on the real-time position of the hand, precise control of the drone to return to the moving hand can be achieved.

[0127] For example, adjusting the drone's position based on the position of a moving hand includes adjusting the drone's horizontal position based on the position of the moving hand. This allows the drone to move at least horizontally to the user's vicinity, for example, to move horizontally above the user's hand, and then autonomously fly to the moving hand, or descend onto the moving hand under the influence of gravity. By adjusting the drone's horizontal position based on the real-time position of the hand, precise control of the drone to return to the moving hand can be achieved.

[0128] In some implementations, obtaining a user's outstretched hand gesture includes: in response to the user being a specific user, obtaining the specific user's outstretched hand gesture; and in response to the specific user's outstretched hand gesture, controlling the drone to return to the specific user's moving hand. The entity triggering the return-to-home command and the platform to land can be accurately identified to accurately control the drone to return to the target user's hand.

[0129] For example, the method further includes: in response to the user being a non-specific user, not acquiring the gesture of the non-specific user's outstretched hand; or, in response to the user being a non-specific user, controlling the drone not to return to home. This can prevent the drone from returning to the hand of a non-target user, improving the accuracy of drone return-to-home control.

[0130] For example, a specific user can be determined autonomously by the drone based on the user's characteristics, or the user's information can be obtained from the control device to determine the specific user.

[0131] For example, a specific user is determined based on the user's identity. For instance, the user may be the user controlling the device, the owner of the drone, or the user whom the drone is currently targeting. Of course, this is not limited to these; for example, the user may be an adult.

[0132] For example, a particular user has specified visual characteristics, such as a user having specified facial and / or body features, such as a particular user wearing specific clothing or wearing specific wearable devices.

[0133] For example, the specific user is the target user of the drone's current task. For instance, if the drone detects the target user's outstretched hand gesture while performing the current task, it can immediately end the current task, or end the current task after a specific duration, or end the current task after a specific subtask of the current task is completed; then, in response to the outstretched hand gesture, the drone can be controlled to return to the user's outstretched hand.

[0134] For example, the current task includes a shooting task, with the target user being the subject of the drone's shooting. Optionally, the shooting task includes at least one of the following: follow shooting, orbiting shooting, shooting upwards, shooting outwards, shooting from above, and spiral shooting. When performing a shooting task on a subject, the acquired images typically include the subject, making it easy to determine whether the subject has extended their hand; it also provides high convenience for the drone's return-to-home control.

[0135] For example, a specific user can be designated based on instructions obtained from the drone's control device. For instance, the control device could display an image captured by the drone, and could send instructions to the drone based on a user specified in the image; or the control device could automatically identify a specific user in the image and send instructions to the drone based on that specific user.

[0136] For example, a specific user is a designated user whose user information is pre-stored. This user information may include the user's identity information and / or visual characteristics. For instance, a drone and / or control device can compare the identity information and / or visual characteristics of individuals within captured images with pre-stored user information to improve the accuracy of the drone in identifying a specific user.

[0137] For example, a specific user is a user carrying a specific positioning device. For instance, a specific user may be holding a specific positioning device, and the drone and / or control equipment can acquire the location of the positioning device, obtain a corresponding image based on the location, and identify the specific user in that image based on the location of the positioning device. This can narrow down the range of the specific user, thereby improving the efficiency and accuracy of the drone in identifying the specific user.

[0138] In some implementations, the extended palm gesture includes the user's arm being extended at an angle within a first preset angle range. This can improve the accuracy of the drone in recognizing the user's extended palm gesture and prevent the drone from mistakenly identifying other user gestures as an extended palm gesture, causing the drone to return to base incorrectly.

[0139] For example, the angle at which the user's arm is extended is within a first preset angle range, including: the angle between the user's arm and the user's body is within the first preset angle range. For instance, the angle between the user's arm and the user's body is greater than or equal to 30 degrees.

[0140] For example, the angle of the user's extended arm is within a first preset angle range, including when the angle between the user's arm and the horizontal plane is within a second preset angle range. For instance, the angle between the user's arm and the horizontal plane is less than or equal to 30 degrees. Triggering the drone's return-to-home mechanism based on whether the angle between the arm and the horizontal plane is within the first preset angle range allows the drone to be controlled to return to the user's hand even when the user's body is obstructed, such as when the user is sitting in a car, thus expanding the applicable scenarios for controlling the drone's return-to-home mechanism.

[0141] In some implementations, the extended palm gesture includes: the angle at which the user's palm is extended is within a first preset angle range. This can improve the accuracy of the drone in recognizing the user's extended palm gesture and prevent the drone from mistakenly identifying other user gestures as an extended palm gesture, causing the drone to return to base incorrectly.

[0142] For example, the angle at which the user's palm extends is within a first preset angle range includes: the angle between the user's palm and the user's body is within the first preset angle range. For instance, the angle between the user's palm and the user's body is greater than or equal to 30 degrees.

[0143] For example, the angle at which the user's palm extends is within a first preset angle range, including when the angle between the user's palm and the horizontal plane is within a second preset angle range. For instance, the angle between the user's palm and the horizontal plane is less than or equal to 30 degrees. Triggering the drone's return-to-home mechanism based on whether the angle between the palm and the horizontal plane is within the first preset angle range allows the drone to be controlled to return to the user's palm even when the user's body is obstructed, such as when the user is sitting in a car, thus expanding the applicable scenarios for controlling the drone's return-to-home mechanism.

[0144] In some implementations, the gesture of extending a palm includes: the distance between the user's palm and the user's body is greater than or equal to a first distance threshold. For example, the gesture of extending a palm includes: the angle between the user's arm and the user's body is within a first preset angle range, and the distance between the user's palm and the user's body is greater than or equal to the first distance threshold. This can improve the accuracy of the drone in recognizing the user's extended palm gesture and prevent the drone from mistakenly identifying other user gestures as an extended palm gesture, causing the drone to return to base incorrectly.

[0145] In some implementations, controlling the drone to return to the user's outstretched palm includes: responding to the user's information meeting preset conditions by controlling the drone to return to the user's outstretched palm. Controlling the drone to return to the user's outstretched palm only when the user's information meets the preset conditions, and not controlling the drone to return to the user's outstretched palm when the user's information does not meet the preset conditions, allows for the determination of the timing of the drone's return to the user's palm, thereby improving the safety and reliability of the drone's return to the palm.

[0146] For example, user information includes the user's movement status or the movement status of the user's hand. The drone is only controlled to return to the user's outstretched hand when the user's movement status or the movement status of the user's hand meets the corresponding preset conditions.

[0147] For example, the user's information meets preset conditions, including: the user's moving speed or the speed of the user's hand movement is less than or equal to a speed threshold, and / or the user's moving acceleration or the acceleration of the user's hand movement is less than or equal to an acceleration threshold. When the user's moving speed and / or acceleration is low, controlling the drone to return to the user's outstretched hand can improve the safety and reliability of the drone's return to the hand, achieving a precise landing on the user's hand.

[0148] For example, the method also includes: responding to the user's movement speed or the user's hand movement speed exceeding a speed threshold, and / or the user's movement acceleration or the user's hand movement acceleration exceeding an acceleration threshold, controlling the drone not to return to home or controlling the drone to return to a specific range of the user and follow the user's movement. When the user's speed and / or acceleration are high, if the drone attempts to return to the user's hand, the accuracy of the return may be reduced due to significant changes in the hand's position, and it may even land outside the hand. Therefore, by identifying the user's movement speed or the user's hand movement speed to determine whether to perform a return, the safety and reliability of the drone's return to the hand can be improved, achieving a precise landing on the user's hand.

[0149] Optionally, when the user's speed and / or acceleration is high, the drone can be controlled to return to a specific range of the user, such as within one meter, and follow the user's movement; it will only return to the user's palm when the user's speed and / or acceleration decreases to below a corresponding threshold. This allows for convenient control of the drone, making it easier to keep it near the user and improving its safety.

[0150] For example, the user's information includes the distance between the user and the drone. For instance, the user's information meets preset conditions, including: the distance between the user and the drone is less than or equal to a second distance threshold. Optionally, the method further includes: controlling the drone not to return to base in response to the distance between the user and the drone being greater than the second distance threshold.

[0151] When the distance between the drone and the user is relatively small, it ensures accurate recognition of the user's outstretched hand gesture and hand position, thereby improving the accuracy of the drone's return-to-home control. Furthermore, users can extend their palms when the drone is relatively close, allowing the drone to return to the user's palm more quickly. Users do not need to extend their palms for an extended period, resulting in a better user experience and improved return-to-home efficiency.

[0152] For example, user information includes whether the user is carrying an object in their hand.

[0153] For example, the user's information meets preset conditions, including: the user is not carrying any objects in their hands. For example, the method also includes: responding to the user carrying an object in their hands by controlling the drone not to return to home. The drone only returns to the user's palm when the user is not carrying any objects, preventing the drone from erroneously returning to home when the user extends their palm to use an object (such as reaching out to look at a phone), thus improving the accuracy of drone return-to-home control.

[0154] In some implementations, controlling the drone to return to the user's outstretched hand includes: responding to the drone not performing a designated task by controlling the drone to return to the user's outstretched hand. For example, the drone will only respond to the user's outstretched hand gesture and return to the user's hand after completing the designated task, so as to ensure that the drone completes the designated task first.

[0155] For example, the designated task includes tasks with a time limit. For instance, if it becomes difficult to obtain another opportunity to execute the task after the time limit has expired, or if a better task result is missed, then the designated task will still be executed first upon receiving a hand gesture from the user, to ensure the drone successfully completes the designated task. For example, the designated task includes at least one of the following: circling shooting, shooting upwards, shooting from a distance, shooting from above, and shooting in a spiral motion.

[0156] In some implementations, the method further includes: during the process of the drone returning to the moving palm, controlling the drone to stop the return-to-home process in response to the user retracting their outstretched palm. The user can control the drone to stop the return-to-home process by retracting their palm, improving the flexibility of drone return-to-home control. For example, the user can retract their palm to control the drone to stop the return-to-home process when other operations need to be performed; or they can extend their palm after performing other operations to trigger the drone to return to the user's outstretched palm in response to the palm extension gesture.

[0157] For example, retracting the palm includes at least one of the following: the angle at which the user's arm is extended is not within a first preset angle range, the angle between the user's arm and the horizontal plane is not within a second preset angle range, the angle at which the user's palm is extended is not within a first preset angle range, the angle between the user's palm and the horizontal plane is not within a second preset angle range, or the distance between the user's palm and the user's body is less than a first distance threshold.

[0158] In some implementations, controlling the drone to return to the user's outstretched palm includes: controlling the drone to move above the palm, and controlling the drone to land from above the palm onto the palm. Returning the drone from above the palm to the moving palm offers greater safety compared to returning directly to the palm from the side, for example, preventing the user's palm from rubbing against the drone as it moves.

[0159] For example, controlling a drone to move above a palm includes: controlling the drone to move from its current position to a plane at a preset distance above the palm, and controlling the drone to move above the palm on that plane. For instance, the drone's horizontal position is first adjusted based on the moving position of the palm, causing the drone to move above the palm, and then the drone lands on the palm from above it. Maintaining a constant altitude while moving above the palm prevents collisions between the drone and the user. For example, the plane at the preset distance above the palm is higher than the user's head. This prevents the drone from colliding with the user's body due to the user's movement while moving above the palm, thus improving the safety of the drone's return-to-home operation.

[0160] For example, controlling a drone to move above the palm of the hand includes: controlling the drone to move from its current position toward a preset position, which is a preset distance above the palm. Moving the drone directly from its current position above the palm improves return-to-home efficiency and reduces the time the user spends waiting for the drone to return.

[0161] For example, controlling a drone to move above a palm includes: controlling the drone to move to a third preset range corresponding to a target position directly above the palm, where the distance between the third preset range and the target position is less than or equal to a third distance threshold. For instance, the third distance threshold is less than or equal to 20 centimeters. That is, the drone can move approximately to the third preset range above the palm and then return to the moving palm; the drone can begin landing on the moving palm without needing to move directly above it, and its horizontal flight direction can be adjusted during landing to accurately land on the moving palm; this improves the efficiency of the drone's return.

[0162] For example, controlling a drone to move from above a palm to onto a palm includes: controlling the drone to move within a third preset range to directly above the palm; and controlling the drone to move from directly above the palm to onto the palm. Within the third preset range, the drone can more accurately determine the palm's position, thus enabling it to move quickly and accurately to directly above the palm, and then from directly above the palm to onto the palm, improving the accuracy of the drone's return-to-home mechanism.

[0163] For example, controlling a drone to move from above a hand to onto the hand includes: controlling the drone to move along a tilting direction within a third preset range onto the hand. Within this third preset range, the drone can more accurately determine the position of the hand, thus enabling it to move quickly and accurately along the tilting direction onto the hand, improving the accuracy and efficiency of the drone's return flight.

[0164] For example, the third distance threshold is related to the detection range of the sensor used by the drone to detect the hand below. For instance, the larger the detection range, the larger the third distance threshold.

[0165] For example, when the drone is within a third preset range, the hand is within the detection range of the sensor. This ensures that the drone accurately determines the position of the hand, allowing it to land precisely on the moving hand.

[0166] In some implementations, the drone's speed during its return journey to the moving hand is related to the hand's movement speed. Adjusting the drone's return speed according to the hand's movement speed allows the drone to return to the moving hand accurately and quickly.

[0167] For example, when the hand's movement speed is less than or equal to a corresponding speed threshold, the drone's movement speed is positively correlated with the hand's movement speed. This allows the drone to approach the hand more quickly and return to the moving hand rapidly, with minimal change in the hand's position, thus improving the accuracy of the drone's return. Optionally, when the hand's movement speed exceeds the corresponding speed threshold, the drone can stop returning, for example, it can follow the hand's movement until the hand's movement speed is less than or equal to the corresponding speed threshold, at which point it returns to the user's outstretched hand.

[0168] In some implementations, the drone's speed during its return journey to the moving palm is positively correlated with the distance between the drone and the user. Moving at a higher speed towards the user's palm when the distance between the drone and the user is greater improves the efficiency of the drone's return journey; moving at a lower speed towards the user's palm when the distance between the drone and the user is smaller improves the safety of the drone's return journey.

[0169] For example, the drone moves at a speed greater than the speed at which it lands on the palm. Moving at a greater speed towards the palm improves the efficiency of the drone's return journey; landing at a slower speed from above the palm improves the safety of the drone's return journey.

[0170] In some implementations, controlling the drone to return to the user's outstretched palm also includes: during the drone's return process, responding to the palm's stillness, controlling the drone to return to the stationary palm. Whether the user is moving or stationary, the drone can return to the user's palm, expanding the application scenarios of palm-based return and improving the flexibility of drone return control.

[0171] For example, the speed at which a drone returns to a stationary hand differs from the speed at which it returns to a moving hand. Adjusting the drone's return speed according to different application scenarios for handheld return can improve the accuracy and / or safety of the drone's return.

[0172] For example, the speed at which a drone returns to a moving hand is less than the speed at which it returns to a stationary hand. This can improve the safety of returning a drone to a moving hand and / or the efficiency of returning a drone to a stationary hand.

[0173] For example, the speed at which a drone returns to a moving hand is greater than the speed at which it returns to a stationary hand. By increasing the speed at which the drone returns to a moving hand, the return time and the amount of change in the user's hand position during that time can be shortened, resulting in higher accuracy and safety.

[0174] For example, the speed at which the drone returns to the palm includes the speed at which the drone moves over the palm, and / or the speed at which the drone descends from the palm onto the palm. For instance, the speed at which the drone moves over the moving palm is less than the speed at which the drone moves over the stationary palm; and / or the speed at which the drone descends from the moving palm onto the moving palm is less than the speed at which the drone descends from the stationary palm onto the moving palm. For instance, the speed at which the drone moves over the moving palm is greater than the speed at which the drone moves over the stationary palm; and / or the speed at which the drone descends from the moving palm onto the moving palm is greater than the speed at which the drone descends from the stationary palm onto the moving palm.

[0175] Optionally, the drone can move at a slower speed than it moves at a slower speed than it moves at a stationary hand. For example, moving the drone at a slower speed over a moving hand as it approaches a user can improve safety.

[0176] Optionally, the drone can move at a greater speed than it can move at a stationary hand. For example, moving the drone at a higher speed over the moving hand as it moves away from the user can improve the efficiency of the drone's movement over the hand, and thus improve the efficiency of its return journey to the hand.

[0177] Optionally, the drone's descent speed from a moving hand to a stationary hand is greater than its descent speed from a stationary hand. This reduces the drone's descent time and the amount of change in the user's hand position during that time, thus improving the drone's control accuracy and safety.

[0178] Optionally, the drone may descend from a moving palm at a lower speed than it descends from a stationary palm. Descending at a lower speed improves landing safety; for example, the drone can adjust its horizontal position during descent to land accurately on the palm.

[0179] For example, the speed at which a drone moves over a moving hand is greater than the speed at which it moves over a stationary hand; the speed at which a drone descends from over a moving hand towards a moving hand is less than the speed at which it descends from a stationary hand towards a moving hand. This can improve the safety and efficiency of the drone's return to the moving hand.

[0180] In some implementations, the extended palm gesture is detected by one or more sensors on the drone. Exemplarily, the sensors include one or more of the following: active detection sensors or passive detection sensors. Optionally, the active detection sensors include one or more of the following: light sensors, millimeter-wave sensors. The light sensors include laser sensors or infrared sensors. The passive detection sensors include image sensors. Optionally, the image sensors include imaging sensors or visual perception sensors.

[0181] In some implementations, the position of the palm is detected by one or more sensors of the drone. Exemplarily, the sensors include one or more of the following: active detection sensors or passive detection sensors. Optionally, the active detection sensors include one or more of the following: light sensors, millimeter-wave sensors. The light sensors include laser sensors or infrared sensors. The passive detection sensors include image sensors. Optionally, the image sensors include imaging sensors or visual perception sensors.

[0182] For example, the detection range of one or more sensors includes the area below the drone. This allows for accurate acquisition of the outstretched hand gesture and its position while the drone is in flight, improving the accuracy of the drone's return-to-home process.

[0183] For example, the detection range of one or more sensors may also include at least one direction in front, behind, left, right, or above the drone. For instance, the environment around and / or above the drone can be detected, which can improve the comprehensiveness of drone detection and prevent the omission of hand gestures, thereby improving the reliability of handheld return control of the drone and enhancing the user experience.

[0184] For example, at least one of one or more sensors is located below the drone. This allows for accurate acquisition of the outstretched hand gesture and its position during drone flight, improving the accuracy of the drone's return-to-home process.

[0185] For example, at least one of one or more sensors is positioned on at least one side of the drone, in front, behind, left, right, or above. This can improve the comprehensiveness of drone detection, preventing the omission of hand gestures, thereby improving the reliability of palm-held return-to-home control and enhancing the user experience.

[0186] For example, during the drone's return journey from its current position to above the palm, the palm's position is detected by a sensor located on the front of the drone. During the drone's descent from above the palm onto the palm, the palm's position is detected by a sensor located on the lower side of the drone. The front of the drone can be a pre-defined side, such as the side designated for the drone's main camera sensor, or / or the side corresponding to the flight direction of a forward flight operation (such as a haptic push) on the control device. For example, the sensors on the front of the drone include the main camera sensor, and the sensors on the lower side include the drone's lower visual perception sensor and / or lower time-of-flight sensor. Detecting the palm's position using the front sensors when the drone is outside the palm improves the accuracy of the drone's return journey to above the palm; detecting the palm's position using the lower sensors when the drone is above the palm improves the accuracy of the drone's descent onto the palm.

[0187] Please refer to Figure 3 in conjunction with the foregoing embodiments. Figure 3 is a flowchart illustrating a return-to-home control method for a drone according to another embodiment of this application. This drone return-to-home control method is applied to the control device of the drone. As shown in Figure 3, the drone return-to-home control method of this embodiment includes steps S210 to S220.

[0188] Step S210: Obtain the return command.

[0189] Step S220: In response to the return-to-home command, control the drone to return to the user's outstretched palm; wherein, controlling the drone to return to the user's outstretched palm includes: during the drone's return-to-home process, in response to a movement in the position of the palm or the user's position, controlling the drone to return to the moving palm; or, during the drone's return-to-home process, in response to a movement in the position of the palm or the user's position, controlling the drone to follow the movement of the palm or the movement of the user.

[0190] While existing technologies for controlling drones to return to the user's palm do not explicitly consider palm-based return in mobile scenarios, this application's embodiments take into account some special usage scenarios for drones and support drone return to a mobile palm, expanding the applicable scenarios for palm-based drone return. In scenarios where the user is mobile, the drone can be conveniently controlled to return to the user's side, improving the flexibility of drone return control.

[0191] In some implementations, during the drone's return-to-home process, in response to changes in the position of the hand or the user, after controlling the drone to follow the movement of the hand or the user, the process further includes: controlling the drone to return to the stationary hand when the hand or user is stationary. That is, while the aircraft is moving to follow the position of the moving hand or user, it continues to detect whether the hand or user has switched from a moving to a stationary state, so that it can control the drone to return to the stationary hand when it detects that the hand or user is stationary.

[0192] Among them, the method of controlling the drone to return to the moving hand in response to the movement of the palm or the user's position is more efficient; the method of controlling the drone to return to the stationary hand when the hand is stationary is safer.

[0193] The main difference between the return-to-home control method of this application embodiment and the return-to-home control method of the previous embodiment is that: the return-to-home command that triggers the drone to return to home is not limited to obtaining the user's outstretched hand gesture.

[0194] In some implementations, the return-to-home command is input through user information. Exemplarily, user information includes the user's voice, posture, gestures, or movement parameters. For example, movement parameters include the direction of movement and / or the distance of movement. For instance, the mobile platform or its control device can preset a mapping relationship between voice, gesture, posture, or movement parameters and commands. When the mobile platform or control device detects the voice, gesture, posture, or movement parameters corresponding to the return-to-home command, it can trigger the command. For example, the user can input preset voice (e.g., "return to home"), preset gestures (e.g., a V-sign or an extended palm), preset postures (e.g., extending an arm, opening both hands, etc.), or move a preset distance in a preset direction to trigger the return-to-home command, instructing the drone to return to the user's extended palm. It should be noted that the gesture corresponding to the return-to-home command is not limited to an extended palm; for example, the user can first open both hands to trigger the return-to-home command, instructing the drone to enter return-to-home mode; then extend their palm for the drone to land. Alternatively, the user can trigger the drone to return to home by remaining stationary. To improve the efficiency of the return-to-home command, the command can be that the user or a designated target (such as the target of the drone's mission, such as the target the drone is orbiting, the target the drone is following, or the target the drone is shooting at) remains stationary for a preset time (e.g., 3 seconds). When this condition is met, the drone can be triggered to return to home.

[0195] In some implementations, the return command is input via the control device of the mobile platform.

[0196] For example, the input of control commands via the control device of the mobile platform includes the posture adjusted by the control device or the physical controls of the control device.

[0197] For example, the control device is equipped with an attitude sensor, which can be used to obtain the attitude that the control device is adjusting.

[0198] For example, physical controls include a first type of physical control or a second type of physical control. The first type of physical control is used to detect user input to the virtual control, and the second type of physical control is used to detect user input to move the second type of physical control. Optionally, the first type of physical control includes a display device, and the second type of physical control includes a joystick, a physical button, or a dial. For example, a user triggers a return-to-home command by waving a joystick, by clicking a preset physical button, by rotating a dial, or by pressing a virtual button displayed at a specified location on the screen or display device to instruct the drone to return to the user's outstretched hand.

[0199] The specific principle and implementation of the UAV return-to-home control method provided in this application embodiment are similar to the UAV return-to-home control method in the embodiment shown in Figure 1 above, and will not be repeated here. Furthermore, any parts not mentioned in this application embodiment can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0200] Please refer to Figure 4 in conjunction with the foregoing embodiments. Figure 4 is a flowchart illustrating a return-to-home control method for an aircraft according to another embodiment of this application. This return-to-home control method is applied to an aircraft. As shown in Figure 4, the return-to-home control method for the aircraft in this embodiment includes steps S310 to S320.

[0201] Step S310: Obtain the operation to deploy the landing platform.

[0202] Step S320: In response to the operation of deploying the landing platform, control the aircraft to switch from the non-return state to the return state and return to the deployed landing platform; wherein, controlling the aircraft to return to the deployed landing platform includes: during the return process, in response to the position of the landing platform moving, controlling the aircraft to return to the moving landing platform; or, during the return process, in response to the position of the landing platform moving, controlling the aircraft to follow the moving position of the landing platform.

[0203] In some implementations, the landing platform includes at least one of the following: a user's hand, a designated object, or a designated landing platform. The designated landing platform may be, for example, an airport, a base station, etc. Exemplarily, the landing platform may be self-moving or may be mounted on a mobile platform for movement.

[0204] In some implementations, deploying the landing platform includes: the user extending their palm, the user extending a designated object, or opening a designated landing platform. The designated object extended by the user can be an object such as a book or board, to facilitate the aircraft's landing on that object.

[0205] The operation of deploying the designated landing platform can be performed manually by the user, or the designated landing platform's drive mechanism can be used to automatically deploy it.

[0206] In some implementations, during the aircraft's return journey, in response to a change in the landing platform's position, after controlling the aircraft to follow the landing platform's movement, the process further includes: controlling the aircraft to return to the stationary landing platform when the landing platform is stationary. That is, while the aircraft is moving with the moving landing platform, it continues to detect whether the landing platform has switched from a moving to a stationary state, so that it can control the aircraft to return to the stationary landing platform once it detects that the landing platform is stationary.

[0207] The return-to-home control method of this application embodiment differs from the return-to-home control method of the embodiment shown in Figure 1 in that: this application embodiment does not limit the type of landing platform, that is, the landing platform is not limited to the user's palm, and the operation of unfolding the landing platform is not limited to the gesture of extending the palm. It also does not limit the aircraft to a drone; optionally, the aircraft can be a manned aircraft or an unmanned aircraft; it can be a manned aircraft or an unmanned aircraft; it can include multi-rotor aircraft, fixed-wing aircraft, helicopters, etc. When the aircraft is a manned or manned aircraft, the control equipment can be mounted on the aircraft or located outside the aircraft.

[0208] It should be noted that the aircraft can return to the airport to wait for the landing platform. In the relevant technology, when the aircraft returns to the landing platform, it needs to be controlled by the remote controller to enter the return process. After returning to the vicinity of the landing platform, it enters the landing process. During the landing process, the aircraft also needs to detect the pre-stored location of the landing platform. The return control process and the landing platform identification process are controlled separately, which makes the execution process relatively cumbersome and the return control efficiency low.

[0209] In this embodiment, the entity triggering the aircraft's return-to-home (ROW) and the entity determining the aircraft's landing location are the same landing platform. This allows for a single operation (i.e., deploying the landing platform) to simultaneously instruct the ROW trigger and the landing platform's location. This makes the ROW control and landing platform identification processes more convenient and improves the efficiency of ROW control. Supporting ROW to a moving landing platform expands the applicable scenarios for ROW and enhances the aircraft's control flexibility.

[0210] In this embodiment, the aircraft and control equipment do not need to pre-store landing platform information; the landing platform to be returned to can be determined in response to the operation of deploying the landing platform. This allows for adaptation to a wider variety of return scenarios using landing platforms. For example, the landing platform in this embodiment is not limited to a landing platform with a specified pattern; it can also be a hand or a specified object extended by the user.

[0211] Optionally, the designated landing platform in this application is equipped with preset visual markers. This can improve the accuracy of the aircraft's return to the designated landing platform.

[0212] In some implementations, controlling the aircraft to return to the moving landing platform in response to a change in the position of the landing platform includes: acquiring the position of the moving landing platform and adjusting the position of the aircraft according to the position of the landing platform to control the aircraft to return to the moving landing platform.

[0213] During the aircraft's return journey, it can obtain the landing platform's position based on its own sensor data, the position detected by control equipment, or the position acquired by the landing platform itself. It then adjusts its position according to the landing platform's location to guide its return to the platform. By adjusting the aircraft's current position based on the landing platform's real-time location, the accuracy of the aircraft's return to the moving landing platform is achieved.

[0214] For example, adjusting the aircraft's position based on the location of the landing platform includes adjusting the aircraft's horizontal position based on the location of the landing platform. This could involve moving the aircraft at least horizontally to the vicinity of the landing platform, for example, moving it horizontally above the landing platform, and then autonomously flying to the moving landing platform, or descending onto the moving landing platform under the influence of gravity.

[0215] In some embodiments, deploying the landing platform includes deploying the landing platform on a plane whose angle with the horizontal plane is within a second preset angle range. For example, the second preset angle range includes less than or equal to 30 degrees. This can improve the accuracy of the aircraft in recognizing the landing platform deployment operation and prevent the aircraft from mistakenly identifying other landing platform operations as landing platform deployment operations, thus causing the aircraft to return to base incorrectly.

[0216] In some implementations, controlling the aircraft to return to the deployed landing platform includes: controlling the aircraft to return to the deployed landing platform in response to information from the landing platform meeting preset conditions.

[0217] For example, the landing platform information includes the landing platform's movement status.

[0218] For example, the landing platform information includes the distance between the landing platform and the aircraft.

[0219] In some implementations, controlling the aircraft to return to the deployed landing platform includes: in response to the aircraft failing to perform a designated task, controlling the aircraft to return to the deployed landing platform.

[0220] In some implementations, controlling the aircraft to return to the deployed landing platform includes: controlling the aircraft to move above the landing platform, and controlling the aircraft to land from above the landing platform onto the landing platform.

[0221] For example, controlling the aircraft to move above the landing platform includes: controlling the aircraft to move to a third preset range corresponding to a target position directly above the landing platform, wherein the distance between the third preset range and the target position is less than or equal to a third distance threshold.

[0222] For example, the third distance threshold is related to the detection range of the sensors used by the aircraft to detect the landing platform below.

[0223] Optionally, when the aircraft is within the third preset range, the landing platform is within the detection range of the detection sensors.

[0224] In some implementations, controlling the aircraft to return to the deployed landing platform further includes: during the return process, controlling the aircraft to return to the stationary landing platform in response to the landing platform being stationary.

[0225] For example, the speed at which an aircraft returns to a stationary landing platform is different from the speed at which an aircraft returns to a moving landing platform.

[0226] In some implementations, the position of the landing platform is detected by a sensor located on the front of the aircraft as the aircraft returns from its current position to above the landing platform, and the position of the landing platform is detected by a sensor located on the lower side of the aircraft as the aircraft descends from above the landing platform onto the landing platform.

[0227] The specific principle and implementation of the return-to-home control method for aircraft provided in this application embodiment are similar to the return-to-home control method for UAVs in the aforementioned embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application embodiment can be referred to the relevant descriptions in the aforementioned method embodiments, and will not be repeated here.

[0228] Please refer to Figure 5 in conjunction with the above embodiments. Figure 5 is a schematic block diagram of the control device 60 provided in the embodiments of this application. The control device 60 includes a memory 61 and a processor 62. The memory 61 is used to store computer programs; the processor 62 is used to execute the computer programs and, when executing the computer programs, implement the steps of the return-to-home control method for the UAV or aircraft in the aforementioned embodiments.

[0229] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0230] Obtain the user's outstretched hand gesture;

[0231] Responding to a gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0232] The process of controlling the drone to return to the user's outstretched palm includes:

[0233] During the drone's return to home, in response to the movement of the palm or the user's position, the drone is controlled to return to the moving palm.

[0234] Alternatively, during the drone's return journey, in response to changes in the position of the hand or the user, the drone can be controlled to follow the hand's or user's position.

[0235] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0236] Received return-to-base instruction;

[0237] In response to a return-to-home command, the drone is controlled to return to the user's outstretched palm.

[0238] The process of controlling the drone to return to the user's outstretched palm includes:

[0239] During the drone's return to home, in response to the movement of the palm or the user's position, the drone is controlled to return to the moving palm.

[0240] Alternatively, during the drone's return journey, in response to changes in the position of the hand or the user, the drone can be controlled to follow the hand's or user's position.

[0241] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0242] Obtain the operation to deploy the landing platform;

[0243] In response to the deployment of the landing platform, the control unit switches the aircraft from the non-returning state to the return state and returns to the deployed landing platform;

[0244] The process of controlling the aircraft to return to the deployed landing platform includes:

[0245] During the aircraft's return journey, in response to the movement of the landing platform's position, the aircraft is controlled to return to the moving landing platform;

[0246] Alternatively, during the aircraft's return journey, in response to the movement of the landing platform's position, the aircraft can be controlled to follow the landing platform's movement.

[0247] The specific principles and implementation methods of the control device provided in this application embodiment are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0248] Please refer to Figure 6 in conjunction with the above embodiments. Figure 6 is a schematic block diagram of the UAV 70 provided in this application embodiment. The UAV 70 includes a memory 71 and a processor 72. The memory 71 is used to store computer programs; the processor 72 is used to execute the computer programs and, when executing the computer programs, implement the steps of the UAV return-to-home control method of the aforementioned embodiments.

[0249] In some implementations, the processor 72 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0250] Obtain the user's outstretched hand gesture;

[0251] Responding to a gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0252] The process of controlling the drone to return to the user's outstretched palm includes:

[0253] During the drone's return to home, in response to the movement of the palm or the user's position, the drone is controlled to return to the moving palm.

[0254] Alternatively, during the drone's return journey, in response to changes in the position of the hand or the user, the drone can be controlled to follow the hand's or user's position.

[0255] In some implementations, the processor 72 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0256] Received return-to-base instruction;

[0257] In response to a return-to-home command, the drone is controlled to return to the user's outstretched palm.

[0258] The process of controlling the drone to return to the user's outstretched palm includes:

[0259] During the drone's return to home, in response to the movement of the palm or the user's position, the drone is controlled to return to the moving palm.

[0260] Alternatively, during the drone's return journey, in response to changes in the position of the hand or the user, the drone can be controlled to follow the hand's or user's position.

[0261] Please refer to Figure 7 in conjunction with the above embodiments. Figure 7 is a schematic block diagram of the aircraft 80 provided in the embodiments of this application. The aircraft 80 includes a memory 81 and a processor 82. The memory 81 is used to store computer programs; the processor 82 is used to execute the computer programs and, when executing the computer programs, implement the steps of the return-to-home control method of the aircraft in the aforementioned embodiments.

[0262] In some implementations, the processor 82 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0263] Obtain the operation to deploy the landing platform;

[0264] In response to the deployment of the landing platform, the control unit switches the aircraft from the non-returning state to the return state and returns to the deployed landing platform;

[0265] The process of controlling the aircraft to return to the deployed landing platform includes:

[0266] During the aircraft's return journey, in response to the movement of the landing platform's position, the aircraft is controlled to return to the moving landing platform;

[0267] Alternatively, during the aircraft's return journey, in response to the movement of the landing platform's position, the aircraft can be controlled to follow the landing platform's movement.

[0268] The specific principles and implementation methods of the aircraft provided in this application embodiment are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0269] Please refer to Figure 8 in conjunction with the above embodiments. Figure 8 is a schematic block diagram of the control device 80 provided in this application embodiment. The control device 90 includes at least a memory 91 and a processor 92. The memory 91 is used to store computer programs; the processor 92 is used to execute the computer programs and, when executing the computer programs, implement the steps of the UAV return-to-home control method of the aforementioned embodiments.

[0270] In some embodiments, the control device 90 may further include a display device 93. The display device 93 is used to display images. The specific principles and implementation methods of the devices provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here. The control device 90 may also include a communication interface 94 for acquiring images collected by the UAV during operation. The memory 91, processor 92, display device 93, and communication interface 94 can be connected via a bus.

[0271] In some implementations, the processor 92 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0272] Obtain the user's outstretched hand gesture;

[0273] Responding to a gesture of extending a palm, the drone is controlled to return to the user's extended palm;

[0274] The process of controlling the drone to return to the user's outstretched palm includes:

[0275] During the drone's return to home, in response to the movement of the palm or the user's position, the drone is controlled to return to the moving palm.

[0276] Alternatively, during the drone's return journey, in response to changes in the position of the hand or the user, the drone can be controlled to follow the hand's or user's position.

[0277] In some implementations, the processor 92 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0278] Received return-to-base instruction;

[0279] In response to a return-to-home command, the drone is controlled to return to the user's outstretched palm.

[0280] The process of controlling the drone to return to the user's outstretched palm includes:

[0281] During the drone's return to home, in response to the movement of the palm or the user's position, the drone is controlled to return to the moving palm.

[0282] Alternatively, during the drone's return journey, in response to changes in the position of the hand or the user, the drone can be controlled to follow the hand's or user's position.

[0283] In some implementations, the processor 92 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0284] Obtain the operation to deploy the landing platform;

[0285] In response to the deployment of the landing platform, the control unit switches the aircraft from the non-returning state to the return state and returns to the deployed landing platform;

[0286] The process of controlling the aircraft to return to the deployed landing platform includes:

[0287] During the aircraft's return journey, in response to the movement of the landing platform's position, the aircraft is controlled to return to the moving landing platform;

[0288] Alternatively, during the aircraft's return journey, in response to the movement of the landing platform's position, the aircraft can be controlled to follow the landing platform's movement.

[0289] The specific principles and implementation methods of the control device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0290] Referring to Figure 9 in conjunction with the above embodiments, this application also provides an unmanned aerial vehicle (UAV) system 100, including a UAV 1001 and a control device 1002 for the UAV 1001. The UAV 1001 and / or the control device 1002 can implement the UAV return-to-home control method of the embodiments shown in Figure 1 or Figure 3 above.

[0291] The specific principles and implementation methods of the system provided in this application are similar to those of the methods shown in the embodiments of Figure 1 or Figure 3 above, and will not be repeated here.

[0292] Referring to Figure 10 in conjunction with the above embodiments, this application also provides an aircraft system 200, including an aircraft 2001 and a control device 2002 for the aircraft 2001. The aircraft 2001 and / or the control device 2002 can implement the return-to-home control method of the aircraft in the aforementioned embodiment of Figure 4.

[0293] In some implementations, the aircraft system 200 may also include a landing platform.

[0294] The specific principles and implementation methods of the system provided in this application embodiment are similar to those of the method in the embodiment shown in Figure 4 above, and will not be repeated here.

[0295] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the steps of the method provided in the above embodiments.

[0296] The computer-readable storage medium can be an internal storage unit of the device, apparatus, or drone in any of the foregoing embodiments, such as a hard drive or memory of the device, apparatus, or drone. The computer-readable storage medium can also be an external storage device of the device, apparatus, or drone, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the device, apparatus, or drone.

[0297] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0298] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0299] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the return-to-home of a drone, characterized in that, include: Obtain the user's outstretched hand gesture; In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm; The step of controlling the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

2. A method for controlling the return-to-home of a drone, characterized in that, include: Received return-to-base instruction; In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm; The control of the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

3. A method for controlling the return of an aircraft, characterized in that, include: Obtain the operation to deploy the landing platform; In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform; The process of controlling the aircraft to return to the deployed landing platform includes: During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform; Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

4. The return-to-home control method according to claim 1 or 2, characterized in that, The step of controlling the drone to return to the moving palm in response to a movement in the position of the palm or the user's position includes: obtaining the position of the moving palm and adjusting the position of the drone according to the position of the moving palm, so as to control the drone to return to the moving palm.

5. The return-to-home control method according to claim 4, characterized in that, Adjusting the position of the drone according to the position of the moving hand includes: adjusting the horizontal position of the drone according to the position of the moving hand.

6. The return-to-home control method according to claim 1 or 2, characterized in that, The movement of the hand's position includes: the user being in a walking state, and / or the user being on a moving platform.

7. The return-to-home control method according to claim 1, characterized in that, The method of obtaining the user's extended palm gesture includes: in response to the user being a specific user, obtaining the specific user's extended palm gesture.

8. The return-to-home control method according to claim 1, characterized in that, The method further includes: in response to the user being a non-specific user, not acquiring the gesture of the non-specific user extending their palm; or, in response to the user being a non-specific user, controlling the drone not to return to base.

9. The return-to-home control method according to claim 7, characterized in that, The specific user is determined based on the user's identity.

10. The return-to-home control method according to claim 7, characterized in that, The specific user has specified visual characteristics.

11. The return-to-home control method according to claim 7, characterized in that, The specific user is the target user of the current mission of the drone.

12. The return-to-home control method according to claim 11, characterized in that, The current task includes a shooting task, and the target user is the subject of the drone's shooting.

13. The return-to-home control method according to claim 12, characterized in that, The shooting tasks include at least one of the following: following shooting, circling shooting, shooting upwards, shooting outwards, shooting from above, and shooting in a spiral.

14. The return-to-home control method according to claim 7, characterized in that, The specific user is designated based on instructions obtained from the control device of the drone.

15. The return-to-home control method according to claim 7, characterized in that, The specific user is a designated user whose user information has been pre-stored.

16. The return-to-home control method according to claim 15, characterized in that, User information includes the user's identity information and / or visual characteristics.

17. The return-to-home control method according to claim 7, characterized in that, The specific user refers to a user carrying a specific positioning device.

18. The return-to-home control method according to claim 1, characterized in that, The gesture of extending the palm includes: the angle of the user's arm extension is within a first preset angle range.

19. The return-to-home control method according to claim 18, characterized in that, The angle between the user's arm and the user's body is within the first preset angle range.

20. The return-to-home control method according to claim 19, characterized in that, The angle between the user's arm and the user's body is greater than or equal to 30 degrees.

21. The return-to-home control method according to claim 18, characterized in that, The angle between the user's arm and the horizontal plane is within the second preset angle range.

22. The return-to-home control method according to claim 21, characterized in that, The angle between the user's arm and the horizontal plane is less than or equal to 30 degrees.

23. The return-to-home control method according to any one of claims 1 to 22, characterized in that, The gesture of extending the palm includes: the angle at which the user's palm is extended is within a first preset angle range.

24. The return-to-home control method according to claim 23, characterized in that, The angle between the user's palm and the user's body is within the first preset angle range.

25. The return-to-home control method according to claim 24, characterized in that, The angle between the user's palm and the user's body is greater than or equal to 30 degrees.

26. The return-to-home control method according to claim 23, characterized in that, The angle between the user's palm and the horizontal plane is within the second preset angle range.

27. The return-to-home control method according to claim 26, characterized in that, The angle between the user's palm and the horizontal plane is less than or equal to 30 degrees.

28. The return-to-home control method according to any one of claims 1 to 7-22, characterized in that, The gesture of extending the palm includes: the distance between the user's palm and the user's body is greater than or equal to a first distance threshold.

29. The return-to-home control method according to claim 1 or 2, characterized in that, The step of controlling the drone to return to the user's outstretched palm includes: responding to the user's information meeting preset conditions, controlling the drone to return to the user's outstretched palm.

30. The return-to-home control method according to claim 29, characterized in that, The user information includes the user's movement status or the movement status of the user's hand.

31. The return-to-home control method according to claim 30, characterized in that, The user's information meets preset conditions, including: the user's movement speed or the movement speed of the user's hand is less than or equal to a speed threshold, and / or the user's movement acceleration or the movement acceleration of the user's hand is less than or equal to an acceleration threshold.

32. The return-to-home control method according to claim 30, characterized in that, The method further includes: responding to the user's movement speed or the user's hand movement speed being greater than the speed threshold, and / or the user's movement acceleration or the user's hand movement acceleration being greater than the acceleration threshold, controlling the drone not to return to home or controlling the drone to return to a specific range of the user and move along with the user's movement.

33. The return-to-home control method according to claim 29, characterized in that, The user's information includes the distance between the user and the drone.

34. The return-to-home control method according to claim 33, characterized in that, The user's information meets preset conditions, including: the distance between the user and the drone is less than or equal to a second distance threshold.

35. The return-to-home control method according to claim 34, characterized in that, The method further includes: responding to a situation where the distance between the user and the drone is greater than the second distance threshold, controlling the drone not to return to its home position.

36. The return-to-home control method according to claim 29, characterized in that, The user's information includes whether the user is carrying any objects in their hands.

37. The return-to-home control method according to claim 36, characterized in that, The user's information meets preset conditions, including: the user is not carrying any object in their hands.

38. The return-to-home control method according to claim 36, characterized in that, The method further includes: responding to the user carrying an object in their hand by controlling the drone not to return to base.

39. The return-to-home control method according to claim 1 or 2, characterized in that, The method of controlling the drone to return to the user's outstretched palm includes: in response to the drone not performing a designated task, controlling the drone to return to the user's outstretched palm.

40. The return-to-home control method according to claim 39, characterized in that, The specified task includes tasks with a time limit.

41. The return-to-home control method according to claim 40, characterized in that, The specified task includes at least one of the following: circling shot, shooting upwards, shooting outwards, shooting from above, and shooting in a spiral.

42. The return-to-home control method according to claim 1 or 2, characterized in that, The method further includes: during the process of the drone returning to the moving palm, in response to the user retracting the extended palm, controlling the drone to stop performing the return.

43. The return-to-home control method according to claim 42, characterized in that, The retraction of the palm includes at least one of the following: the angle at which the user's arm extends is not within a first preset angle range, the angle between the user's arm and the horizontal plane is not within a second preset angle range, the angle at which the user's palm extends is not within a first preset angle range, the angle between the user's palm and the horizontal plane is not within a second preset angle range, or the distance between the user's palm and the user's body is less than a first distance threshold.

44. The return-to-home control method according to claim 1 or 2, characterized in that, The control of the drone to return to the user's outstretched palm includes: controlling the drone to move above the palm, and controlling the drone to land from above the palm onto the palm.

45. The return-to-home control method according to claim 44, characterized in that, The control of the drone to move above the palm includes: controlling the drone to move from its current position to a plane at a preset distance above the palm, and controlling the drone to move above the palm on the plane.

46. ​​The return-to-home control method according to claim 45, characterized in that, The plane at a predetermined distance above the palm is higher than the user's head.

47. The return-to-home control method according to claim 44, characterized in that, Controlling the drone to move above the palm includes: controlling the drone to move from its current position toward a preset position, the preset position being a preset distance above the palm.

48. The return-to-home control method according to claim 44, characterized in that, The control of the drone to move above the palm includes: controlling the drone to move to a third preset range corresponding to a target position directly above the palm, wherein the distance between the third preset range and the target position is less than or equal to a third distance threshold.

49. The return-to-home control method according to claim 48, characterized in that, The control of the drone to move from above the palm to onto the palm includes: controlling the drone to move within a third preset range to directly above the palm; and controlling the drone to move from directly above the palm to onto the palm.

50. The return-to-home control method according to claim 48, characterized in that, The control of the drone to move from above the palm to the palm includes: controlling the drone to move along an inclined movement direction within the third preset range to the palm.

51. The return-to-home control method according to claim 48, characterized in that, The third distance threshold is related to the detection range of the detection sensor used by the UAV to detect the palm below.

52. The return-to-home control method according to claim 51, characterized in that, When the drone is within the third preset range, the palm is within the detection range of the detection sensor.

53. The return-to-home control method according to claim 1 or 2, characterized in that, During the process of the drone returning to the moving palm, the speed at which the drone moves is related to the speed at which the palm moves.

54. The return-to-home control method according to claim 53, characterized in that, When the movement speed of the palm is less than or equal to the corresponding speed threshold, the movement speed of the drone is positively correlated with the movement speed of the palm.

55. The return-to-home control method according to claim 1 or 2, characterized in that, During the process of the drone returning to the moving palm, the speed at which the drone moves is positively correlated with the distance between the drone and the user.

56. The return-to-home control method according to claim 55, characterized in that, The speed at which the drone moves upward toward the palm is greater than the speed at which the drone descends from above the palm onto the palm.

57. The return-to-home control method according to claim 1 or 2, characterized in that, The method of controlling the drone to return to the user's outstretched palm also includes: during the drone's return process, in response to the palm's position becoming still, controlling the drone to return to the still palm.

58. The return-to-home control method according to claim 57, characterized in that, The speed at which the drone returns to a stationary hand is different from the speed at which the drone returns to a moving hand.

59. The return-to-home control method according to claim 58, characterized in that, The speed at which the drone returns to the moving palm is less than the speed at which the drone returns to the stationary palm.

60. The return-to-home control method according to claim 58, characterized in that, The speed at which the drone returns to the moving palm is greater than the speed at which the drone returns to the stationary palm.

61. The return-to-home control method according to claim 58, characterized in that, The speed at which the drone returns to the palm includes the speed at which the drone moves above the palm and / or the speed at which the drone descends from above the palm.

62. The return-to-home control method according to claim 61, characterized in that, The speed at which the drone moves over the moving palm is less than the speed at which the drone moves over the stationary palm.

63. The return-to-home control method according to claim 61, characterized in that, The speed at which the drone moves over the moving palm is greater than the speed at which the drone moves over the stationary palm.

64. The return-to-home control method according to claim 61, characterized in that, The speed at which the drone descends from the moving palm onto the palm is greater than the speed at which the drone descends from the stationary palm onto the palm.

65. The return-to-home control method according to claim 61, characterized in that, The speed at which the drone descends from the moving palm onto the palm is less than the speed at which the drone descends from the stationary palm onto the palm.

66. The return-to-home control method according to any one of claims 1 to 7-22, characterized in that, The extended palm gesture was detected by one or more sensors of the drone.

67. The return-to-home control method according to claim 1 or 2, characterized in that, The position of the hand was detected by one or more sensors of the drone.

68. The return-to-home control method according to claim 66 or 67, characterized in that, The sensor includes one or more of the following: an active detection sensor or a passive detection sensor.

69. The return-to-home control method according to claim 68, characterized in that, The active detection sensor includes one or more of the following: optical sensor, millimeter-wave sensor.

70. The return-to-home control method according to claim 69, characterized in that, The optical sensor includes a laser sensor or an infrared sensor.

71. The return-to-home control method according to claim 68, characterized in that, The passive detection sensor includes an image sensor.

72. The return-to-home control method according to claim 71, characterized in that, The image sensor includes a capture sensor or a visual perception sensor.

73. The return-to-home control method according to claim 66 or 67, characterized in that, The detection range of the one or more sensors includes the area below the drone.

74. The return-to-home control method according to claim 73, characterized in that, The detection range of the one or more sensors also includes at least one direction in front, behind, left, right or above the UAV.

75. The return-to-home control method according to claim 68, characterized in that, At least one of the one or more sensors is located below the drone.

76. The return-to-home control method according to claim 75, characterized in that, At least one of the one or more sensors is disposed on at least one side of the UAV, in front, behind, left, right, or above.

77. The return-to-home control method according to claim 44, characterized in that, During the process of the drone returning from its current position to above the palm, the position of the palm is detected by a sensor located on the front side of the drone. During the process of the drone landing from above the palm onto the palm, the position of the palm is detected by a sensor located on the lower side of the drone.

78. The return-to-home control method according to claim 77, characterized in that, The sensors located on the front side of the drone include the drone's main camera sensor, and the sensors located on the lower side of the drone include the drone's lower visual perception sensor and / or lower time-of-flight sensor.

79. The return-to-home control method according to any one of claims 1 to 7-22, characterized in that, The process of obtaining the user's outstretched hand gesture includes: the drone obtaining the user's outstretched hand gesture based on the detection data from its own sensors.

80. The return-to-home control method according to any one of claims 1 to 7-22, characterized in that, The acquisition of the user's extended palm gesture includes: the drone acquiring the user's extended palm gesture from the control device.

81. The return-to-home control method according to claim 2, characterized in that, The return command is input through the user's own information.

82. The return-to-home control method according to claim 81, characterized in that, The user's own information includes the user's voice, posture, gestures, or movement parameters.

83. The return-to-home control method according to claim 82, characterized in that, The movement parameters include the direction of movement and / or the distance of movement.

84. The return-to-home control method according to claim 2, characterized in that, The return-to-home command is input through the control equipment of the UAV.

85. The return-to-home control method according to claim 84, characterized in that, The input via the control device of the UAV includes attitude adjustments made by the control device or control commands input via the physical controls of the control device.

86. The return-to-home control method according to claim 85, characterized in that, The physical control includes a first type of physical control or a second type of physical control. The first type of physical control is used to detect user input to the virtual control, and the second type of physical control is used to detect user input to move the second type of physical control.

87. The return-to-home control method according to claim 86, characterized in that, The first type of physical control includes a display device, and the second type of physical control includes a joystick, physical buttons, or a dial.

88. The return-to-home control method according to claim 3, characterized in that, The step of controlling the aircraft to return to the moving landing platform in response to a change in the position of the landing platform includes: obtaining the position of the moving landing platform and adjusting the position of the aircraft according to the position of the landing platform to control the aircraft to return to the moving landing platform.

89. The return-to-home control method according to claim 88, characterized in that, Adjusting the position of the aircraft according to the position of the landing platform includes adjusting the horizontal position of the aircraft according to the position of the landing platform.

90. The return-to-home control method according to claim 3, characterized in that, The landing platform includes at least one of the following: the user's palm, a designated item, or a designated landing platform.

91. The return-to-home control method according to claim 3, characterized in that, The operation of deploying the landing platform includes: the user extending their palm, the user extending a designated item, or opening a designated landing platform.

92. The return-to-home control method according to claim 90 or 91, characterized in that, The designated landing platform is equipped with preset visual markers.

93. The return-to-home control method according to any one of claims 3, 88-91, characterized in that, The operation of deploying the landing platform includes: deploying the landing platform on a plane whose angle with the horizontal plane is within a second preset angle range.

94. The return-to-home control method according to claim 93, characterized in that, The second preset angle range includes less than or equal to 30 degrees.

95. The return-to-home control method according to any one of claims 3, 86-89, characterized in that, The step of controlling the aircraft to return to the deployed landing platform includes: responding to the landing platform's information meeting preset conditions, controlling the aircraft to return to the deployed landing platform.

96. The return-to-home control method according to claim 95, characterized in that, The information about the landing platform includes the movement status of the landing platform.

97. The return-to-home control method according to claim 95, characterized in that, The information about the landing platform includes the distance between the landing platform and the aircraft.

98. The return-to-home control method according to any one of claims 3, 86-89, characterized in that, The control of the aircraft to return to the deployed landing platform includes: in response to the aircraft not performing a designated task, controlling the aircraft to return to the deployed landing platform.

99. The return-to-home control method according to any one of claims 3, 86-89, characterized in that, The control of the aircraft to return to the deployed landing platform includes: controlling the aircraft to move above the landing platform, and controlling the aircraft to land from above the landing platform onto the landing platform.

100. The return-to-home control method according to claim 99, characterized in that, The control of the aircraft to move above the landing platform includes: controlling the aircraft to move to a third preset range corresponding to a target position directly above the landing platform, wherein the distance between the third preset range and the target position is less than or equal to a third distance threshold.

101. The return-to-home control method according to claim 100, characterized in that, The third distance threshold is related to the detection range of the detection sensors used by the aircraft to detect the landing platform below.

102. The return-to-home control method according to claim 101, characterized in that, When the aircraft is within the third preset range, the landing platform is within the detection range of the detection sensor.

103. The return-to-home control method according to any one of claims 3, 86-89, characterized in that, The method of controlling the aircraft to return to the deployed landing platform further includes: during the return process of the aircraft, in response to the landing platform being stationary, controlling the aircraft to return to the stationary landing platform.

104. The return-to-home control method according to claim 103, characterized in that, The speed at which the aircraft returns to the stationary landing platform is different from the speed at which the aircraft returns to the moving landing platform.

105. The return-to-home control method according to claim 99, characterized in that, During the process of the aircraft returning from its current position to above the landing platform, the position of the landing platform is detected by a sensor located on the front side of the aircraft. During the process of the aircraft descending from above the landing platform onto the landing platform, the position of the landing platform is detected by a sensor located on the lower side of the aircraft.

106. The return-to-home control method according to claim 1 or 2, characterized in that, During the drone's return process, in response to a movement in the position of the hand or the user, after controlling the drone to follow the movement of the hand or the user, the method further includes: When the palm or the user is stationary, control the drone to return to the stationary palm.

107. The return-to-home control method according to claim 3, characterized in that, During the return flight of the aircraft, in response to a change in the position of the landing platform, after controlling the aircraft to follow the movement of the landing platform, the method further includes: When the landing platform is stationary, control the aircraft to return to the stationary landing platform.

108. A control device for an unmanned aerial vehicle (UAV), characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Obtain the user's outstretched hand gesture; In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm; The step of controlling the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

109. A drone, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; The processor is used to invoke the computer program; The processor is used for: Obtain the user's outstretched hand gesture; In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm; The step of controlling the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

110. A control device, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain the user's outstretched hand gesture; In response to the gesture of extending a palm, the drone is controlled to return to the user's extended palm; The step of controlling the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

111. A control device for an unmanned aerial vehicle (UAV), characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Received return-to-base instruction; In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm; The control of the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

112. An unmanned aerial vehicle (UAV), characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Received return-to-base instruction; In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm; The control of the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

113. A control device, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Received return-to-base instruction; In response to the return-to-home command, the drone is controlled to return to the user's outstretched palm; The control of the drone to return to the user's outstretched palm includes: During the drone's return process, in response to a movement in the position of the palm or the user's position, the drone is controlled to return to the moving palm. Alternatively, during the drone's return flight, in response to a change in the position of the hand or the user, the drone can be controlled to follow the movement of the hand or the user.

114. A control device for an aircraft, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Obtain the operation to deploy the landing platform; In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform; The process of controlling the aircraft to return to the deployed landing platform includes: During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform; Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

115. An aircraft, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain the operation to deploy the landing platform; In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform; The process of controlling the aircraft to return to the deployed landing platform includes: During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform; Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

116. A control device, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain the operation to deploy the landing platform; In response to the operation of deploying the landing platform, the aircraft is controlled to switch from the non-returning state to the return state and return to the deployed landing platform; The process of controlling the aircraft to return to the deployed landing platform includes: During the return flight of the aircraft, in response to the movement of the landing platform, the aircraft is controlled to return to the moving landing platform; Alternatively, during the return flight of the aircraft, in response to a change in the position of the landing platform, the aircraft can be controlled to follow the landing platform's position.

117. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method of any one of claims 1-107.

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