WO2018218516A1 - Unmanned aerial vehicle return route planning method and apparatus - Google Patents

Abstract

An unmanned aerial vehicle (100) return route planning method and apparatus, the return route planning method comprising: in an unmanned aerial vehicle (100) flight process, if trigger information used for instructing the unmanned aerial vehicle (100) to automatically return is detected, then acquiring the current position of the unmanned aerial vehicle (100) and a target position to return to (S101); and, on the basis of the current position, the target position to return to, and preset restricted flight area information, planning the return route of the unmanned aerial vehicle (100) (S102). Considering the impact of restricted flight areas when planning the automatic return route of an unmanned aerial vehicle (100) ensures that the unmanned aerial vehicle (100) can safely return after a loss of control, preventing the return route falling into a restricted flight area, causing the unmanned aerial vehicle (100) to be stuck at the edge of a restricted flight area, so that the unmanned aerial vehicle (100) fails to return.

Description

Unmanned aircraft return route planning method and device Technical field

The invention relates to the field of drones, and in particular to a method and a device for planning a return path of a drone.

Background technique

At present, the automatic return of the drone does not pre-plan the return route. This type of return is usually a direct return from the return altitude to the target position after selecting a return altitude. The above-mentioned UAV return strategy does not consider the impact of the restricted flight zone. During the return flight, the UAV may be hindered by the restricted flight zone, causing the return flight to fail and being stuck at the edge of the restricted flight zone.

Summary of the invention

The invention provides a method and a device for planning a return path of a drone.

According to a first aspect of the present invention, a method for planning a return path of a drone is provided, the method comprising:

During the flight of the drone, if the trigger information for indicating the automatic return of the drone is detected, the current position of the drone and the target position to be returned are obtained;

And determining a return route of the drone according to the current location, a target location to be returned, and preset flight limited zone information.

According to a second aspect of the present invention, there is provided a drone return path planning apparatus, characterized in that the apparatus comprises a processor, wherein the processor is configured to perform the following steps:

During the flight of the drone, if the trigger information for indicating the automatic return of the drone is detected, the current position of the drone and the target position to be returned are obtained;

According to the current position, the target position to be returned, and the preset flight limited area information, Plan the return path of the drone.

According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:

During the flight of the drone, if the trigger information for indicating the automatic return of the drone is detected, the current position of the drone and the target position to be returned are obtained;

And determining a return route of the drone according to the current location, a target location to be returned, and preset flight limited zone information.

The invention considers the influence of the restricted flight zone when planning the path of the automatic return of the drone, so that the drone can safely return after being out of control, and avoids the returning path falling into the restricted flight zone, thereby causing the drone to be stuck in the limit. The edge of the flight zone caused the drone to fail to return.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a schematic structural view of a drone according to an embodiment of the present invention;

2 is a flow chart of a method for planning a return path of a drone according to an embodiment of the present invention;

3 is a flow chart of a method for planning a return path of a drone according to another embodiment of the present invention;

4 is a flow chart of a method for planning a return path of a drone according to still another embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an unmanned aircraft return path planning apparatus according to an embodiment of the present invention; FIG.

6 is a structural block diagram of an unmanned aircraft return path planning device according to an embodiment of the present invention;

7 is a structural block diagram of a method for planning a return path of a drone according to another embodiment of the present invention; Figure.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The method and device for planning the return path of the unmanned aerial vehicle of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

FIG. 1 is a schematic diagram of a drone 100 according to an embodiment of the present invention. The drone 100 can include a carrier 102 and a load 104. In some embodiments, the load 104 can be located directly on the drone 100 without the carrier 102 being required. The drone 100 can include a power mechanism 106, a sensing system 108, and a communication system 110.

Wherein, the power mechanism 106 may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles. For example, the rotating body of the power mechanism may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The drone 100 can have one or more power mechanisms. All power mechanisms can be of the same type. Alternatively, one or more of the power mechanisms can be of different types. The power mechanism 106 can be mounted to the drone by suitable means, such as by a support member (such as a drive shaft). The power mechanism 106 can be mounted at any suitable location of the drone 100, such as a top end, a lower end, a front end, a rear end, a side, or any combination thereof. The flight of the drone 100 is controlled by controlling one or more power mechanisms.

Sensing system 108 may include one or more sensors to sense the spatial orientation, velocity, and/or acceleration of drone 100 (eg, relative to rotation and translation of up to three degrees of freedom). The one or more sensors may include a GPS sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. Sensing data provided by sensing system 108 can be used to track the spatial orientation, velocity, and/or acceleration of target 100 (using suitable processing units and/or control units as described below). Alternatively, the sensing system 108 can be used to collect data for the environment of the drone, such as climatic conditions, potential obstacles to be approached, location of geographic features, location of man-made structures, and the like.

Communication system 110 is capable of communicating with terminal 112 having communication system 114 via wireless signal 116. Communication systems 110, 114 may include any number of transmitters, receivers, and/or transceivers for wireless communication. The communication can be one-way communication so that data can be sent from one direction. For example, one-way communication may include that only drone 100 transmits data to terminal 112, or vice versa. One or more transmitters of communication system 110 can transmit data to one or more receivers of communication system 112, and vice versa. Alternatively, the communication may be two-way communication such that data may be transmitted between the drone 100 and the terminal 112 in both directions. Two-way communication includes one or more transmitters of communication system 110 that can transmit data to one or more receivers of communication system 114, and vice versa.

In some embodiments, terminal 112 can provide control data to one or more of drone 100, carrier 102, and load 104, and from one or more of drone 100, carrier 102, and load 104. Receive information (such as the location and/or motion information of the drone, carrier or load, load-sensing data, such as image data captured by the camera).

In some embodiments, the drone 100 can communicate with other remote devices than the terminal 112, and the terminal 112 can also communicate with other remote devices than the drone 100. For example, the drone and/or terminal 112 can communicate with a carrier or load of another drone or another drone. The additional remote device can be a second terminal or other computing device (such as a computer, desktop, tablet, smartphone, or other mobile device) when needed. The remote device can transmit data to the drone 100, receive data from the drone 100, transmit data to the terminal 112, and/or receive data from the terminal 112. Optional, the far The device can be connected to the Internet or other telecommunications network to upload data received from the drone 100 and/or terminal 112 to a website or server.

In some embodiments, the movement of the drone, the movement of the carrier, and the movement of the load relative to a fixed reference (such as an external environment), and/or movements between each other, can be controlled by the terminal. The terminal may be a remote control terminal located away from the drone, the carrier and/or the load. The terminal can be located or affixed to the support platform. Optionally, the terminal may be handheld or wearable. For example, the terminal may include a smartphone, tablet, desktop, computer, glasses, gloves, helmet, microphone, or any combination thereof. The terminal can include a user interface such as a keyboard, mouse, joystick, touch screen or display. Any suitable user input can interact with the terminal, such as manual input commands, sound control, gesture control, or position control (eg, by motion, position, or tilt of the terminal).

In addition, the unmanned aircraft return path planning method and apparatus provided by the embodiments of the present invention are not limited to the drone, and can also be applied to other unmanned aerial vehicles to control the return of other unmanned aerial vehicles.

The following takes the unmanned aircraft return path planning method and device as an example for specific explanation.

Embodiment 1

Referring to FIG. 2, a method for planning a return path of a drone according to an embodiment of the present invention is provided. The method may be implemented by a dedicated control device mounted on the drone 100 or by a flight controller of the drone 100.

The specific process of the UAV return route planning method of the embodiment of the present invention will be further described below with the flight controller as the execution subject.

Referring to Figure 2, the method can include the following steps:

Step S101: During the flight of the drone 100, if the trigger information for indicating the automatic return of the drone 100 is detected, the current position of the drone 100 and the target position to be returned are acquired;

In this embodiment, the trigger information indicates that the drone 100 is in an uncontrolled state. Leading to no one The reason for the aircraft being out of control may be machine failure, environmental factors (such as interference signals in the flight area of the drone 100). In the out-of-control state, the terminal 112 of the remote drone 100 cannot normally remotely control the drone 100, resulting in a safety hazard of the drone 100. In this embodiment, once the terminal 112 is detected to lose control of the drone 100, the automatic return of the drone 100 is triggered, thereby ensuring the safety of the drone 100 flying.

In some embodiments, the detecting trigger information for indicating the automatic return of the drone 100 includes: detecting that the duration of the communication between the drone 100 and the terminal 112 remotely controlling the drone 100 is equal to or greater than The duration is that the drone 100 is out of control, and the drone 100 needs to be triggered to perform automatic return to avoid further emergencies and improve the intelligence of the drone 100. The preset duration may not be too short, because the terminal 112 may interrupt the temporary communication between the drone 100 and the terminal 112 due to the obstruction of a large obstacle such as a building during the flight of the remotely controlled drone 100. In this case, after the drone 100 flies out of the obstacle, the terminal 112 can resume the communication connection with the drone 100. The preset duration cannot be too long to avoid the safety hazard of the drone 100 caused by the untimely state of the drone 100 being out of control. Preferably, the preset duration is 1 minute or 2 minutes. Optionally, determining whether the drone 100 is in an uncontrolled state may include: in a long period of time (ie, a preset duration), the image transmission cannot be performed between the drone 100 and the terminal 112; or, The drone 100 does not receive the remote control signal transmitted by the terminal 112 for a period of time.

In some embodiments, the detecting trigger information for indicating the automatic return of the drone 100 includes: receiving a user instruction for instructing the drone 100 to automatically return to the air. In this embodiment, the drone 100 itself may not be in an out-of-control state, but is triggered by the user, so that the drone 100 returns in accordance with the mode of the out-of-control state. Specifically, after receiving the user instruction, the flight controller triggers the drone 100 to automatically return to the air in accordance with the mode of the out-of-control state, so that the control of the drone 100 to return to the navigation is more convenient.

In this embodiment, the flight controller instructs the drone 100 to automatically return to the air in accordance with the mode of the out-of-control state, which can be automatically triggered by the flight controller, or can be actively triggered by the user, thereby increasing the number of unmanned The diversity of machine 100 control.

In some embodiments, the target location to be returned is a preset specific location, such as a location preset by the user through the terminal 112, or the drone 100 is positioned according to its own GPS (Global Positioning System). Or some location that is pre-stored by other navigational positioning methods (such as Beidou positioning) (for example, the starting position of the drone 100 flying or a position near the starting position) to meet different needs.

In some embodiments, the target location to be returned is a real-time location for remotely controlling the terminal 112 of the drone 100, thereby ensuring that the drone 100 can return to the user of the operating terminal 112. In some examples, the real-time location of the terminal 112 may be the location of the terminal 112 when the flight controller detects the trigger information for indicating the automatic return of the drone 100, improving the intelligence of the drone 100 to return, and making the unmanned The return of the aircraft 100 is more humane. In some examples, the real-time location of the terminal 112 may be the current location of the terminal 112 received by the flight controller after triggering the automatic return of the drone 100, improving the intelligence and flexibility of the drone 100 to return, and making the unmanned The return of the aircraft 100 is more humane. For example, when the user is in a mobile state, the real-time location of the terminal 112 will change as the user moves.

Step S102: Plan a return path of the drone 100 according to the current location, the target location to be returned, and the preset flight limited zone information.

The planning algorithm for planning the return path of the drone 100 may adopt a conventional path planning algorithm, which is not specifically limited by the present invention.

In the embodiment of the present invention, by considering the influence of the fly-limited area when planning the path of the automatic return of the drone 100, the drone 100 can safely return after being out of control, thereby preventing the return path from falling into the flight-limited area and causing no The man machine 100 is stuck at the edge of the flight limited area, causing the drone 100 to fail to return.

In addition, the limited flight zone information may be represented by a map (eg, a 2D raster map or a 3D raster map) or other forms.

In this embodiment, the flight limited area information can be preset by the user. The area corresponding to the restricted area information may be a flight limited area (part of the area may be flight, another part is prohibited from flying, may be an area such as an airport that may be affected by the flight of the drone 100), or may be a no-fly area. (The area is completely banned, there is no flightable part, it can be a military sensitive area such as a military area or a government building).

The specific process of the return path planning of the drone 100 of the embodiment of the present invention will be described below from the above two areas.

In some embodiments, the flight limited area information includes a flight limit height corresponding to the flight limited area, and is used to indicate that the drone 100 can fly in a space area below the corresponding flight limit height in the current area, but in the current area. It is forbidden to fly in the space area above the corresponding fly-limited height. In practical applications, the limit heights corresponding to the respective positions in the same flight limited zone (the ground position in the flight limited zone) may be different or the same.

In this embodiment, the planning, according to the current location, the target location to be returned, and the preset flight limited zone information, planning a return path of the drone 100, including: according to the current location, a target to be returned a position and a limit fly height corresponding to the fly-limited area, and the return path is controlled to avoid a space area above the fly-limited height in the fly-limited area, thereby preventing the drone 100 from falling into the fly-limit area Space area. For example, considering the economics of the return route and the planned return path that needs to pass through the restricted flight zone, the return route needs to be controlled in a space area below the flight limit height in the flight limited zone. Therefore, while ensuring the economicality of the return route, the drone 100 can be prevented from falling into a space area corresponding to the corresponding flight limit height in the flight limited area, thereby preventing the drone 100 from affecting public safety, and protecting the drone 100 Its own security.

Further, in order to ensure that the fly-limited area can be completely avoided during the return of the drone 100, the return path is controlled to be avoided according to the current position, the target position to be returned, and the limit fly height corresponding to the fly-limited area. While controlling a spatial region above the flight limit height in the flight limited zone, controlling a return flight path from a plane of the flight limit height in the flight limited zone (the plane is parallel to the ground plane and the height is the limit The minimum distance of the flying height is equal to or greater than the preset first warning distance. Wherein, the first early warning distance can be set according to actual conditions, for example, the first early warning distance is set to 20 cm or 50 cm, thereby ensuring that the drone 100 can completely avoid the limited flight area when returning, and preventing the drone 100 cards are on the edge of the flight zone. If the first warning distance is not set, the drone 100 may not be able to avoid due to inertia during the return flight, and the drone 100 may be stuck at the edge of the flight limited area.

In some embodiments, in order to ensure that the no-fly zone can be completely avoided during the return of the drone 100, the restricted flight zone information includes edge information corresponding to the no-fly zone. The fly-by-fly zone in this embodiment means that the drone 100 is prohibited from flying at any height in a certain area. The edge information may be the latitude and longitude information of the no-fly zone, or may be the location information of the no-fly zone obtained by the navigation method such as GPS.

In this embodiment, in order to prevent the drone 100 from entering the no-fly zone, the return path of the drone 100 is planned according to the current location, the target location to be returned, and the preset flight-limited zone information, including Controlling, according to the current position, the target position to be returned, and the edge information corresponding to the no-fly zone, the return path avoiding a spatial area of any height within the edge of the no-fly zone, thereby preventing the drone 100 causes a security risk.

Further, according to the current position, the target position to be returned, and the edge information corresponding to the no-fly zone, the return path is controlled to avoid a spatial region of any height within the edge of the no-fly zone. And controlling, by the return path, a minimum distance from an edge of the no-fly zone to be equal to or greater than a preset second warning distance. Wherein, the second early warning distance can be set according to actual conditions, for example, the second early warning distance is set to 20 cm or 50 cm, thereby ensuring that the drone 100 can completely avoid the no-flying zone when returning, preventing the drone 100 cards are on the edge of the no-fly zone. If the second warning distance is not set, the drone 100 may not be able to avoid due to inertia during the return flight, and the drone 100 may be stuck at the edge of the no-fly zone.

Referring to FIG. 3, in some embodiments, after detecting the trigger information for indicating the automatic return of the drone 100, the method further includes: acquiring an environment map of the area where the drone 100 is flying, Thereby, the environmental information of the area where the drone 100 is currently located is obtained. In this embodiment, the environment map of the area through which the drone 100 can be obtained by navigation such as GPS, or the image taken by the drone 100 during the flight can be obtained. Specifically, the acquiring the environment map of the area in which the drone 100 is flying includes: obtaining map information of the area where the drone 100 is flying, and an image taken by the drone 100 during the flight; according to the map information And the image, the environment map is constructed in real time, that is, after a general map (a map obtained by a navigation method such as GPS) and image information captured by a visual system of the drone 100, a high-precision map is obtained, and the high-precision map is taken as The environmental map. Optionally, the environment map is a two-dimensional map. Optionally, the environment map is a three-dimensional map including height information of obstacles.

In some embodiments, the planning the return path of the drone 100 according to the current location, the target location to be returned, and the preset flight limited area information further includes: according to the current location, to be returned The target location, the preset flight zone information, and the environment map, the return path of the drone 100 is planned, and the return route is made more reasonable by comprehensively considering the environment map and the limited flight zone information.

Optionally, the area in which the drone 100 is flying includes at least an area in which the drone 100 is flying before returning, so that the environment map of the area before the flight of the drone 100 is returned according to the environment and the environment map. The limited flight zone information is used to plan the return route, so that the drone 100 is safer to return.

Optionally, the area in which the drone 100 is flying includes the area before the flight of the drone 100 and the area in the return process of the drone 100, and the area before the flight of the drone 100 is returned. Considering the area in the return process of the drone 100, the accuracy of the obtained environment map is higher. For example, there are obstacles (such as hot air balloons, kites, kongming lights, etc.) that change in real time in the current area of the drone 100. In this case, the embodiment is more suitable for the planning of the return path of the dynamically changing environment, so that the drone 100 is safer to return.

In some embodiments, the environmental map includes obstacle information in an area where no one is flying. Optionally, the obstacle information may include location information and height information of a building or the like, wherein The location information may be obtained according to map information obtained by a navigation method such as GPS, and the height information may be obtained according to an image captured by a visual system of the drone 100.

In order to prevent the UAV 100 from colliding with an obstacle during the return flight, the intelligent obstacle avoidance function of the UAV 100 is implemented, according to the current position, the target position to be returned, and the preset flight limited area information. And the environment map, the planning the return path of the drone 100, further comprising: controlling, according to the obstacle information, a minimum distance of the return path from an edge of the obstacle is equal to or greater than a preset third Early warning distance. The third early warning distance may be set according to actual conditions, for example, the third early warning distance is set to 20 cm or 50 cm, thereby ensuring that the drone 100 can completely avoid the obstacle when returning, and the drone 100 is prevented. Damage. If the third warning distance is not set, the drone 100 may lose speed due to the inertia caused by the flight speed during the return flight, which may cause the drone 100 to collide with the obstacle and cause loss.

Referring to FIG. 4, in some embodiments, after the return path of the drone 100 is planned, the following steps may be further included:

Step S301: Control the drone 100 to return from the current position to the target position according to the return path.

Through step S301, the automatic return of the drone 100 after the loss of control is realized, thereby ensuring the safety of the drone 100 and the public, and reducing the possibility of an accident.

In order to further ensure the safety of the drone 100, in some embodiments, step S301 further includes: if the obstacle is detected, controlling the drone 100 to fly around the obstacle, thereby controlling the drone 100 The obstacle avoidance function is realized to prevent damage caused by the collision of the drone 100. In this embodiment, a repulsive force opposite to the current flight direction of the drone 100 can be applied to the drone 100 by the gravity field method or the velocity field method, thereby controlling the drone 100 to fly around the obstacle to realize the unmanned person. The obstacle avoidance function of the machine 100.

Further, while controlling the drone 100 to fly around the obstacle, The minimum distance of the drone 100 from the edge of the obstacle is controlled to be equal to or greater than a preset third warning distance, thereby maximizing the safety of the drone 100 and preventing the drone 100 from colliding with the obstacle. The third early warning distance of the embodiment can be set according to actual needs, for example, the third early warning distance is set to 20 cm or 50 cm, thereby ensuring that the drone 100 can completely avoid the obstacle when returning, preventing no Damage to the human machine 100. If the third warning distance is not set, the drone 100 may lose speed due to the inertia caused by the flight speed during the return flight, which may cause the drone 100 to collide with the obstacle and cause loss.

Embodiment 2

The unmanned aircraft return route planning device provided by the embodiment of the present invention corresponds to the unmanned aircraft return route planning method.

Referring to FIG. 5, the UAV return path planning apparatus may include a processor 11, wherein the processor 11 is configured to perform the steps of the UAV return path planning method described in Embodiment 1 above.

In this embodiment, the processor 11 may be selected as a controller in a dedicated control device, or may be selected as a flight controller of the drone 100, or may be selected as a pan/tilt controller.

For the unexpanded part, refer to the same or similar parts of the unmanned aircraft return path planning method in the first embodiment, and details are not described herein again.

Embodiment 3

The unmanned aircraft return route planning device provided by the embodiment of the present invention corresponds to the unmanned aircraft return route planning method.

Referring to FIG. 6, the UAV return route planning device may include:

The detecting module 10 detects whether there is trigger information for indicating the automatic return of the drone 100 during the flight of the drone 100;

The obtaining module 20 is detected at the detecting module 10 for indicating the automatic drone 100 After the trigger information of the return flight, the current position of the drone 100 and the target position to be returned are obtained;

The planning module 30 is configured to plan a return path of the drone 100 according to the current location, a target location to be returned, and preset flight limited zone information.

Further, the target position to be returned is a preset specific position; or the target position to be returned is a real-time position for remotely controlling the terminal 112 of the drone 100.

Further, the detecting module 10 detects the trigger information for indicating the automatic return of the drone 100, and includes: detecting that the duration of the communication between the drone 100 and the terminal 112 remotely controlling the drone 100 is equal to or greater than The duration is set; or, a user instruction for instructing the drone 100 to automatically return to the air is received.

Further, the limited flight zone information includes a flight limit height corresponding to the flight limited zone. The planning module 30 is further configured to control, according to the current position, a target position to be returned, and a fly-limit height corresponding to the fly-limited area, to control the return path to avoid a space above the fly-limit height in the fly-limited area. region.

Further, the planning module 30 controls the return path to avoid the space above the fly-limit height in the fly-limited area according to the current position, the target position to be returned, and the limit fly height corresponding to the fly-limited area. At the same time, the area is further configured to control a minimum distance that the return path is from a plane of the limit fly height in the fly-limited area equal to or greater than a preset first early warning distance.

Further, the limited flight zone information includes edge information corresponding to the no-fly zone. The planning module 30 is further configured to control the return path to avoid any height in the edge of the no-fly zone according to the current location, the target location to be returned, and the edge information corresponding to the no-fly zone. region.

Further, the planning module 30 controls the return path to avoid any height in the edge of the no-fly zone according to the current location, the target location to be returned, and the edge information corresponding to the no-fly zone. The area is also used to control the minimum distance of the return path from the edge of the no-fly area to be equal to or greater than a preset second warning distance.

Further, after the detecting module 10 detects the trigger information for indicating the automatic return of the drone 100, the acquiring module 20 is further configured to acquire an environment map of the area where the drone 100 is flying. The planning module 30 is configured to plan a return path of the drone 100 according to the current location, a target location to be returned, a preset flight limited zone information, and the environment map.

Further, the acquiring module 20 acquires an environment map of the area in which the drone 100 is flying, including: obtaining map information of the area where the drone 100 is flying, and an image taken by the drone 100 during the flight; The map information and the image are described, and the environment map is constructed in real time.

Further, the area in which the drone 100 is flying includes at least the area over which the drone 100 flies before returning.

Further, the area in which the drone 100 flies also includes the area in which the drone 100 passes during the return flight.

Further, the environmental map includes obstacle information in an area where no one is flying. The planning module 30 is further configured to control, according to the obstacle information, that a minimum distance of the return path from an edge of the obstacle is equal to or greater than a preset third warning distance.

Further, referring to FIG. 7, the UAV return path planning apparatus further includes:

The control module 40 is configured to control the drone 100 to return from the current location to the target location according to the return path planned by the planning module 30.

Further, if the detecting module 10 detects an obstacle, the control module 40 controls the drone 100 to fly around the obstacle and control the drone 100 to be away from the edge of the obstacle. The minimum distance is equal to or greater than the preset third warning distance.

For the unexpanded part, refer to the same or similar parts of the unmanned aircraft return path planning method in the first embodiment, and details are not described herein again.

Embodiment 4

An embodiment of the present invention provides a computer storage medium, where the computer storage medium stores program instructions, where the computer storage medium stores program instructions, and the program executes the unmanned aircraft return path planning described in the first embodiment. method.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the examples or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations in which the functions may be performed in a substantially simultaneous manner or in the reverse order, depending on the order in which they are illustrated. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable only Read memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims (16)

A method for planning a return path of a drone, characterized in that the method comprises: During the flight of the drone, if the trigger information for indicating the automatic return of the drone is detected, the current position of the drone and the target position to be returned are obtained; And determining a return route of the drone according to the current location, a target location to be returned, and preset flight limited zone information. The method according to claim 1, wherein the limited flight zone information comprises a flight limit height corresponding to the flight limited zone; Determining the return path of the drone according to the current location, the target location to be returned, and the preset flight limited zone information, including: And determining, according to the current position, the target position to be returned, and the limit fly height corresponding to the fly-limited area, the return path avoids a space area above the fly-limited height in the fly-limited area. The method according to claim 2, wherein the controlling the return path avoiding the fly-limited area is located according to the current position, the target position to be returned, and the limit fly height corresponding to the fly-limited area Simultaneously, the minimum distance of the return path from the plane of the limit fly height in the fly-limited area is equal to or greater than a preset first early warning distance. The method according to claim 1, wherein the limited flight zone information comprises edge information corresponding to the no-fly zone; Determining the return path of the drone according to the current location, the target location to be returned, and the preset flight limited zone information, including: And determining, according to the current position, the target position to be returned, and the edge information corresponding to the no-fly zone, the return path avoiding a spatial region of any height within the edge of the no-fly zone. The method according to claim 4, wherein the controlling the return route to avoid the no-fly zone according to the current location, the target location to be returned, and the edge information corresponding to the no-fly zone Controlling the return path while simultaneously providing a spatial region of any height within the edge The minimum distance from the edge of the no-fly zone is equal to or greater than the preset second warning distance. The method according to claim 1, wherein after detecting the trigger information for indicating the automatic return of the drone, the method further comprises: Obtain an environmental map of the area where the drone is flying; The planning the return path of the drone according to the current location, the target location to be returned, and the preset flight limited zone information further includes: And determining a return route of the drone according to the current location, a target location to be returned, a preset flight limited zone information, and the environment map. The method according to claim 6, wherein the obtaining an environmental map of a region in which the drone is flying comprises: Obtaining map information of the area where the drone is flying and images taken by the drone during the flight; The environment map is constructed in real time based on the map information and the image. The method of claim 7 wherein said UAV flight passing area comprises at least said UAV flight passing area before returning. The method according to claim 8, wherein the area in which the drone is flying further includes an area in which the drone returns during the return. The method of claim 6 wherein said environmental map comprises obstacle information in an area where no one is flying; The planning the return path of the UAV according to the current location, the target location to be returned, the preset flight zone information, and the environment map further includes: And according to the obstacle information, controlling a minimum distance of the return path from an edge of the obstacle is equal to or greater than a preset third warning distance. The method according to any one of claims 1 to 10, further comprising: after planning the return path of the drone, further comprising: Controlling the drone to return from the current position to the target position according to the return path. The method of claim 11 wherein said controlling said drone Returning from the current location to the target location according to the return route, further comprising: If an obstacle is detected, controlling the drone to fly around the obstacle and controlling the minimum distance of the drone from the edge of the obstacle is equal to or greater than a preset third warning distance. The method according to claim 1, wherein the detecting trigger information for indicating automatic return of the drone comprises: Detecting that the duration of the communication between the drone and the terminal remotely controlling the drone is equal to or greater than a preset duration; or, A user command is received to indicate that the drone automatically returns. The method of claim 1 wherein The target position to be returned is a preset specific location; Alternatively, the target location to be returned is a real-time location of the terminal for remotely controlling the drone. An unmanned aircraft return route planning apparatus, characterized in that the apparatus comprises a processor, wherein the processor is configured to perform the unmanned aircraft return route planning method according to any one of claims 1 to 14. A computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor to implement the steps of the unmanned aircraft return route planning method according to any one of claims 1 to 14.

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