WO2021223176A1

WO2021223176A1 - Control method and device for unmanned aerial vehicle

Info

Publication number: WO2021223176A1
Application number: PCT/CN2020/089032
Authority: WO
Inventors: 王晓亮; 商志猛; 吕熙敏
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2021-11-11
Also published as: CN113906361A

Abstract

A control method and device for an unmanned aerial vehicle, the method comprising: once power output by an unmanned aerial vehicle fails, controlling the unmanned aerial vehicle to be in a controllable state (S301); once the unmanned aerial vehicle is in the controllable state, controlling the unmanned aerial vehicle to land (S302), so that the unmanned aerial vehicle lands on a safe platform, thus preventing the unmanned aerial vehicle from continuing to execute work tasks and then crashing, ensuring the safety of the unmanned aerial vehicle, reducing the loss of property and personnel security due to the unmanned aerial vehicle crashing, and improving the user experience.

Description

Control method and equipment of unmanned aerial vehicle

Technical field

The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a control method and equipment of an unmanned aerial vehicle.

Background technique

The flight of the UAV is realized by relying on the power provided by the power system. Among them, the power system of the UAV includes motors, ESCs, and propellers. The UAV may include multiple propellers, and each propeller is connected with a corresponding ESC and motor. The synergy of the ESC, the motor, and the propeller provide power for the UAV and drive the UAV to fly. During the flight of the UAV, if any of the above three fails, the power system of the UAV will fail, which will not be able to provide normal power for the UAV, affecting the normal flight of the UAV, or even Caused the drone to crash.

Summary of the invention

The embodiments of the present application provide a control method and equipment of an unmanned aerial vehicle, which are used to prevent the unmanned aerial vehicle from crashing after the power system of the unmanned aerial vehicle fails.

In the first aspect, an embodiment of the present application provides a method for controlling a drone, which is applied to a drone, and the method includes:

After the power output of the unmanned aerial vehicle fails, control the unmanned aerial vehicle to be in a controllable state;

After the drone is in a controllable state, the drone is controlled to land.

In a second aspect, an embodiment of the present application provides a method for controlling a drone, which is applied to a control terminal, and the method includes:

After the power output of the drone fails and the drone is in a controllable state, obtain a target control strategy determined from at least one different control strategy, and each control strategy is used to control the drone landing;

According to the target control strategy, the drone is controlled to land.

In the third aspect, an embodiment of the present application provides a drone, including:

The processor is used to control the drone to be in a controllable state after the power output of the drone fails; and to control the drone to land after the drone is in the controllable state.

In a fourth aspect, an embodiment of the present application provides a control terminal, including:

The processor is configured to obtain a target control strategy determined from at least one different control strategy when the power output of the drone fails and the drone is in a controllable state, and each control strategy is used for control The drone is landed; according to the target control strategy, the drone is controlled to land.

In a fifth aspect, an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, it realizes the non-disclosure described in the first or second aspect. Man-machine control method.

In a sixth aspect, an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor can read the A computer program, and the at least one processor executes the computer program to implement the drone control method according to the embodiment of the present application in the first aspect or the second aspect.

In summary, the control method and equipment for drones provided by the embodiments of the present application control the drone to be in a controllable state after the power output of the drone fails, and when the drone is in a controllable state Later, control the drone to land so that the drone will land on a safety platform, so as to prevent the drone from continuing to perform work tasks and crashing, ensuring the safety of the drone, and reducing the property and damage caused by the drone crash. The loss of personnel safety improves the user experience.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application;

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application;

FIG. 3 is a flowchart of a control method of a drone provided by an embodiment of the application;

FIG. 4 is a flowchart of a control method of a drone provided by another embodiment of the application;

Figure 5 is a flowchart of a drone control method provided by another embodiment of the application;

FIG. 6 is a flowchart of a control method of a drone provided by another embodiment of the application;

Figure 7 is a flowchart of a drone control method provided by another embodiment of the application

FIG. 8 is a flowchart of a control method of a drone provided by another embodiment of the application;

FIG. 9 is a schematic structural diagram of a drone provided by an embodiment of the application;

FIG. 10 is a schematic structural diagram of a control terminal provided by an embodiment of this application;

FIG. 11 is a schematic structural diagram of a control system for an unmanned aerial vehicle provided by an embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The embodiments of the present application provide a control method and equipment for a drone. Among them, the embodiments of the present application can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone may be a rotorcraft, for example, a multi-rotor drone that is propelled through the air by a plurality of propulsion devices. The embodiments of the present application are not limited to this. It will be obvious to the skilled person that other types of drones can be used without restrictions.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130. Among them, the drone 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150. The UAV 110 may be an agricultural UAV or an industrial application UAV, and there is a need for cyclic operation. Correspondingly, the battery also has the need for cyclic operation.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage and used for supporting the UAV 110 when it is landed.

The power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more remote control signals from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry a load, and the load may be, for example, the camera 123. The flight controller 161 can control the movement of the pan/tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt may be located on the top of the drone or on the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.

The display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image photographed by the photographing device 123 may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial vehicle 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be construed as a limitation to the embodiments of the present application.

Fig. 2 is a schematic diagram of an application scenario provided by an embodiment of the application. As shown in Fig. 2, Fig. 2 shows a drone 201 and a control terminal 202 of the drone. The control terminal 202 of the drone 201 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet). In the embodiment of the present application, the control terminal 202 is the remote controller 2021 and the terminal device 2022 as an example for schematic description. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto. When the UAV 201 is flying, for example, when performing a work task, if the power output of the UAV fails, it may cause the UAV to crash. Therefore, this application controls the drone to be in a controllable state after the motor vehicle output of the drone fails, and then controls the drone to land safely, such as landing in place, or landing after returning home, or the user controls the drone The aircraft flies to a certain location and then land, is not limited to this; to avoid damage to the UAV crash.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

FIG. 3 is a flowchart of a control method of a drone provided by an embodiment of the application. The method of this embodiment can be applied to a control device of a drone. The control device of the drone can be set on the drone; or, part of the control device of the drone is set on the drone, and the other part is set on the control terminal of the drone. Taking the control equipment of the drone as an example for description, as shown in Fig. 3, the method of this embodiment includes:

S301. After the power output of the drone fails, control the drone to be in a controllable state.

S302. After the drone is in a controllable state, control the drone to land.

In this embodiment, after the unmanned aerial vehicle detects that the power output of the unmanned aerial vehicle has failed, the unmanned aerial vehicle is controlled to be in a controllable state, and the unmanned aerial vehicle can control the flight trajectory of the unmanned aerial vehicle in the controllable state. In this embodiment, after the drone is in a controllable state, the drone is controlled to land, so that the drone lands on a safe plane and stops flying, thereby avoiding the drone from continuing to perform work tasks and crashing.

Among them, the power output failure of the UAV may include partial failure of the power output of the UAV or complete failure of the power output of the UAV.

Taking the UAV as a multi-axis rotor UAV as an example, the flight of the UAV depends on the power output by each axis of the rotor to drive. The UAV can detect whether the power output of each axis of the rotor has failed. If the power output of at least one axis of the rotor fails, it can be determined that the power output of the UAV has failed. The power output failure of each axis rotor may also include partial power output failure or complete power output failure of the rotor.

The control method of the drone provided in this embodiment controls the drone to be in a controllable state after the power output of the drone fails, and controls the drone to land after the drone is in the controllable state, Make the drone land on a safe plane (such as the ground), so as to prevent the drone from continuing to perform work tasks and crash, ensure the safety of the drone, and reduce the loss of property and personnel safety caused by the drone crash. Improve the user experience.

In some embodiments, controlling the drone to be in a controllable state may be: controlling the drone to rotate. For example, the drone rotates at a certain speed to balance the attitude of the drone.

In other embodiments, controlling the drone to be in a controllable state may be: controlling the drone to rotate and controlling the drone to hover. That is, the drone is controlled to hover in a geographic location, and the drone is controlled to rotate in the geographic location.

It can be understood that when the drone is in a controllable state, being able to control the drone to hover is only one way to reflect that the drone is controllable. In some embodiments, controlling the drone in a controllable state can also be other. The purpose of hovering is to control the drone according to the received user's operation instructions during the rotation of the drone, rather than during the movement of the drone (such as level and/or Displacement in the height direction) to receive the user's operating instructions, which may cause the user to issue the operating instructions and the drone's position when the drone receives the operating instructions, resulting in a control that does not meet the user's expectations. Of course, it is not right. This is limited, and the design can be specifically designed according to actual requirements.

On the basis of the embodiment shown in FIG. 3, in some embodiments, a possible implementation of the above S302 is: after the drone is in a controllable state, control the drone from the current geographic location Fly to the target geographic location. When the drone flies to the target geographic location, the drone is controlled to land.

In this embodiment, after the drone is in a controllable state, the drone is controlled to fly from the current geographic location to the target geographic location. When the drone flies to the target geographic location, control the drone to land at the target geographic location. The geographic location can be a two-dimensional geographic location, including longitude and latitude.

Optionally, the target geographic location may be a preset geographic location. The preset geographic location is, for example, the preset home point of the drone, and the drone can be controlled to fly from the current geographic location to the preset home point according to the home route. When the drone flies to the preset home point, Control the drone to land at the preset home point.

Optionally, the target geographic location is the geographic location to which the user controls the drone to fly, and the drone is controlled to fly according to the flight direction specified by the user. When the user instructs to stop the flight, the drone is controlled to stop flying and hover , The geographic location where the drone is hovering is the target geographic location, and then the drone is controlled to land at the geographic location where the drone is hovering.

In this embodiment, after the drone is in a controllable state, first control the drone to fly from the current geographic location to the target geographic location, and then control the drone to land at the target geographic location, so that the user is convenient in the target geographic location Find the drone.

In some embodiments, a possible implementation of S302 is: after the drone is in a controllable state, control the drone to land at the current geographic location, which may also be referred to as landing in place. For example, when the drone is in a controllable state including the drone hovering, when the drone is rotating and hovering, the drone is controlled to land at the geographic location where the drone is hovering.

On the basis of any of the above embodiments, one implementation of controlling the landing of the drone is: controlling the drone to land to a position with a preset distance from the safety plane in the height direction, and then controlling the drone at the position. The unmanned aerial vehicle stops power output, so that the unmanned aerial vehicle descends to the safe plane.

In this embodiment, in the stage of controlling the landing of the UAV, such as the stage of controlling the landing of the UAV at the current geographical position or the stage of controlling the landing of the UAV at the target geographical position, first control the UAV to land to the height direction and the distance from the safe plane. Set the position of the distance (can be called the safe landing stage). Then control the drone to stop the power output at a preset distance from the safety plane in the height direction. The power output stops so that the drone's propeller no longer rotates, so that the drone will land on a safe plane (it can be called a near-ground propeller). stage). After the UAV stops power output, the UAV falls to a safe plane in a free fall motion under the action of gravity. The safety plane is, for example, the ground, the roof of a house, etc., but the implementation is not limited to this.

Optionally, before controlling the drone to land to a position at a preset distance from the safety plane in the height direction, it can also be determined whether the distance between the drone and the safety plane in the height direction is greater than the preset distance.

If yes, control the drone to land at a preset distance from the safety plane in the height direction, and then control the drone to stop power output at a preset distance from the safety plane in the height direction, so that the drone will land to a safe plane . If not, there is no need to perform the process of controlling the drone to land at a preset distance from the safety plane in the height direction, but to control the drone to stop power output so that the drone will land to a safe plane.

It should be noted that the geographic location of the drone can remain unchanged when the drone is controlled to land at a predetermined distance from the safety plane in the height direction.

On the basis of any of the foregoing embodiments, after the drone is in a controllable state, before the drone is controlled to stop landing, the drone is controlled to rotate, so as to ensure that the drone is still in a controllable state as much as possible.

It should be noted that before controlling the drone to stop landing means that the drone is no longer driven to land by power. Among them, after the UAV stops power output, the UAV descends under the action of gravity, not under the action of power, and is not controlled by the UAV. Therefore, the landing after the UAV stops the power output is not controlled. The man-machine stopped landing and did not control the rotation of the drone.

Fig. 4 is a flowchart of a drone control method according to another embodiment of the application. As shown in Fig. 4, the method of this embodiment is applied to a control terminal of a drone. The method of this embodiment may include:

S401: After the power output of the unmanned aerial vehicle fails and the state of the unmanned aerial vehicle is in a controllable state, obtain a target control strategy determined from at least one different control strategy.

S402: Control the drone to land according to the target control strategy.

In this embodiment, at least one different control strategy is preset in the control terminal of the UAV, and each control strategy is used to control the landing of the UAV. After the power output of the drone fails and the drone is in a controllable state, determine a control strategy from at least one different control strategy as the target control strategy, and then control the drone to land according to the target control strategy. Make the drone land on a safe plane and stop flying, so as to prevent the drone from continuing to perform work tasks and crash, ensure the safety of the drone, reduce the loss of property and personnel safety caused by the drone crash, and improve Improve the user experience.

Based on the embodiment shown in FIG. 4, the target control strategy is a control strategy that controls the drone to fly from the current geographic location to the target geographic location, and then controls the drone to land at the target geographic location. A possible implementation manner of the foregoing S402 is: controlling the drone to fly from the current geographic location to the target geographic location according to the target control strategy; controlling the drone to land at the target geographic location.

Optionally, the target control strategy may include: a user control strategy. The user control strategy may be a control strategy for controlling the drone to fly from the current geographic location to the target geographic location, and then controlling the drone to land at the target geographic location according to the user's control operation. Correspondingly, according to the target control strategy, a possible implementation manner of controlling the drone to fly from the current geographic location to the target geographic location is: obtaining the user's control operations on the drone according to the user control strategy ; According to the control operation, control the UAV to fly from the current geographic location to the target geographic location.

In this embodiment, since the determined target control strategy is the user control strategy, the control of the drone is controlled by the user's control operation. It is necessary to detect that the user performs the control operation of the drone on the control terminal. When the user performs the control operation When the time, the control terminal obtains the user's control operation on the UAV, and according to the control operation, controls the UAV to execute the flight process corresponding to the control operation, so as to control the UAV to fly from the current geographic location to the target geographic location.

Optionally, the target control strategy may include: a return home control strategy. The target geographic location is the preset home point of the drone. The home control strategy can be to control the drone to fly from the current geographic location to the preset home point of the drone, and then control the drone to be at the preset home point. Landing control strategy. Correspondingly, according to the target control strategy, one possible implementation manner of controlling the drone to fly from the current geographic location to the target geographic location is: according to the return control strategy, controlling the drone from the current geographic location The position returns to the preset home point.

In this embodiment, since the determined target control strategy is a return home control strategy, the home return point is predetermined before the UAV flies from the current geographic location. The home point can be pre-stored in the drone; or, the home point can be pre-stored in the control terminal; or, the home point can be the user input to the control terminal after the target control strategy is determined to be the home control strategy Home point.

On the basis of the embodiment shown in FIG. 4, the target control strategy is a landing-in-place control strategy, and the landing-in-place control strategy is a control strategy for controlling the UAV to land from the current geographic location. A possible implementation manner of the foregoing S402 is: controlling the drone to land at the current geographic location according to the in-situ landing control strategy. After the target control strategy is determined to be the in-situ landing control strategy, there is no need to control the drone to continue flying, but to control the drone to land at the current geographic location. If controlling the drone in a controllable state includes controlling the drone to hover, the current geographic location is the geographic location where the drone is hovering.

Optionally, on the basis of any of the foregoing embodiments, a possible implementation manner for the control terminal to control the drone to land is to first control the drone to land to a preset distance from a safe plane in the height direction. Distance position; and then send a power output stop instruction to the drone, so that the drone stops power output to land on the safe plane.

FIG. 5 is a flowchart of a drone control method provided by another embodiment of the application. As shown in FIG. 5, the method in this embodiment may include:

S501. After the power output of the drone fails, the drone is controlled to be in a controllable state.

In this embodiment, the specific implementation process of S501 can refer to the related description in the embodiment shown in FIG. 3, which will not be repeated here.

S502: Control the terminal to output first prompt information.

In this embodiment, the drone notifies the control terminal that the power output of the drone is invalid, and also informs the control terminal that the drone is in a controllable state. After determining that the power output of the drone is invalid and the drone is in a controllable state, the control terminal outputs first prompt information for prompting that the target control strategy needs to be selected from at least one different control strategy. In this embodiment, at least one different control strategy including a user control strategy, a return home control strategy, and an in-situ landing control strategy is taken as an example. The first prompt information is used to indicate that the user control strategy, the return home control strategy, and the in-situ landing control need to be controlled. Select the target control strategy in the strategy.

Wherein, outputting the first prompt information may be displaying the first prompt information on the display device; or playing the first prompt information by voice; or, displaying the first prompt information on the display device and playing the first prompt information by voice. The following implementation process of outputting the second prompt information or the third prompt information or the fourth prompt information or the fifth prompt information or the sixth prompt information is similar, and will not be described in detail below.

Wherein, the above-mentioned display device may be a display screen of a terminal device in the control terminal or a remote control liquid crystal display screen in the control terminal.

In a specific example, the output of the first prompt message may be: the APP in the control terminal prompts "enter the power failure hovering, the user can control the stick, return to home or land on the spot", and the corresponding APP pop-up window appears Three options.

S503. The control terminal obtains the user's selection instruction, and according to the user's selection instruction, determines the target control strategy as the user control strategy.

In this embodiment, after the control terminal outputs the first prompt information, the user selects the target control strategy from the user control strategy, the return home control strategy, and the landing control strategy. In this embodiment, the target control strategy selected by the user is the user Take the control strategy as an example. For example, the user can input a selection instruction through the interactive device of the control terminal, for example, click to select the icon information of the user control strategy. Alternatively, the user can input a voice selection instruction of "user control strategy" through voice interaction with the control terminal.

In this embodiment, the target control strategy selected by the user is determined to be the user control strategy according to the acquired selection instruction of the user.

Optionally, the control terminal acquiring the user's selection instruction refers to the user's selection instruction acquired within a first preset time period after the control terminal outputs the first prompt information.

Optionally, if the user's selection instruction is not obtained within the first preset time period after the control terminal outputs the first prompt information, for example, the user fails to select by the above methods within the first preset time period after the control terminal outputs the first prompt information For the target control strategy, the control terminal determines the preset control strategy among the user control strategy, the return home control strategy, and the in-situ landing control strategy as the target control strategy. The pre-default control strategy is, for example, a user control strategy, and this embodiment is not limited to this. In this embodiment, the pre-default control strategy is the user control strategy as an example, which can ensure that the drone is still controlled by the user after the power output fails, and avoids the security risks faced by the autonomous control of the drone.

In this embodiment, the first preset duration is used to restrict the user's control instruction, which can prevent the user from continuing to wait without responding for a long time, so as to ensure that the drone will land in time.

S504: Control the terminal to output second prompt information.

In this embodiment, after determining that the target control strategy is the user control strategy, the second prompt information is output, and the second prompt information is used to prompt the drone to be controlled according to the user control strategy. To notify the user of the current target control strategy, so that the user can make an operation that matches the target control strategy.

In a specific example, the output of the second prompt message may be: the APP prompt of the control terminal "enter the user control phase, please control the position of the aircraft by pressing the stick". The compass in the APP does not represent the heading of the drone at this time, but represents the corresponding direction when the remote control sticks.

S505. The control terminal obtains the user's flight direction control operation of the UAV, and determines the flight direction set by the user according to the flight direction control operation.

In this embodiment, after the user selects the target control strategy as the user control strategy, the user needs to control the flight of the drone. The user performs a flight direction control operation on the control terminal. After the control terminal obtains the flight direction control operation, it controls according to the flight direction. Operate to confirm the flight direction set by the user. For example, the user performs a stick operation on the remote controller of the control terminal, where the stick direction is used to indicate the flying direction set by the user. Optionally, the flight direction is the flight direction in the geodetic coordinate system. For example, if the stick direction is northward, it means that the flight direction set by the user is northward flight. It should be noted that the user can change the direction of the stick according to the user's needs, so as to control and change the flying direction of the drone at any time.

Optionally, the user can also control the flight speed of the drone. The user can perform flight speed control operations on the control terminal. After the control terminal obtains the flight speed control operation, it determines the flight speed set by the user according to the flight speed control operation. For example, the user performs a stick operation on the remote controller of the control terminal, where the amount of the stick is used to indicate the flying speed set by the user. It should be noted that the user can change the stroke amount according to the user's needs, so as to control and change the flying speed of the drone at any time.

Optionally, the flying speed set by the user is less than or equal to a preset flying speed, and the preset flying speed is, for example, 2 m/s. In this embodiment, the flying speed set by the user cannot be too high, so as to avoid the phenomenon of loss of control during the flight of the drone.

S506. The control terminal sends a flight control instruction to the drone. Correspondingly, the drone receives the flight control instructions sent by the control terminal.

In this embodiment, the flight control instruction includes the flight direction set by the user, or the flight control instruction includes the flight direction and flight speed set by the user.

S507. The UAV controls the UAV to fly in the direction of flight from the current geographic location.

In this embodiment, the flight control instruction includes the flight direction set by the user, and the UAV controls the UAV to fly in the flight direction according to the flight control instruction.

If the flight control instruction also includes the flight speed set by the user, the drone controls the drone to fly in the flight direction at the flight speed.

S508: When the control terminal obtains the stop flight operation, it sends a stop flight instruction to the drone. Correspondingly, the drone receives the stop flight instruction sent by the control terminal.

In this embodiment, when the user wants to hover the drone, the user can perform a stop flight operation on the control terminal. Correspondingly, when the control terminal obtains the stop flight operation, it is determined that the user instructs the drone to stop flying, and then The drone sends a stop flight instruction. For example, the user operates the control terminal's remote control lever to reset to the original position, that is, no longer set the flight direction, and no longer set the flight speed.

S509. The drone controls the drone to stop flying in the flight direction and hover.

In this embodiment, after the drone receives the stop flight instruction, it controls the drone to stop flying and hover in the flying direction set by the user. At this time, the geographic location where the drone is hovering is the target geographic location.

S510: Control the terminal to output third prompt information.

In this embodiment, after the control terminal sends a flight stop instruction to the drone, the third prompt message is output. The third prompt message is used to prompt whether to control the drone to start landing in the height direction.

In a specific example, the output of the third prompt message may be: the APP pop-up window of the control terminal prompts "whether to start a safe descent".

S511. When the control terminal obtains the user's safe landing confirmation instruction, it sends a safe landing instruction to the drone. Correspondingly, the drone receives a safe landing instruction sent by the control terminal.

In this embodiment, when the user executes a safe landing confirmation instruction to the control terminal based on the third prompt information output by the control terminal, for example, the third prompt information displayed by the display device includes the icons of "Yes" and "No", if the user clicks "Yes" icon, the control terminal obtains the user's safe landing confirmation instruction, and then the control terminal sends a safe landing instruction to the drone. If the user clicks the "No" icon, the control terminal has not obtained the user's safe landing confirmation instruction, and the drone will not land temporarily.

Optionally, in some embodiments, the control terminal does not need to output the third prompt information. Instead, after sending the flight stop instruction to the drone, it does not need to output the third prompt information, nor does it need to obtain the user’s safe landing confirmation instruction. A safe landing instruction can be sent to the drone.

S512. According to the safe landing instruction, the drone controls the drone to land at a preset distance from the safety plane in the height direction.

In this embodiment, after the drone receives a safe landing instruction, according to the safe landing instruction, the drone is controlled to land to a position of a preset distance on a safe plane.

Among them, the drone can control the drone to land at a preset landing speed to a position in the height direction that is a preset distance from the safety plane.

Optionally, in some embodiments, after the drone flies to the target geographic location and hoveres, without receiving a safe landing instruction, the drone can be controlled to land at a preset distance from the safety plane in the height direction. .

S513: Control the terminal to output fourth prompt information.

In this embodiment, after the drone descends to a position with a preset distance from the safety plane in the height direction, the control terminal outputs fourth prompt information, which is used to prompt whether to control the power output of the drone to stop.

In a specific example, the output of the fourth prompt message may be: the APP pop-up window of the control terminal prompts "whether the paddle is stopped near the ground".

S514: When the control terminal obtains the user's power output stop confirmation instruction, it sends the power output stop instruction to the drone. Correspondingly, the drone receives the power output stop instruction sent by the control terminal.

In this embodiment, when the user executes the power output stop confirmation instruction to the control terminal based on the fourth prompt information output by the control terminal, for example, the fourth prompt information displayed by the display device includes icons of "Yes" and "No", if the user Click the "Yes" icon, the control terminal will obtain the user's power output stop confirmation instruction, and then the control terminal will send the power output stop instruction to the drone. If the user clicks the "No" icon, the control terminal does not obtain the user's power output stop confirmation instruction, and the drone will not stop the power output temporarily.

Optionally, the control terminal acquiring the user's power output stop confirmation instruction refers to the user's power output stop confirmation instruction acquired within a second preset time period after the control terminal outputs the fourth prompt information.

Optionally, if the user's power output stop confirmation instruction is not obtained within the second preset time period after the control terminal outputs the fourth prompt information, for example, the user does not input power within the second preset time period after the control terminal outputs the fourth prompt information If the stop confirmation command is output, the power output stop command is sent to the drone so that the drone can land to a safe plane in time. It can be understood that the power output stop instruction can also be that when the drone does not receive the power output stop instruction sent by the control terminal within the preset time, it automatically generates and starts to stop the power output, and can further notify the control terminal that the drone has been Start to execute the stop power to remind the user that the drone has entered the "close-to-ground paddle phase."

Optionally, in some embodiments, the control terminal may send a safe landing instruction to the drone without outputting the fourth prompt information or obtaining the user's power output stop confirmation instruction.

S515. The UAV controls the UAV to stop the power output according to the power output stop instruction.

In this embodiment, the UAV receives a power output stop instruction at a predetermined distance from the safety plane in the height direction, and controls the UAV to stop the power output at this position, so that the UAV will land on the safety plane.

Optionally, if the UAV does not receive a power output stop command sent by the control terminal within the third preset time after hovering at a position preset distance from the safety plane in the height direction, the UAV is controlled to stop at this position Power output to avoid interruption of the communication between the drone and the control terminal and affect the landing of the drone.

Among them, before executing S515, the UAV can control the rotation of the UAV to ensure that the UAV is in a controllable state during the power output of the UAV.

Therefore, in the control method of the drone provided in this embodiment, after the power output of the drone fails, the drone controls the drone to be in a controllable state, and controls the interaction between the terminal and the drone , So that the drone can safely land to a designated geographic location and then land under the control of the user, thereby avoiding the drone from continuing to perform work tasks and crashing, ensuring the safety of the drone, and reducing the occurrence of drone crashes. The loss of property and personnel safety improves the user experience.

Fig. 6 is a flowchart of a drone control method provided by another embodiment of the application. As shown in Fig. 6, the method of this embodiment may include:

S601. After the power output of the drone fails, the drone is controlled to be in a controllable state.

S602: Control the terminal to output first prompt information.

In this embodiment, the specific implementation process of S601 and S602 can refer to the related description in the embodiment shown in FIG. 5, which will not be repeated here.

S603. The control terminal obtains the user's selection instruction, and according to the user's selection instruction, determines that the target control strategy is the return home control strategy.

In this embodiment, after the control terminal outputs the first prompt information, the user selects a target control strategy from the user control strategy, the return-to-home control strategy, and the in-situ landing control strategy. In this embodiment, the target control strategy selected by the user is the return-to-home control strategy. Take the control strategy as an example. For example, the user can input a selection instruction through the interactive device of the control terminal, for example, click to select the icon information of the return home control strategy. Or, the user can input the voice selection instruction of "return home control strategy" through voice interaction with the control terminal.

In this embodiment, it is determined that the target control strategy selected by the user is the return home control strategy according to the acquired selection instruction of the user.

S604: Control the terminal to output second prompt information.

In this embodiment, after determining that the target control strategy is the return home control strategy, the second prompt information is output, and the second prompt information is used to prompt to control the UAV according to the return home control strategy. To notify the user of the current target control strategy, so that the user can make an operation that matches the return-to-home control strategy.

In a specific example, the output of the second prompt message may be: the APP of the control terminal prompts "entering the automatic return phase".

S605. The control terminal sends a return instruction to the drone. Correspondingly, the drone receives the return instruction sent by the control terminal.

In this embodiment, after the control terminal determines that the target control strategy selected by the user is a return home control strategy, the control terminal sends a return home instruction to the drone.

S606. The UAV controls the UAV to fly from the current geographic location to the preset home point according to the return home instruction.

In this embodiment, after the drone receives the home return instruction, it controls the drone to fly from the current geographic location to the preset home return point according to the home return instruction. Then the drone hovered at the preset home point.

Optionally, the preset home point is, for example, pre-stored in the drone.

Optionally, the home return instruction includes a preset home point.

Optionally, after the drone obtains the preset home point, it can plan a home return route based on the current geographic location and the preset home location, and then the drone flies from the current geographic location to the preset home location based on the home route.

Optionally, the return instruction includes a route for the UAV to return from the current geographic location to the preset return point, and the route may be generated by the control terminal. After receiving the return instruction, the drone will fly from the current geographic location to the preset return point according to the route.

Optionally, the UAV controls the UAV to fly to a preset altitude before the UAV controls the UAV to fly from the current geographic location to the preset home point. Then the drone flies from the current geographic location to the target geographic location at the preset altitude to avoid potential safety hazards caused by the unsuitable flying altitude of the drone.

S607: Control the terminal to output third prompt information.

In this embodiment, after the drone flies to the preset home point, the third prompt message is output. The third prompt message is used to prompt whether to control the drone to start landing in the height direction.

S608: When the control terminal obtains the user's safe landing confirmation instruction, it sends a safe landing instruction to the drone. Correspondingly, the drone receives a safe landing instruction sent by the control terminal.

S609. According to the safe landing instruction, the UAV controls the UAV to land to a position at a preset distance from the safety plane in the height direction.

S610: Control the terminal to output fourth prompt information.

S611. The control terminal sends a power output stop instruction to the drone when it obtains the user's power output stop confirmation instruction. Correspondingly, the drone receives the power output stop instruction sent by the control terminal.

S612. The UAV controls the UAV to stop the power output according to the power output stop instruction.

In this embodiment, the specific implementation process of S608-S612 can refer to the related description in the embodiment shown in FIG. 5, which will not be repeated here.

It should be noted that before executing S612, the UAV can control the rotation of the UAV to ensure that the UAV is in a controllable state during the power output of the UAV.

Therefore, in the control method of the drone provided in this embodiment, after the power output of the drone fails, the drone controls the drone to be in a controllable state, and controls the interaction between the terminal and the drone , So that the drone can fly to the preset home point and then land, so as to avoid the drone from continuing to perform work tasks and crash, ensure the safety of the drone, and reduce the loss of property and personnel safety caused by the drone crash. Improve the user experience.

FIG. 7 is a flowchart of a drone control method provided by another embodiment of the application. As shown in FIG. 7, the method in this embodiment may include:

S701. After the power output of the drone fails, control the drone to be in a controllable state.

S702: Control the terminal to output first prompt information.

In this embodiment, the specific implementation process of S701 and S702 can refer to the related description in the embodiment shown in FIG. 5, which will not be repeated here.

S703. The control terminal obtains the user's selection instruction, and according to the user's selection instruction, determines that the target control strategy is the landing control strategy.

In this embodiment, after the control terminal outputs the first prompt information, the user selects the target control strategy from the user control strategy, the return home control strategy, and the in-situ landing control strategy. In this embodiment, the target control strategy selected by the user is used as the original Take the landing control strategy as an example. For example, the user can input a selection instruction through the interactive device of the control terminal, for example, click to select the icon information of the in-situ landing control strategy. Or, the user can input the voice selection instruction of "Landing in Place Control Strategy" through voice interaction with the control terminal.

In this embodiment, according to the acquired selection instruction of the user, it is determined that the target control strategy selected by the user is the in-situ landing control strategy.

S704: Control the terminal to output second prompt information.

In this embodiment, after determining that the target control strategy is the in-situ landing control strategy, the second prompt information is output, and the second prompt information is used to prompt to control the drone according to the in-situ landing control strategy. To notify the user of the current target control strategy, so that the user can make an operation that matches the landing control strategy.

S705. The control terminal sends a landing instruction to the drone. Correspondingly, the drone receives the landing-in-place instruction sent by the control terminal.

In this embodiment, after the control terminal determines that the target control strategy selected by the user is the in-situ landing control strategy, the control terminal sends an in-situ landing instruction to the drone. After the drone receives the in-situ landing instruction, it keeps hovering at the current geographic location and prepares to control the drone to land at the current geographic location.

S706: Control the terminal to output third prompt information.

In this embodiment, the control terminal outputs the third prompt message after sending a landing instruction to the drone. The third prompt message is used to prompt whether to control the drone to start landing in the height direction.

It should be noted that in another possible implementation manner, S706 may not be executed, for example, S707 is executed after the foregoing S705 is executed.

S707: When the control terminal obtains the user's safe landing confirmation instruction, it sends a safe landing instruction to the drone. Correspondingly, the drone receives a safe landing instruction sent by the control terminal.

S708. The UAV controls the UAV to land at a preset distance from the safety plane in the height direction according to the safe landing instruction.

In another possible implementation, there is no need to execute S707-S708. Instead, after the drone receives the in-situ landing instruction, it controls the drone to land at the current geographic location to a preset distance from the safety plane in the height direction. s position.

S709: Control the terminal to output fourth prompt information.

S710. The control terminal sends a power output stop instruction to the drone when it obtains the user's power output stop confirmation instruction. Correspondingly, the drone receives the power output stop instruction sent by the control terminal.

S711. The UAV controls the UAV to stop the power output according to the power output stop instruction.

In this embodiment, the specific implementation process of S709-S711 can refer to the related description in the embodiment shown in FIG. 5, which will not be repeated here.

It should be noted that before executing S711, the UAV can control the rotation of the UAV to ensure that the UAV is in a controllable state during the power output of the UAV.

Therefore, in the control method of the drone provided in this embodiment, after the power output of the drone fails, the drone controls the drone to be in a controllable state, and controls the interaction between the terminal and the drone , So that the drone can land on the spot, so as to prevent the drone from continuing to perform work tasks and crash, ensure the safety of the drone, reduce the loss of property and personnel safety caused by the drone crash, and improve the user experience.

On the basis of any one of the embodiments shown in FIG. 5 to FIG. 7, optionally, in some embodiments, the control terminal further outputs a fifth control strategy before acquiring the target control strategy determined from at least one different control strategy. Prompt information, the fifth prompt information is used to prompt that the state of the drone is in a controllable state after the power output of the drone fails. In one implementation, the control terminal may vibrate to remind the drone that it is in a controllable state.

On the basis of any one of the embodiments shown in FIGS. 5 to 7, optionally, in some embodiments, the control terminal outputs sixth prompt information after the power output of the drone fails, the sixth prompt information The power output for the UAV fails. In one implementation, the control terminal may vibrate to prompt the power output of the drone to fail.

On the basis of any one of the embodiments shown in Figures 5 to 7, optionally, the control terminal can also output a prompt message (such as vibration) when the drone is controlling the drone in a controllable state. It prompts that the drone is controlling the drone in the process of being in a controllable state, so that the user can wait for the drone to be in a controllable state.

Fig. 8 is a flowchart of a control method of a drone provided by another embodiment of the application. As shown in Fig. 8, after the power of the drone is disabled, the drone is controlled to be in a controllable state.

In one implementation, after S502-S504 shown in Figure 5, enter the user control phase (see S505-S509 shown in Figure 5), and then enter the safety down phase (see S510-S512 shown in Figure 5) , And then enter the near-ground parking phase (see S513-S515 shown in Figure 5).

In one implementation, after S602-S604 shown in Figure 6, enter the automatic return phase (see S605-S606 shown in Figure 5), and then enter the safe descent phase (see S607-S609 shown in Figure 5) , And then enter the stage of near-ground parking (see S610-S612 shown in Figure 6).

In one implementation, after S702-S704 as shown in Figure 7, enter the in-situ landing phase (see S705 shown in Figure 7), and then enter the safe descent phase (see S706-S708 shown in Figure 7), Then enter the near ground parking phase (see S709-S711 shown in Figure 7).

Therefore, through the above solution, the drone can land more reliably and safely after the power failure occurs, so as to reduce the safety loss of property and personnel caused by the crash, and have a better user experience. Moreover, the entire safe landing process is reasonably divided through multiple stages. The return process includes three modes: user self-control, automatic return and in-situ landing, which is suitable for users with different levels of flight experience.

The embodiment of the present application also provides a computer storage medium. The computer storage medium stores program instructions. The program execution may include some or all of the steps of the drone control method in any of the above embodiments. .

FIG. 9 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application. As shown in FIG. 9, the unmanned aerial vehicle 900 of this embodiment may include a processor 901.

The processor 901 is configured to control the drone to be in a controllable state after the power output of the drone fails; and to control the drone to land after the drone is in the controllable state.

Optionally, the UAV 900 further includes a communication device 902, which is used to communicate with external equipment of the UAV (such as a control terminal of the UAV).

Optionally, the processor 901 is specifically configured to: control the rotation of the drone.

Optionally, the processor 901 is specifically configured to: control the rotation of the drone and control the hover of the drone.

Optionally, the processor 901 is specifically configured to: control the drone to fly from the current geographic location to the target geographic location; when the drone flies to the target geographic location, control the drone to land .

Optionally, the processor 901 is specifically configured to: receive a flight control instruction sent by a control terminal through the communication device 902, where the flight control instruction includes a flight direction; and control the UAV to move from the current geographic location to the Flight in the flight direction; when receiving a flight stop instruction sent by the control terminal through the communication device 902, control the UAV to stop flying in the flight direction and hover. Wherein, the target geographic location is the geographic location where the drone stops after flying in the flight direction.

Optionally, the flight direction is a flight direction in a geodetic coordinate system.

Optionally, the flight control instruction further includes a flight speed;

The processor 901 is specifically configured to: control the UAV to fly toward the flight direction at the flight speed from the current geographic location.

Optionally, the flight speed is less than or equal to a preset flight speed.

Optionally, the target geographic location is a preset home point of the drone.

Optionally, the processor 901 is specifically configured to: receive a return instruction sent by the control terminal through the communication device 902; and according to the return instruction, control the UAV to fly from the current geographic location to the destination. The preset home point is described.

Optionally, the return instruction includes a preset home return point, or a route for the drone to return from the current geographic location to the preset home return point.

Optionally, the processor 901 is further configured to control the drone to fly to a preset height before controlling the drone to fly from the current geographic location to the target geographic location;

The processor 901 is specifically configured to control the drone to fly from the current geographic location to the target geographic location at the preset altitude when controlling the drone to fly from the current geographic location to the target geographic location.

Optionally, the processor 901 is specifically configured to: control the drone to land at the current geographic location.

Optionally, the processor 901 is specifically configured to: receive an in-situ landing instruction sent by the control terminal through the communication device 902; and, according to the in-situ landing instruction, control the unmanned person in the current geographic location The plane landed.

Optionally, the processor 901 is specifically configured to: control the drone to land to a position at a preset distance from the safety plane in the height direction; control the drone to stop power output at the position, so that all The drone descends to the safe plane.

Optionally, the processor 901 is specifically configured to: receive a safe landing instruction sent by the control terminal through the communication device 901; and control the drone to land in a height direction according to the safe landing instruction The position at a preset distance from the safety plane.

Optionally, the processor 901 is specifically configured to: receive a power output stop instruction sent by the control terminal at the location through the communication device 902; and control the UAV to stop power according to the power output stop instruction Output.

Optionally, the processor 901 is specifically configured to: if the power output stop instruction sent by the control terminal is not received within a preset time period, control the drone to stop the power output at the location.

Optionally, the processor 901 is further configured to control the rotation of the drone before the drone is controlled to stop landing after the drone is in a controllable state.

Optionally, the drone of this embodiment further includes a memory (not shown in the figure) for storing program codes, and when the program codes are called, the drones can implement the above-mentioned solutions.

The drone of this embodiment can be used to implement the technical solutions of the drone in the foregoing method embodiments of this application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 10 is a schematic structural diagram of a control terminal provided by an embodiment of this application. As shown in FIG. 10, the control terminal 1000 of this embodiment may include a processor 1001.

The processor 1001 is configured to obtain a target control strategy determined from at least one different control strategy when the power output of the drone fails and the drone is in a controllable state, and each control strategy is used for Control the drone to land; control the drone to land according to the target control strategy.

Optionally, the control terminal 1000 further includes a communication device 1002, which is used to communicate with an external device of the drone (such as a control terminal of the drone).

Optionally, the control terminal 1000 further includes an output device 1003. The output device 1003 is used to output information to the user. The output device 1003 is, for example, a display device or a speaker.

Optionally, the control terminal 1000 further includes an input device 1004. The input device 1004 is used for a user to input information to the control terminal. The input device 1004 is, for example, an interactive device, such as a touch device or a microphone or a remote controller.

Among them, the display device and the touch device can be integrated into a touch display screen.

Optionally, the processor 1001 is further configured to output first prompt information through the output device 1003 before acquiring the target control strategy determined from at least one different control strategy, where the first prompt information is used As prompted, the target control strategy needs to be selected from the at least one different control strategy.

When the processor 1001 obtains the target control strategy determined from at least one different control strategy, it is specifically configured to: obtain the user's selection instruction through the input device 1004, and the selection instruction is used to instruct the user to follow The target control strategy selected from the at least one different control strategy; and the target control strategy is determined according to the user's selection instruction.

Optionally, the processor 1001 is specifically configured to: if the user's selection instruction is not obtained within a first preset time period after outputting the first prompt information, preset at least one different control strategy by default The control strategy of is determined as the target control strategy.

Optionally, the processor 1001 is further configured to output second prompt information through the output device 1003, where the second prompt information is used to prompt to control the drone according to the target control strategy.

Optionally, the processor 1001 is specifically configured to: control the drone to fly from the current geographic location to the target geographic location according to the target control strategy; control the drone to land at the target geographic location .

Optionally, the target control strategy includes: a user control strategy. The processor 1001 is specifically configured to: according to the user control strategy, obtain the user's control operation on the drone through the input device 1004; according to the control operation, control the drone to fly from the current geographic location to the target Geographic location.

Optionally, the control operation includes a flight direction control operation and a flight stop operation.

The processor 1001 is specifically configured to: determine the flight direction set by the user according to the flight direction control operation; send a flight control instruction to the drone through the communication device 1002, and the flight control instruction includes all The flight direction, so that the drone flies from the current geographic location to the flight direction. When the flight stop operation is acquired through the input device 1004, a flight stop instruction is sent to the drone, so that the drone stops flying in the flight direction until the drone hover. Wherein, the target geographic location is the geographic location where the drone stops after flying in the flight direction.

Optionally, the control operation further includes a flight speed control operation. The processor 1001 is further configured to determine the flying speed set by the user according to the flying speed control operation. Wherein, the flight control instruction also includes the flight speed, so that the drone flies in the flight direction at the flight speed.

Optionally, the target control strategy includes a return home control strategy, and the target geographic location is a preset home return point of the UAV. The processor 1001 is specifically configured to control the UAV to return from the current geographic location to the preset return point according to the return home control strategy.

Optionally, the processor 1001 is specifically configured to send a return instruction to the drone through the communication device 1002 according to the return control strategy, so that the drone returns to the preset Home point.

Optionally, the return instruction includes the preset home point, or the route of the drone from the current geographic location to the preset home point.

Optionally, the target control strategy includes: an in-situ landing control strategy. The processor 1001 is specifically configured to: control the landing of the drone at the current geographic location according to the in-situ landing control strategy.

Optionally, the processor 1001 is specifically configured to: according to the in-situ landing control strategy, send an in-situ landing instruction to the drone through the communication device 1002, so as to control the drone at the current geographic location. The man and the machine landed.

Optionally, the processor 1001 is specifically configured to: control the drone to land at a predetermined distance from the safety plane in the height direction; send a power output stop to the drone through the communication device 1002 Instructions to stop the power output of the drone to land on the safe plane.

Optionally, the processor 1001 is specifically configured to: when a user's safe landing confirmation instruction is obtained through the input device 1004, send a safe landing instruction to the drone through the communication device 1002, so that The unmanned aerial vehicle lands to a position at a preset distance from the safety plane in the height direction.

Optionally, the processor 1001 is further configured to output third prompt information through the output device 1003 before obtaining the user's safe landing confirmation instruction, where the third prompt information is used to prompt whether to control the The man-machine starts to land in the height direction.

Optionally, the processor 1001 is specifically configured to: when a user's power output stop confirmation instruction is acquired through the input device 1004, send a power output stop instruction to the drone through the communication device 1002.

Optionally, the processor 1001 is further configured to output fourth prompt information through the output device 1003 before sending a power output stop instruction to the drone through the communication device 1002, and the fourth prompt The information is used to prompt whether to control the power output of the drone to stop.

Optionally, the processor 1001 is specifically configured to: if the user's power output stop confirmation instruction is not obtained within a second preset time period after outputting the fourth prompt information, then send the communication device 1002 to the user The man-machine sends the power output stop command.

Optionally, the processor 1001 is further configured to output fifth prompt information through the output device 1003 before acquiring the target control strategy determined from at least one different control strategy, and the fifth prompt information is used for It is prompted that the state of the drone is in a controllable state after the power output of the drone fails.

Optionally, the processor 1001 is further configured to output sixth prompt information through the output device 1003 after the power output of the drone fails, and the sixth prompt information is used to prompt the unmanned aircraft The power output of the machine failed.

Optionally, the control terminal of this embodiment further includes a memory (not shown in the figure) for storing program code, and when the program code is invoked, the control terminal enables the control terminal to implement the above solutions.

The control terminal of this embodiment can be used to implement the technical solutions of the control terminal in the foregoing method embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here.

FIG. 11 is a schematic structural diagram of a drone control system provided by an embodiment of the application. As shown in FIG. 11, the drone control system 1100 of this embodiment may include: a drone 1101 and a control terminal 1102.

The unmanned aerial vehicle 1101 can execute the technical solution of the unmanned aerial vehicle provided in any of the foregoing embodiments, and details are not described herein again. The control terminal 1102 can execute the technical solution for controlling the terminal provided in any of the foregoing embodiments, and details are not described herein again.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. Scope.

Claims

A control method of an unmanned aerial vehicle is characterized in that it is applied to an unmanned aerial vehicle, and the method includes:

After the power output of the unmanned aerial vehicle fails, control the unmanned aerial vehicle to be in a controllable state;

After the drone is in a controllable state, the drone is controlled to land.
The method according to claim 1, wherein the controlling the drone to be in a controllable state comprises:

Control the rotation of the drone.
The method according to claim 2, characterized in that, controlling the drone to be in a controllable state, further comprising:

Control the drone to hover.
The method according to claim 1, wherein the controlling the landing of the drone comprises:

Controlling the drone to fly from the current geographic location to the target geographic location;

When the drone flies to the target geographic location, the drone is controlled to land.
The method according to claim 4, wherein the controlling the drone to fly from the current geographic location to the target geographic location comprises:

Receiving a flight control instruction sent by a control terminal, where the flight control instruction includes a flight direction;

Controlling the drone to fly from the current geographic location to the flight direction;

When receiving a stop flight instruction sent by the control terminal, control the UAV to stop flying in the flight direction and hover;

Wherein, the target geographic location is the geographic location where the drone stops after flying in the flight direction.
The method according to claim 5, wherein the flight direction is a flight direction in a geodetic coordinate system.
The method according to claim 5 or 6, wherein the flight control instruction further includes a flight speed;

The controlling the drone to fly from the current geographic location to the flight direction includes:

Control the drone to fly from the current geographic location to the flight direction at the flight speed.
The method according to claim 7, wherein the flying speed is less than or equal to a preset flying speed.
The method according to claim 4, wherein the target geographic location is a preset home point of the drone.
The method according to claim 9, wherein the controlling the drone to fly from the current geographic location to the target geographic location comprises:

Receiving a return-to-home instruction sent by the control terminal;

According to the return home instruction, the drone is controlled to fly from the current geographic location to the preset home return point.
The method according to claim 10, wherein the return home instruction includes a preset home return point, or a route for the drone to return home from the current geographic location to the preset home return point.
The method according to claim 10 or 11, wherein before controlling the drone to fly from the current geographic location to the target geographic location, the method further comprises:

Controlling the drone to fly to a preset height;

Controlling the drone to fly from the current geographic location to the target geographic location includes:

Control the drone to fly from the current geographic location to the target geographic location at the preset altitude.
The method according to claim 1, wherein the controlling the landing of the drone comprises:

Control the drone to land at the current geographic location.
The method according to claim 13, wherein the controlling the drone to land at the current geographic location comprises:

Receiving an in-situ landing instruction sent by the control terminal;

According to the in-situ landing instruction, control the drone to land at the current geographic location.
The method according to any one of claims 1-13, wherein controlling the drone to land includes:

Controlling the drone to land to a position at a preset distance from the safety plane in the height direction;

The UAV is controlled to stop power output at the position, so that the UAV can land to the safe plane.
The method according to claim 15, wherein controlling the drone to land to a position at a preset distance from a safety plane in a height direction comprises:

Receiving a safe landing instruction sent by the control terminal;

According to the safe landing instruction, the drone is controlled to land to a position that is a preset distance from the safety plane in the height direction.
The method according to claim 15, wherein controlling the power output of the unmanned aerial vehicle to stop at the position comprises:

Receiving a power output stop instruction sent by the control terminal at the location;

According to the power output stop instruction, the drone is controlled to stop power output.
The method of claim 17, wherein controlling the power output of the unmanned aerial vehicle to stop at the position further comprises:

If the power output stop instruction sent by the control terminal is not received within the preset time period, the drone is controlled to stop the power output at the position.
The method according to any one of claims 1-13, characterized in that, after the drone is in a controllable state, further comprising:

Before controlling the drone to stop landing, control the drone to rotate.
A control method of an unmanned aerial vehicle, characterized in that it is applied to a control terminal, and the method includes:

After the power output of the drone fails and the drone is in a controllable state, obtain a target control strategy determined from at least one different control strategy, and each control strategy is used to control the drone landing;

According to the target control strategy, the drone is controlled to land.
The method according to claim 20, characterized in that before said acquiring the target control strategy determined from at least one different control strategy, the method further comprises:

Outputting first prompt information, where the first prompt information is used to prompt that a target control strategy needs to be selected from the at least one different control strategy;

The obtaining the target control strategy determined from at least one different control strategy includes:

Acquiring a user's selection instruction, where the selection instruction is used to instruct the user to select a target control strategy from the at least one different control strategy;

According to the user's selection instruction, the target control strategy is determined.
The method according to claim 21, wherein said acquiring the target control strategy determined from at least one different control strategy further comprises:

If the user's selection instruction is not obtained within the first preset time period after outputting the first prompt information, a preset control strategy among at least one different control strategy is determined as the target control strategy.
The method according to claim 21 or 22, further comprising:

Output second prompt information, where the second prompt information is used to prompt to control the drone according to the target control strategy.
The control method according to claim 20, wherein controlling the drone to land according to the target control strategy comprises:

According to the target control strategy, control the UAV to fly from the current geographic location to the target geographic location;

Controlling the drone to land at the target geographic location.
The method according to claim 24, wherein the target control strategy comprises: a user control strategy;

According to the target control strategy, controlling the UAV to fly from the current geographic location to the target geographic location includes:

Acquire the user's control operation on the drone according to the user control strategy;

According to the control operation, the drone is controlled to fly from the current geographic location to the target geographic location.
The method according to claim 25, wherein the control operation includes a flight direction control operation and a flight stop operation, and the controlling the drone to fly from the current geographic location to the target geographic location according to the control operation includes :

According to the flight direction control operation, determine the flight direction set by the user;

Sending a flight control instruction to the drone, the flight control instruction including the flight direction, so that the drone flies in the flight direction from the current geographic location;

When the stop flight operation is acquired, send a stop flight instruction to the drone, so that the drone stops flying in the flight direction until the drone hover;

Wherein, the target geographic location is the geographic location where the drone stops after flying in the flight direction.
The method according to claim 26, wherein the flight direction is a flight direction in a geodetic coordinate system.
The method according to claim 26 or 27, wherein the control operation further comprises a flight speed control operation; the method further comprises:

Determine the flight speed set by the user according to the flight speed control operation;

Wherein, the flight control instruction also includes the flight speed, so that the drone flies in the flight direction at the flight speed.
The method according to claim 24, wherein the target control strategy comprises: a return home control strategy, and the target geographic location is a preset return home point of the UAV;

The controlling the drone to fly from the current geographic location to the target geographic location according to the target control strategy includes:

According to the return home control strategy, control the UAV to return home from the current geographic location to the preset home return point.
The method according to claim 29, wherein the controlling the UAV to return from the current geographic location to a preset return point according to the return control strategy comprises:

According to the return home control strategy, a return home instruction is sent to the drone, so that the drone returns to the preset home return point.
The method according to claim 29 or 30, wherein the return instruction includes the preset home return point, or a route for the drone to return from the current geographic position to the preset home return point.
The method according to claim 20, wherein the target control strategy comprises: an in-situ landing control strategy;

The controlling the drone to land according to the target control strategy includes:

According to the in-situ landing control strategy, the drone is controlled to land at the current geographic location.
The method according to claim 32, wherein the controlling the landing of the UAV at the current geographic location according to the in-situ landing control strategy comprises:

According to the in-situ landing control strategy, an in-situ landing instruction is sent to the UAV to control the UAV to land at the current geographic location.
The method according to any one of claims 20-33, wherein the controlling the drone to land includes:

Controlling the drone to land to a position at a preset distance from the safety plane in the height direction;

Send a power output stop instruction to the drone, so that the drone stops power output to land on the safe plane.
The method according to claim 34, wherein controlling the drone to land to a position at a predetermined distance from a safety plane in a height direction comprises:

When the user's safe landing confirmation instruction is obtained, a safe landing instruction is sent to the drone, so that the drone can land to a position with a preset distance from the safety plane in the height direction.
The method according to claim 35, characterized in that, before obtaining the user's safe landing confirmation instruction, the method further comprises:

The third prompt information is output, and the third prompt information is used to prompt whether to control the drone to start landing in the height direction.
The method according to claim 34, wherein the sending a power output stop instruction to the drone comprises:

When the user's power output stop confirmation instruction is obtained, the power output stop instruction is sent to the drone.
The method according to claim 37, characterized in that, before sending a power output stop instruction to the drone, the method further comprises:

The fourth prompt information is output, and the fourth prompt information is used to prompt whether to control the power output of the drone to stop.
The method according to claim 38, wherein the sending a power output stop instruction to the drone further comprises:

If the user's power output stop confirmation instruction is not obtained within the second preset time period after the fourth prompt information is output, the power output stop instruction is sent to the drone.
The method according to any one of claims 20-33, wherein before the obtaining the target control strategy determined from at least one different control strategy, the method further comprises:

The fifth prompt information is output, and the fifth prompt information is used to prompt that the state of the drone is in a controllable state after the power output of the drone fails.
The method according to any one of claims 20-33, further comprising:

After the power output of the drone fails, a sixth prompt message is output, and the sixth prompt information is used to prompt the power output of the drone to fail.
An unmanned aerial vehicle, characterized in that it includes:

The processor is used to control the drone to be in a controllable state after the power output of the drone fails; and to control the drone to land after the drone is in the controllable state.
The UAV according to claim 42, wherein the processor is specifically used to control the rotation of the UAV.
The UAV according to claim 42, wherein the processor is specifically configured to: control the rotation of the UAV and control the hover of the UAV.
The UAV according to claim 42, wherein the processor is specifically configured to: control the UAV to fly from the current geographic location to the target geographic location; when the UAV flies to the target geographic location Position, control the drone to land.
The drone according to claim 45, wherein the processor is specifically configured to: receive a flight control instruction sent by a control terminal through a communication device of the drone, the flight control instruction including a flight direction; and Control the drone to fly in the flight direction from the current geographic location; when receiving a stop flight instruction sent by the control terminal through the communication device, control the drone to stop flying in the flight direction and hover ；

Wherein, the target geographic location is the geographic location where the drone stops after flying in the flight direction.
The drone of claim 46, wherein the flight direction is a flight direction in a geodetic coordinate system.
The UAV according to claim 46 or 47, wherein the flight control instruction further includes a flight speed;

The processor is specifically configured to: control the drone to fly toward the flight direction at the flight speed from the current geographic location.
The drone of claim 48, wherein the flight speed is less than or equal to a preset flight speed.
The UAV according to claim 45, wherein the target geographic location is a preset home point of the UAV.
The drone according to claim 50, wherein the processor is specifically configured to: receive a return home instruction sent by the control terminal through a communication device of the drone; and according to the return home instruction, Control the drone to fly from the current geographic location to the preset home point.
The UAV according to claim 51, wherein the return instruction includes a preset home return point, or a route for the UAV to return from the current geographic location to the preset home return point.
The drone according to claim 51 or 52, wherein the processor is further configured to control the drone to fly before controlling the drone to fly from the current geographic location to the target geographic location. To preset height;

The processor is specifically configured to control the drone to fly from the current geographic location to the target geographic location at the preset altitude when controlling the drone to fly from the current geographic location to the target geographic location.
The UAV according to claim 42, wherein the processor is specifically configured to: control the landing of the UAV at the current geographic location.
The UAV according to claim 54, wherein the processor is specifically configured to: receive an in-situ landing instruction sent by the control terminal through the communication device of the UAV; and according to the original Landing instructions to control the drone to land at the current geographic location.
The drone according to any one of claims 42-55, wherein the processor is specifically configured to:

Controlling the drone to land to a position at a preset distance from the safety plane in the height direction;

The UAV is controlled to stop power output at the position, so that the UAV can land to the safe plane.
The drone according to claim 56, wherein the processor is specifically configured to: receive a safe landing instruction sent by the control terminal through the communication device of the drone; and according to the safe landing Instructions to control the drone to land to a position at a preset distance from the safety plane in the height direction.
The drone according to claim 57, wherein the processor is specifically configured to: receive a power output stop instruction sent by a control terminal at the location through the communication device; according to the power output stop instruction To control the UAV to stop power output.
The UAV according to claim 58, wherein the processor is specifically configured to: if the power output stop instruction sent by the control terminal is not received within a preset time period, control the position at the position The drone stops power output.
The drone according to any one of claims 42-54, wherein the processor is further configured to control the drone to stop landing after the drone is in a controllable state , Control the rotation of the drone.
A control terminal, characterized in that it comprises:

The processor is configured to obtain a target control strategy determined from at least one different control strategy when the power output of the drone fails and the drone is in a controllable state, and each control strategy is used for control The drone is landed; according to the target control strategy, the drone is controlled to land.
The control terminal according to claim 61, wherein the processor is further configured to output the first control strategy through the output device of the control terminal before acquiring the target control strategy determined from at least one different control strategy. A prompt message, where the first prompt message is used to prompt that a target control strategy needs to be selected from the at least one different control strategy;

When the processor obtains the target control strategy determined from at least one different control strategy, it is specifically configured to: obtain the user's selection instruction through the input device of the control terminal, and the selection instruction is used to instruct the user A target control strategy selected from the at least one different control strategy; and the target control strategy is determined according to a selection instruction of the user.
The control terminal according to claim 62, wherein the processor is specifically configured to: if the user's selection instruction is not obtained within a first preset period of time after outputting the first prompt information, set at least A pre-default control strategy among different control strategies is determined as the target control strategy.
The control terminal according to claim 62 or 63, wherein the processor is further configured to output second prompt information through an output device of the control terminal, and the second prompt information is used to prompt according to the The target control strategy controls the drone.
The control terminal according to claim 61, wherein the processor is specifically configured to: according to the target control strategy, control the drone to fly from the current geographic location to the target geographic location; The geographical position controls the landing of the drone.
The control terminal according to claim 65, wherein the target control strategy comprises: a user control strategy;

The processor is specifically configured to: according to the user control strategy, obtain the user's control operation on the drone through the input device of the control terminal; according to the control operation, control the drone to fly from the current geographic location to Target geographic location.
The control terminal according to claim 66, wherein the control operation includes a flight direction control operation and a flight stop operation, and the processor is specifically configured to:

According to the flight direction control operation, determine the flight direction set by the user;

Sending a flight control instruction to the drone through the communication device of the control terminal, the flight control instruction including the flight direction, so that the drone flies in the flight direction from the current geographic location;

When the flight stop operation is acquired through the input device of the control terminal, a flight stop instruction is sent to the drone to stop the drone from flying in the flight direction until the drone hangs. stop;

Wherein, the target geographic location is the geographic location where the drone stops after flying in the flight direction.
The control terminal according to claim 67, wherein the flight direction is a flight direction in a geodetic coordinate system.
The control terminal according to claim 67 or 68, wherein the control operation further comprises a flight speed control operation; the processor is further configured to determine the flight speed set by the user according to the flight speed control operation ；

Wherein, the flight control instruction also includes the flight speed, so that the drone flies in the flight direction at the flight speed.
The control terminal according to claim 65, wherein the target control strategy comprises a return home control strategy, and the target geographic location is a preset home return point of the UAV;

The processor is specifically configured to: control the UAV to return from the current geographic location to the preset return point according to the return home control strategy.
The control terminal according to claim 70, wherein the processor is specifically configured to: according to the return control strategy, send a return instruction to the drone through a communication device of the control terminal, so that The drone returns to the preset home point.
The control terminal according to claim 70 or 71, wherein the return instruction includes the preset home return point, or the route of the drone from the current geographic location to the preset home return point.
The control terminal according to claim 61, wherein the target control strategy comprises: a landing in place control strategy;

The processor is specifically configured to: control the drone to land at the current geographic location according to the in-situ landing control strategy.
The control terminal according to claim 73, wherein the processor is specifically configured to: according to the in-situ landing control strategy, send the in-situ landing to the drone through the communication device of the control terminal. Instructions to control the drone to land at the current geographic location.
The control terminal according to any one of claims 61-74, wherein the processor is specifically configured to:

Controlling the drone to land to a position at a preset distance from the safety plane in the height direction;

A power output stop instruction is sent to the drone through the communication device of the control terminal, so that the drone stops power output to land on the safe plane.
The control terminal according to claim 75, wherein the processor is specifically configured to:

When the user's safe landing confirmation instruction is acquired through the input device of the control terminal, the communication device sends a safe landing instruction to the drone, so that the drone can land to a height direction and a distance from a safe plane The location of the preset distance.
The control terminal according to claim 76, wherein the processor is further configured to output third prompt information through the output device of the control terminal before obtaining the user's safe landing confirmation instruction, and the first The three prompt messages are used to prompt whether to control the drone to start landing in the height direction.
The control terminal according to claim 75, wherein the processor is specifically configured to: when the user's power output stop confirmation instruction is obtained through the input device of the control terminal, send the communication device to the The drone sends a power output stop command.
The control terminal according to claim 78, wherein the processor is further configured to output power output through the output device of the control terminal before sending a power output stop instruction to the drone through the communication device The fourth prompt information is used to prompt whether to control the power output of the drone to stop.
The control terminal according to claim 79, wherein the processor is specifically configured to: if the user's power output stop confirmation instruction is not obtained within a second preset time period after the fourth prompt message is output, then pass The communication device sends a power output stop instruction to the drone.
The control terminal according to any one of claims 61-74, wherein the processor is further configured to pass through the control terminal before acquiring the target control strategy determined from at least one different control strategy The output device of the output device outputs fifth prompt information, and the fifth prompt information is used to prompt that the state of the drone is in a controllable state after the power output of the drone fails.
The control terminal according to any one of claims 61-74, wherein the processor is further configured to output a sixth output device through the output device of the control terminal after the power output of the drone fails. Prompt information, the sixth prompt information is used to prompt the power output of the drone to fail.
A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, the computer program realizes as described in any one of claims 1-19 or 20-41. The control method of the UAV described.