US-12619231-B2 - Method, device, storage medium, and electronic device for controlling flight equipment

US12619231B2US 12619231 B2US12619231 B2US 12619231B2US-12619231-B2

Abstract

Embodiments of the present application provide a method, device, storage medium, and electronic device for controlling flight equipment, wherein the method includes: acquiring positioning position information from a positioning system deployed on a target flight equipment; detecting an operating state of the positioning system according to positioning position information, wherein the operating state comprises: normal state and abnormal state; when the operating state is an abnormal state, controlling the target flight equipment to return to a ground control terminal according to the relative position information between the target flight equipment and the ground control terminal of the target flight equipment.

Inventors

Pengcheng TANG

Assignees

AUTEL ROBOTICS CO., LTD.

Dates

Publication Date: 20260505
Application Date: 20231020
Priority Date: 20221021

Claims (17)

1 . A method for controlling a flight equipment, the method comprising: acquiring a positioning position information from a positioning system deployed on a target flight equipment; detecting an operating state of the positioning system according to the positioning position information, wherein the operating state comprises: normal state and abnormal state; controlling the target flight equipment to return to a ground control terminal of the target flight equipment according to the relative position information between the target flight equipment and the ground control terminal when the operating state is an abnormal state, the relative position information being determined from a wireless signal between the target flight equipment and the ground control terminal; wherein the detecting the operating state of the positioning system according to the positioning position information comprises: setting a precision threshold value for an accuracy of the positioning position information acquired by the positioning system of the target flight equipment; determining the accuracy of the positioning position information in a normal state when a difference of the positioning position information at adjacent time points falls within the precision threshold value; setting a time threshold value for the time when the positioning position information is continuously acquired by the positioning system of the target flight equipment; accumulating the positioning position information with the normal accuracy; and determining that the positioning position information acquired by the positioning system of the target flight equipment is in an unstable state when the time when the positioning position information with the normal accuracy is continuously acquired exceeds the time threshold value, so as to determine that the operating state is the abnormal state.
2 . The method according to claim 1 , wherein the controlling the target flight equipment to return to the ground control terminal of the target flight equipment according to the relative position information between the target flight equipment and the ground control terminal further comprises: determining the relative position information according to a signal information about a flight control signal sent by the ground control terminal to the target flight equipment and an antenna position information about the target flight equipment, wherein the antenna position information is configured to indicate a deployment position of a receiving antenna receiving the flight control signal on the target flight equipment; planning a target return path of the target flight equipment according to the relative position information; controlling the target flight equipment to return to the ground control terminal according to the target return path.
3 . The method according to claim 2 , wherein the determining the relative position information according to the signal information about the flight control signal sent by the ground control terminal to the target flight equipment and the antenna position information about the target flight equipment further comprises: determining a signal strength of the flight control signal received by each of a plurality of the receiving antennas deployed on the target flight equipment, and the deployment position of each of the receiving antennas, to obtain a plurality of sets of the deployment positions and the signal strengths having corresponding relationships, wherein the signal information comprises the signal strength; determining a relative distance and a relative direction as the relative position information, wherein the relative direction is a direction of the target flight equipment relative to the ground control terminal and the relative distance is a distance of the target flight equipment relative to the ground control terminal, according to the plurality of sets of the deployment positions and the signal strengths having corresponding relationships.
4 . The method according to claim 2 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a return direction of the target flight equipment based on a relative direction included in the relative position information, wherein the relative direction is a direction of the target flight equipment relative to the ground control terminal; planning the target return path according to the relative distance included in the relative position information and the return direction.
5 . The method according to claim 2 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a first return path of the target flight equipment according to the relative position information; acquiring an altitude information about the target flight equipment, wherein the altitude information is information collected by an altitude sensor deployed on the target flight equipment; adjusting the first return path according to the altitude information to obtain the target return path, wherein the altitude information is configured to control the flight altitude of the target flight equipment during the return.
6 . The method according to claim 2 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a second return path of the target flight equipment according to the relative position information; acquiring a visual information about the target flight equipment, wherein the visual information is information collected by a visual sensor deployed on the target flight equipment; determining an obstacle information on the second return path according to the visual information; adjusting the second return path according to the obstacle information to obtain the target return path.
7 . A control device for a flight equipment, comprising: an acquisition module for acquiring a positioning position information from a positioning system deployed on a target flight equipment; a detection module for detecting an operating state of the positioning system according to the positioning position information, wherein the operating state comprises: normal state and abnormal state; a control module for controlling the target flight equipment to return to a ground control terminal of the target flight equipment according to a relative position information between the target flight equipment and the ground control terminal when the operating state is the abnormal state, the relative position information being determined from a wireless signal between the target flight equipment and the ground control terminal; wherein the detection module for detecting the operating state of the positioning system according to the positioning position information comprises: setting a precision threshold value for an accuracy of the positioning position information acquired by the positioning system of the target flight equipment; determining the accuracy of the positioning position information in a normal state when a difference of the positioning position information at adjacent time points falls within the precision threshold value; setting a time threshold value for the time when the positioning position information is continuously acquired by the positioning system of the target flight equipment; accumulating the positioning position information with the normal accuracy; and determining that the positioning position information acquired by the positioning system of the target flight equipment is in an unstable state when the time when the positioning position information with the normal accuracy is continuously acquired exceeds the time threshold value, so as to determine that the operating state is the abnormal state.
8 . The control device according to claim 7 , wherein the control module for controlling the target flight equipment to return to the ground control terminal of the target flight equipment according to the relative position information between the target flight equipment and the ground control terminal equipment further comprises: determining the relative position information according to a signal information about a flight control signal sent by the ground control terminal to the target flight equipment and an antenna position information about the target flight equipment, wherein the antenna position information is configured to indicate a deployment position of a receiving antenna receiving the flight control signal on the target flight equipment; planning a target return path of the target flight equipment according to the relative position information; controlling the target flight equipment to return to the ground control terminal according to the target return path.
9 . The control device according to claim 8 , wherein the determining the relative position information according to the signal information about the flight control signal sent by the ground control terminal to the target flight equipment and the antenna position information about the target flight equipment further comprises: determining a signal strength of the flight control signal received by each of a plurality of the receiving antennas deployed on the target flight equipment, and the deployment position of each of the receiving antennas, to obtain a plurality of sets of the deployment positions and the signal strengths having corresponding relationships, wherein the signal information comprises the signal strength; determining a relative distance and a relative direction as the relative position information, wherein the relative direction is a direction of the target flight equipment relative to the ground control terminal and the relative distance is a distance of the target flight equipment relative to the ground control terminal, according to the plurality of sets of the deployment positions and the signal strengths having corresponding relationships.
10 . The control device according to claim 9 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a return direction of the target flight equipment based on a relative direction included in the relative position information, wherein the relative direction is a direction of the target flight equipment relative to the ground control terminal; planning the target return path according to the relative distance included in the relative position information and the return direction.
11 . The control device according to claim 9 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a first return path of the target flight equipment according to the relative position information; acquiring an altitude information about the target flight equipment, wherein the altitude information is information collected by an altitude sensor deployed on the target flight equipment; adjusting the first return path according to the altitude information to obtain the target return path, wherein the altitude information is configured to control the flight altitude of the target flight equipment during the return.
12 . The control device according to claim 9 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a second return path of the target flight equipment according to the relative position information; acquiring a visual information about the target flight equipment, wherein the visual information is information collected by a visual sensor deployed on the target flight equipment; determining an obstacle information on the second return path according to the visual information; adjusting the second return path according to the obstacle information to obtain the target return path.
13 . An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method for controlling a flight equipment, the method comprising: acquiring a positioning position information from a positioning system deployed on a target flight equipment; detecting an operating state of the positioning system according to the positioning position information, wherein the operating state comprises: normal state and abnormal state; controlling the target flight equipment to return to a ground control terminal of the target flight equipment according to the relative position information between the target flight equipment and the ground control terminal of when the operating state is an abnormal state, the relative position information being determined from a wireless signal between the target flight equipment and the ground control terminal; wherein the detecting the operating state of the positioning system according to the positioning position information comprises: setting a precision threshold value for an accuracy of the positioning position information acquired by the positioning system of the target flight equipment; determining the accuracy of the positioning position information in a normal state when a difference of the positioning position information at adjacent time points falls within the precision threshold value; setting a time threshold value for the time when the positioning position information is continuously acquired by the positioning system of the target flight equipment; accumulating the positioning position information with the normal accuracy; and determining that the positioning position information acquired by the positioning system of the target flight equipment is in an unstable state when the time when the positioning position information with the normal accuracy is continuously acquired exceeds the time threshold value, so as to determine that the operating state is the abnormal state.
14 . The electronic device according to claim 13 , wherein the controlling the target flight equipment to return to the ground control terminal of the target flight equipment according to the relative position information between the target flight equipment and the ground control terminal further comprises: determining the relative position information according to a signal information about a flight control signal sent by the ground control terminal to the target flight equipment and an antenna position information about the target flight equipment, wherein the antenna position information is configured to indicate a deployment position of a receiving antenna receiving the flight control signal on the target flight equipment; planning a target return path of the target flight equipment according to the relative position information; controlling the target flight equipment to return to the ground control terminal according to the target return path.
15 . The electronic device according to claim 14 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a return direction of the target flight equipment based on a relative direction included in the relative position information, wherein the relative direction is a direction of the target flight equipment relative to the ground control terminal; planning the target return path according to the relative distance included in the relative position information and the return direction.
16 . The electronic device according to claim 14 , wherein the planning the target return path of the target flight equipment according to the relative position information further comprises: planning a first return path of the target flight equipment according to the relative position information; acquiring an altitude information about the target flight equipment, wherein the altitude information is information collected by an altitude sensor deployed on the target flight equipment; adjusting the first return path according to the altitude information to obtain the target return path, wherein the altitude information is configured to control the flight altitude of the target flight equipment during the return.
17 . The electronic device according to claim 14 , wherein the determining the relative position information according to the signal information about the flight control signal sent by the ground control terminal to the target flight equipment and the antenna position information about the target flight equipment further comprises: determining a signal strength of the flight control signal received by each of a plurality of the receiving antennas deployed on the target flight equipment, and the deployment position of each of the receiving antennas, to obtain a plurality of sets of the deployment positions and the signal strengths having corresponding relationships, wherein the signal information comprises the signal strength; determining a relative distance and a relative direction as the relative position information, wherein the relative direction is a direction of the target flight equipment relative to the ground control terminal and the relative distance is a distance of the target flight equipment relative to the ground control terminal, according to the plurality of sets of the deployment positions and the signal strengths having corresponding relationships.

Description

CROSS REFERENCE TO RELATED DISCLOSURE This application is based upon and claims priority to Chinese patent Application No. 202211296677.5 filed on Oct. 21, 2022, which is incorporated herein in its entirety by reference for all purposes. BACKGROUND At present, the navigation technologies used on unmanned aerial vehicles (UAVs) mainly include: inertial navigation, satellite navigation, doppler navigation, visual-assisted navigation, terrain-assisted navigation, and geomagnetic navigation, each of these navigation technologies has its own advantages and disadvantages. In the prior art, small UAVs mainly used satellite GPS (Global Positioning System) to realize the navigation and positioning of UAVs. However, the GPS signal of satellite GPS navigation is easily interfered with. During the flight mission of a UAV, if the GPS signal is interfered with, the accuracy of satellite GPS navigation may be low or unavailable, which may cause the UAV to be out of control or even fry. There is no effective solution to the problem in the related art that the safety of flight equipment control is low when positioning navigation fails. SUMMARY Embodiments of the present disclosure relate to the technical field of aircraft, and more particularly, to a method, device, storage medium, and electronic device for controlling flight equipment. The present disclosure provide a method, device, storage medium, and electronic device for controlling a flight equipment to solve at least the problem of low safety in controlling the flight equipment in the event of a failure in positioning navigation in the related art. According to the first aspect of the present disclosure, there is provided a method for controlling a flight equipment, comprising: acquiring a positioning position information from a positioning system deployed on a target flight equipment;detecting an operating state of the positioning system according to positioning position information, wherein the operating state comprises: normal state and abnormal state;controlling the target flight equipment to return to a ground control terminal according to the relative position information between the target flight equipment and the ground control terminal of the target flight equipment when the operating state is an abnormal state. According to the second embodiment of the present disclosure, there is also provided a device for controlling a flight equipment, including: an acquisition module for acquiring a positioning position information from a positioning system deployed on a target flight equipment;a detection module for detecting an operating state of the positioning system according to positioning position information, wherein the operating state comprises: normal state and abnormal state;a control module for controlling the target flight equipment to return to a ground control terminal according to the relative position information between the target flight equipment and the ground control terminal of the target flight equipment when the operating state is an abnormal state. According to the third aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps in any of the above method embodiments when run. According to the forth embodiment of the present disclosure, there is also provided an electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor being arranged to run the computer program to perform the steps in any of the method embodiments described above. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a hardware structure of a terminal equipment of a method for controlling a flight equipment according to an embodiment of the present application; FIG. 2 is a flow chart of a method for controlling a flight equipment according to an embodiment of the present application; FIG. 3 is a schematic view of a ground control terminal acquiring relative position information according to an embodiment of the present application; FIG. 4 is a schematic view of a corresponding relationship between a deployment position and signal strength according to an embodiment of the present application; FIG. 5 is a flow chart of return when an unmanned aerial vehicle positioning system fails according to an embodiment of the present application; FIG. 6 is a block diagram of the structure of a device for controlling a flight equipment according to an embodiment of the present application. DETAILED DESCRIPTION Hereinafter, embodiments of the present application will be described in detail in conjunction with the embodiments with reference to the accompanying drawings. It is noted that the terms “first”, “second”, and the like in the description and the claims of the present application and in the above-described drawings are used for distinguishing between similar objec