Unmanned aerial vehicle return flight method and apparatus, unmanned aerial vehicle, and storage medium
A return method or device for an unmanned aerial vehicle (UAV), a UAV and a storage medium are provided. The method includes: detecting whether a sensor for obstacle avoidance fails; if the sensor fails, determining a return path of the UAV based on a first return strategy; if the sensor operates normally, determining the return path of the UAV based on a second return strategy; the first return strategy includes controlling the UAV to fly to a return altitude; the second return strategy includes determining the return path of the UAV based on detection data from the sensor. The combination of these two return strategies can achieve a balance between the return efficiency and safety of the UAV.
1 . A return method for an unmanned aerial vehicle (UAV), comprising:
detecting an operating state of a sensor for obstacle avoidance; and
controlling the UAV to execute a first return strategy or a second return strategy based on a detection result of the operating state of the sensor, wherein
the first return strategy comprises controlling the UAV to fly to a return altitude in response to the sensor's failure to satisfy a preset obstacle detection requirement, and
the second return strategy comprises determining a return path of the UAV based on detection data from the sensor in response to the sensor being in normal operation.
2 . The method according to claim 1 , further comprising at least one of:
in response to a return trigger of the UAV, performing at least one of outputting first prompt information when the sensor fails to satisfy the preset obstacle detection requirement, or outputting second prompt information when the sensor operates normally, wherein the first prompt information prompts a user that obstacle avoidance fails and the UAV returns using the first return strategy, the second prompt information prompts the user that the UAV returns with obstacle avoidance using the second return strategy; or
during a return process of the UAV using the second return strategy, switching the second return strategy to the first return strategy in response to the sensor's failure to satisfy the preset obstacle detection requirement.
3 . The method according to claim 2 , further comprising:
outputting switching prompt information following the switching of the second return strategy to the first return strategy, wherein the switching prompt information prompts the user that the obstacle avoidance fails and the UAV returns using the first return strategy.
4 . The method according to claim 1 , further comprising at least one of:
during a return process of the UAV using the first return strategy, controlling, in response to detecting that the sensor for obstacle avoidance resumes the normal operation, the UAV to avoid obstacles based on detection data collected by the sensor during the return process of the UAV using the first return strategy; or
before the UAV takes off, outputting prompt information for setting the return altitude to prompt a user to set the return altitude in the first return strategy.
5 . The method according to claim 4 , wherein the outputting of the prompt information for setting the return altitude comprises at least one of:
in response to the sensor's failure to satisfy the preset obstacle detection requirement, outputting the prompt information for setting the return altitude; or
in response to detecting that the sensor for obstacle avoidance is about to fail to satisfy the preset obstacle detection requirement due to an external factor, outputting the prompt information for setting the return altitude.
6 . The method according to claim 1 , wherein the return altitude is determined based on a difference between an altitude of the UAV when returning and an altitude of a return point.
7 . The method according to claim 1 , wherein the sensor comprises a vision sensor; and
the method further comprises: determining whether the vision sensor fails to satisfy the preset obstacle detection requirement based on an ambient light brightness of a current environment.
8 . The method according to claim 7 , wherein the determining whether the vision sensor fails to satisfy the preset obstacle detection requirement based on the ambient light brightness of the current environment comprises:
detecting the ambient light brightness of the current environment;
determining that the vision sensor fails to satisfy the preset obstacle detection requirement in response to when the ambient light brightness being lower than a preset threshold or determining that the vision sensor operates normally in response to the ambient light brightness being higher than the preset threshold.
9 . The method according to claim 7 , wherein the ambient light brightness is determined based on at least one of:
a photon number received by a photosensitive element of the vision sensor;
pixel values of pixels in images collected by the vision sensor;
a statistical result of the photon number received by the photosensitive element of the vision sensor under multiple different exposure parameters; or
a statistical result of the pixel values of pixels in the images collected by the vision sensor under the multiple different exposure parameters.
10 . The method according to claim 7 , further comprising:
determining a sunrise time and a sunset time of a current date at a current location of the UAV based on information of the current location and the current date;
determining that the vision sensor operates normally in response to current time being between the sunrise time and the sunset time; and
determining that the vision sensor fails to satisfy the preset obstacle detection requirement in response to the current time being before the sunrise time or after the sunset time.
11 . The method according to claim 10 , further comprising:
detecting the ambient light brightness of the current environment-in response to the current time being between the sunrise time and the sunset time;
determining that the vision sensor fails to satisfy the preset obstacle detection requirement in response to the ambient light brightness being lower than a preset threshold or determining that the vision sensor operates normally in response to the ambient light brightness being higher than the preset threshold.
12 . The method according to claim 10 , wherein a storage medium of the UAV pre-stores a corresponding relationship between a combination of location information and date information, and information of sunrise and sunset times; and
the sunrise time and the sunset time of the current date at the current location are determined based on the information of the current location and the current date according to the corresponding relationship.
13 . The method according to claim 1 , wherein the sensor for obstacle avoidance comprises a LIDAR; and the method further comprises:
determining the LiDAR fails to satisfy the preset obstacle detection requirement in response to a current environment being a haze environment; or
determining the LiDAR operates normally in response to the current environment not being the haze environment.
14 . The method according to claim 13 , wherein the UAV is equipped with a vision sensor; and the haze environment is determined by identifying images collected by the vision sensor.
15 . The method according to claim 1 , wherein the sensor comprises at least one of a LiDAR, a millimeter-wave radar or an ultrasonic sensors;
a storage medium of the UAV pre-stores failure reference data of the at least one of the LiDAR, the millimeter-wave radar or the ultrasonic sensors;
a failure to satisfy the preset obstacle detection requirement of the at least one of the LiDAR, the millimeter-wave radar, or the ultrasonic sensors is determined based on a difference between detection data of the at least one of the LiDAR, the millimeter-wave radar, or the ultrasonic sensors and the failure reference data.
16 . A return method for a UAV having a vision sensor, comprising:
detecting an ambient light brightness of a current environment; and
controlling the UAV to perform a first return strategy or a second return strategy based on a detection result of the ambient light brightness, wherein
the first return strategy comprises controlling the UAV to fly to a return altitude in response to the ambient light brightness being lower than a preset threshold, and
the second return strategy comprises determining a return path of the UAV based on detection data of the vision sensor in response to the ambient light brightness being higher than the preset threshold.
17 . The method according to claim 16 , wherein the detecting of the ambient light brightness of the current environment-comprises:
obtaining a sunrise time and a sunset time of a current date at a current location of the UAV based on information of the current location and the current date;
detecting the ambient light brightness of the current environment-in response to current time being between the sunrise time and the sunset time; and
determining the return path of the UAV based on the first return strategy in response to the current time being before the sunrise time or after the sunset time.
18 . The method according to claim 17 , wherein a storage medium of the UAV pre-stores a corresponding relationship between a combination of location information and date information, and information of sunrise and sunset times; and
the sunrise time and the sunset time of the current date at the current location are determined based on the information of the current day and the current location according to the corresponding relationship.
19 . The method according to claim 17 , further comprising:
during a return process of the UAV using the second return strategy, switching the second return strategy to the first return strategy in response to the ambient light brightness being lower than the preset threshold; or
during a return process of the UAV using the first return strategy, controlling the UAV to avoid obstacles based on the detection data of the vision sensor in response to the ambient light brightness being higher than the preset threshold.
20 . A UAV, comprising:
a body;
a power system in the body to provide power for the UAV; and
a return device in the body, comprising:
at least one storage medium storing at least one set of instructions for returning, and
at least one processor in communication with the at least one storage medium, wherein during operation, the at least one processor executes the at least one set of instructions to cause the return device to at least:
detect an operating state of a sensor for obstacle avoidance,
control the UAV to execute a first return strategy or a second return strategy based on a detection result of the operating state of the sensor, wherein
the first return strategy comprises controlling the UAV to fly to a return altitude in response to the sensor's failure to satisfy a preset obstacle detection requirement, and
the second return strategy comprises determining a return path of the UAV based on detection data from the sensor in response to the sensor being in normal operation.