Granted Patent B2

US 12,619,231 · App. 18/490,915 · Granted May 5, 2026

Inventor: Pengcheng Tang (Shenzhen, CN)

Assignee: AUTEL ROBOTICS CO., LTD.

G05D1/0077G05D1/106G05D1/606G05D1/87

Abstract

Claims (84)

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.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (15)