CN109062258A - Control unmanned plane makes a return voyage method and apparatus - Google Patents
Control unmanned plane makes a return voyage method and apparatus Download PDFInfo
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- 238000004519 manufacturing process Methods 0.000 abstract description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
It makes a return voyage method present disclose provides a kind of control unmanned plane, applied to the unmanned aerial vehicle (UAV) control station on ground, which is stored with electronic map；This method comprises: if starting unmanned plane operation since being taken off takeoff setting, monitors the state of flight of the unmanned plane, state of flight includes normal operation state of flight and failure floating state；When the unmanned plane is in failure floating state, the path between the current hovering position of the unmanned plane and above-mentioned takeoff setting is obtained on the electronic map；The position coordinates of the corresponding barrier of the hovering position are obtained on the electronic map；Judge whether there is barrier on the path according to the position coordinates of the barrier；If there is barrier, unmanned plane adjustment position is controlled, is suitble to the path maked a return voyage to make a return voyage to control unmanned plane edge.The sensor that setting is maked a return voyage on unmanned plane is avoided, manufacturing cost is saved, unmanned plane has chosen the path of avoiding barrier before making a return voyage, and improves efficiency of making a return voyage.
Description
Technical field
This disclosure relates to air vehicle technique field, make a return voyage method and apparatus more particularly, to control unmanned plane.
Background technique
Unmanned plane generally first obtains the geography information of position in operation, carries out further according to the parameter of user setting
Flight course planning executes task according to the course line of planning in operation process automatically.In automatic flight course, emergency is encountered
(such as battery capacity too low, sensor abnormality), needs to make a return voyage, and returns to unmanned plane takeoff setting.
Barrier is possible on the path maked a return voyage, the prior art carries obstacle avoidance sensor (such as generally on unmanned plane
Radar, ultrasonic sensor, infrared sensor etc.), when obstacle avoidance sensor detects barrier, unmanned plane hovering waits ground
Face control instruction is to avoid bumping against barrier.
Since unmanned plane must carry high-cost obstacle avoidance sensor in the prior art, increase the operation of unmanned plane at
This；And processing mode when unmanned plane encounters barrier is to hover in the air, requires manual intervention and returns to takeoff setting,
Reduce the efficiency maked a return voyage
Summary of the invention
In view of this, a kind of unmanned plane of being designed to provide of the disclosure makes a return voyage method and apparatus, unmanned plane can be saved
Operating cost, avoiding barrier before making a return voyage, raising makes a return voyage efficiency.
To achieve the goals above, the disclosure the technical solution adopted is as follows:
In a first aspect, make a return voyage method present disclose provides a kind of control unmanned plane, applied to the unmanned aerial vehicle (UAV) control station on ground,
The unmanned aerial vehicle (UAV) control station is stored with electronic map；This method comprises:
If starting unmanned plane operation since being taken off takeoff setting, the state of flight of the unmanned plane, state of flight are monitored
Including normal operation state of flight and failure floating state；
When the unmanned plane is in failure floating state, the current hovering position of the unmanned plane is obtained on above-mentioned electronic map
Path between above-mentioned takeoff setting；
The position coordinates of the corresponding barrier of the hovering position are obtained on above-mentioned electronic map；
Judge whether there is barrier on the path according to the position coordinates of above-mentioned barrier；
If there is barrier, above-mentioned unmanned plane adjustment position is controlled, to control above-mentioned unmanned plane along being suitble to make a return voyage
It makes a return voyage in path.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein should
Method further include: if controlling the unmanned plane without barrier and making a return voyage along the path.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, wherein control
The step of making unmanned plane adjustment position, comprising: at least one position candidate is selected based on above-mentioned hovering position；According to upper
It states electronic map and calculates first path between above-mentioned position candidate and above-mentioned hovering position；It is calculated according to above-mentioned electronic map
State the second path between position candidate and above-mentioned takeoff setting；If do not had on above-mentioned first path and above-mentioned second path
Barrier controls the unmanned plane and adjusts along above-mentioned first path to above-mentioned position candidate.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein control
The step of making unmanned plane adjustment position, comprising: control after the unmanned plane is moved along assigned direction and hover over new position；
The third path between above-mentioned new position and above-mentioned takeoff setting is calculated according to electronic map；Judge whether have on the third path
Barrier；If there is barrier, then controls unmanned plane and continue to adjust position；If without barrier, using above-mentioned new position as
Position adjusted.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, wherein should
The position coordinates of barrier are labeled on electronic map；Judge whether there is obstacle on the path according to the position coordinates of the barrier
The step of object, comprising: searched on the electronic map on above-mentioned path whether include barrier position coordinates, determine above-mentioned road
There is barrier on diameter.
With reference to first aspect, the embodiment of the present application provides the 5th kind of possible embodiment of first aspect, wherein on
The step of stating the state of flight for monitoring the unmanned plane, comprising: receive the flight shape that above-mentioned unmanned plane is sent by wireless network
State information；If the above-mentioned state of flight information received includes fault type information, whether above-mentioned fault type information is judged
Belong to class failure of making a return voyage；If so, controlling above-mentioned unmanned plane switches to failure floating state, so that the unmanned plane hovers over sky
In.
The possible embodiment of with reference to first aspect the first is any one of to the 5th kind of possible embodiment
Embodiment, the embodiment of the present application provides the 6th kind of possible embodiment of first aspect,
Above-mentioned barrier is at least one of: trees, building, signal tower and massif.
Second aspect is maked a return voyage device present disclose provides a kind of control unmanned plane, applied to the unmanned aerial vehicle (UAV) control station on ground,
The unmanned aerial vehicle (UAV) control station is stored with electronic map；The device includes:
Monitoring module, if monitoring the flight of the unmanned plane for starting unmanned plane operation since being taken off takeoff setting
State, the state of flight include normal operation state of flight and failure floating state；
Module is obtained, for obtaining the nothing on above-mentioned electronic map when above-mentioned unmanned plane is in failure floating state
Path between man-machine current hovering position and above-mentioned takeoff setting；
The position coordinates of the corresponding barrier of the hovering position are obtained on the electronic map；
Control module, for judging whether there is barrier on above-mentioned path according to the position coordinates of above-mentioned barrier；
If there is barrier, unmanned plane adjustment position is controlled, is suitble to the path maked a return voyage to control unmanned plane edge
It makes a return voyage.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein on
Control module is stated to be also used to select at least one position candidate based on above-mentioned hovering position；
The first path between above-mentioned position candidate and above-mentioned hovering position is calculated according to above-mentioned electronic map；
The second path between above-mentioned position candidate and above-mentioned takeoff setting is calculated according to above-mentioned electronic map；
If controlling above-mentioned unmanned plane along above-mentioned without barrier on above-mentioned first path and above-mentioned second path
One path is adjusted to above-mentioned position candidate.
In conjunction with second aspect, the embodiment of the present application provides second of possible embodiment of second aspect, wherein should
Control module, which is also used to control after the unmanned plane is moved along assigned direction, hovers over new position；Institute is calculated according to electronic map
State the third path between new position and the takeoff setting；Judge whether there is barrier on the third path；If there is obstacle
Object then controls unmanned plane and continues to adjust position；If without barrier, using the new position as position adjusted.
The application controls unmanned plane and makes a return voyage method and apparatus, and the unmanned plane is obtained on above-mentioned electronic map and is currently hovered position
Set the path between above-mentioned takeoff setting；The position that the corresponding barrier of above-mentioned hovering position is obtained on the electronic map is sat
Mark；Judge whether there is barrier on the path according to the position coordinates of the barrier；If there is barrier, the unmanned plane tune is controlled
Whole position is suitble to the path maked a return voyage to make a return voyage to control unmanned plane edge.Avoid the sensing that setting is maked a return voyage on unmanned plane
Device, saves manufacturing cost, and unmanned plane has chosen the path of avoiding barrier before making a return voyage, improved efficiency of making a return voyage.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the disclosure above-mentioned technology it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, better embodiment is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of disclosure specific embodiment or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the disclosure, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is that the unmanned plane that provides of disclosure embodiment makes a return voyage schematic diagram of a scenario；
Fig. 2 is that the control unmanned plane that provides of disclosure embodiment makes a return voyage the flow chart of method；
Fig. 3 is the flow chart that the control unmanned plane that disclosure embodiment provides adjusts position；
Fig. 4 is that the control unmanned plane that provides of disclosure embodiment makes a return voyage the structural schematic diagram of device.
Specific embodiment
To keep the purposes, technical schemes and advantages of disclosure embodiment clearer, below in conjunction with attached drawing to this public affairs
The technical solution opened is clearly and completely described, it is clear that and described embodiment is a part of embodiment of the disclosure,
Rather than whole embodiment.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, belong to the disclosure protection range.
It should be noted that above-mentioned each method embodiment is described in a progressive manner, each embodiment emphasis
What is illustrated is all the difference with other embodiments, and same and similar part refers to each other i.e. between each embodiment
It can.
Unmanned plane breaks down in operation process to make a return voyage, and barrier can be inevitably encountered in the way maked a return voyage.It illustrates
Bright, Fig. 1 is that the unmanned plane that provides of disclosure embodiment makes a return voyage schematic diagram of a scenario；Barrier is big tree, and unmanned plane flies to great Shu
When neighbouring, unmanned plane hovers to bump against barrier.Unmanned plane needs ground artificial dry to return to takeoff setting
In advance, control instruction is sent to unmanned plane return to takeoff setting to control unmanned plane, this undoubtedly reduces efficiency of making a return voyage, if nobody
Captain's time hovers and ground staff is handled not in time, also increases the risk of unmanned plane air crash.
Based on this, disclosure embodiment proposes a kind of control unmanned plane and makes a return voyage method.The system of unmanned plane can be saved
This is caused, avoiding barrier before making a return voyage improves efficiency of making a return voyage.It is described below by specific embodiment.
Control unmanned plane shown in Figure 2 makes a return voyage the flow chart of method, and this method is applied to the unmanned aerial vehicle (UAV) control on ground
It stands, which is stored with electronic map；Method includes the following steps:
Step S202, if starting unmanned plane operation since being taken off takeoff setting, monitors the state of flight of the unmanned plane,
State of flight includes normal operation state of flight and failure floating state；
The unmanned aerial vehicle (UAV) control station on ground is monitored the state of flight of the unmanned plane of operation, and control station and unmanned plane are established
The communication connection of wireless network.Unmanned plane sends information so that control station monitors the state of unmanned plane to control station.
Wherein, the step of state of flight of the above-mentioned monitoring unmanned plane, comprising: receive above-mentioned unmanned plane and pass through wireless network
The state of flight information that network is sent；If the above-mentioned state of flight information received includes fault type information, above-mentioned event is judged
Whether barrier type information belongs to class failure of making a return voyage；If so, controlling above-mentioned unmanned plane switches to failure floating state, so that the nothing
Man-machine hovering is in the sky.
Step S204 obtains the unmanned plane on the electronic map and works as front overhang when the unmanned plane is in failure floating state
Off-position sets the path between above-mentioned takeoff setting；
Wherein, when unmanned plane hovers, the latitude and longitude information of the hovering point is sent to ground by the GPS module on unmanned plane
Control station.The takeoff setting of unmanned plane is found in electronic map.Control station calculates between two points according to electronic map
Path.
Step S206 obtains the position coordinates of the corresponding barrier of the hovering position on above-mentioned electronic map；
Wherein, the position coordinates of the corresponding barrier of hovering position refer to: certain between hovering position and takeoff setting
Obstacle Position coordinate within the scope of rectangular area.Because the region of electronic map covering is bigger, do not need to obtain map
The coordinate of upper all barriers, it is only necessary to obtain the barrier around path of making a return voyage.
Step S208 judges whether there is barrier on above-mentioned path according to the position coordinates of above-mentioned barrier；
If there is barrier, unmanned plane adjustment position is controlled, is suitble to the path maked a return voyage to control unmanned plane edge
It makes a return voyage.
In the farmland operation range of wide unmanned plane, trees, building, signal tower and massif etc. can all become potential
It threatens, becomes the barrier to make a return voyage on path.
If there is barrier on path, illustrate that the path is not suitable for making a return voyage.Ground control station sends to unmanned plane and instructs,
Order unmanned plane adjusts position, the new path between new position and takeoff setting is recalculated, if on new path again
There is barrier, then unmanned plane is enabled to adjust position again, until finding suitable path, controls unmanned plane along suitable path
It makes a return voyage.
The application controls unmanned plane and makes a return voyage method, and the current hovering position of the unmanned plane and upper is obtained on above-mentioned electronic map
State the path between takeoff setting；The position coordinates of the corresponding barrier of above-mentioned hovering position are obtained on the electronic map；According to
The position coordinates of above-mentioned barrier judge whether there is barrier on the path；If there is barrier, above-mentioned unmanned plane tune is controlled
Whole position is suitble to the path maked a return voyage to make a return voyage to control above-mentioned unmanned plane edge.Avoid the biography that setting is maked a return voyage on unmanned plane
Sensor saves manufacturing cost, and unmanned plane has chosen the path of avoiding barrier before making a return voyage, and improves efficiency of making a return voyage.
If there is no barrier on the path maked a return voyage, in a kind of possible embodiment, method further include: if do not had
Barrier controls the unmanned plane and makes a return voyage along above-mentioned path.
If not having barrier on path, control unmanned plane directly flies back takeoff setting from the position of hovering along path.
For avoiding obstacles, in a kind of possible embodiment, disclosure embodiment shown in Figure 3 is provided
Control the unmanned plane adjustment position flow chart；The unmanned plane that controls in above-mentioned steps S208 adjusts position
Step, comprising:
Step S302 selects at least one position candidate based on above-mentioned hovering position；
Wherein, position candidate is the third place selected in present embodiment for avoiding obstacles.Position candidate can
It to be automatically selected by control station, can also be selected by user, user can click oneself selection on the screen of electronic map
As position candidate, control station receives and obtains the coordinate of the position candidate of click for position.
Step S304 calculates the first via between above-mentioned position candidate and above-mentioned hovering position according to above-mentioned electronic map
Diameter；
Step S306 calculates the second tunnel between above-mentioned position candidate and above-mentioned takeoff setting according to above-mentioned electronic map
Diameter；
Step S308, if controlling the unmanned plane edge without barrier on above-mentioned first path and above-mentioned second path
Above-mentioned first path adjust to above-mentioned position candidate.
If all controlling unmanned plane without barrier on two paths and first making a return voyage along first path to above-mentioned candidate bit
It sets, then controls unmanned plane and make a return voyage from position candidate to takeoff setting along the second path.
For avoiding obstacles, another embodiment can also be used, the control unmanned plane in above-mentioned steps S208
The step of adjusting position, comprising: control after the unmanned plane is moved along assigned direction and hover over new position；According to electronically
Figure calculates the third path between above-mentioned new position and above-mentioned takeoff setting；Judge whether there is barrier on the third path；Such as
Fruit has barrier, then controls unmanned plane and continue to adjust position；If without barrier, using above-mentioned new position as position adjusted
It sets.Present embodiment comes the update of realizing route, including following manner by adjusting the hovering position of unmanned plane:
Mode one, control station send instruction to the unmanned plane in hovering position, can be to continue with the instruction of flight forward,
Unmanned plane flight forward such as 10 seconds for a period of time, then the instruction hovered is sent to unmanned plane, unmanned plane hovers over new position
It sets.
Mode two, control station can also send climb command to the unmanned plane in hovering position, and unmanned plane is specified to rise
For example 20 meters of height, the height of object so that unmanned plane surmounts an obstacle, the height of barrier, width information are previously stored in electronics
In the database of map.Unmanned plane hovering is in new position, in three-dimensional electronic map, calculates the new position of unmanned plane hovering
The path between takeoff setting is set, disturbance in judgement object is whether on path.
Mode three, control station can also send the instruction for turning boat to the unmanned plane in hovering position, and unmanned plane turns boat one
It is flown after such as 10 seconds a period of time after fixed angle, hovers over new position.
Whether there is barrier on path of making a return voyage in order to confirm, in a kind of possible embodiment, above-mentioned steps
The position coordinates according to the barrier in S208 judge whether there is the step of barrier on the path, comprising: this electronically
Searched on figure on above-mentioned path whether include barrier position coordinates, determine on above-mentioned path there is barrier.
Wherein, the acquisition in path is to determine that the path equation between two points comes using the position and takeoff setting of hovering
It realizes.According to the position coordinates of barrier, the longitude and latitude including barrier, it can be determined that whether have the barrier on path.
It brings the X value in the coordinate of barrier into path equation, judges whether the Y value of path equation is equal with the coordinate Y of barrier.Such as
Fruit is equal, then illustrates barrier on path.If unequal, illustrate barrier not on path.
In order to grasp the state of flight of unmanned plane comprehensively, in a kind of possible embodiment, above-mentioned steps S202
In monitoring the unmanned plane state of flight the step of, comprising: receive the flight shape that above-mentioned unmanned plane is sent by wireless network
State information；If the above-mentioned state of flight information received includes fault type information, whether above-mentioned fault type information is judged
Belong to class failure of making a return voyage；If so, controlling above-mentioned unmanned plane switches to failure floating state, so that the unmanned plane hovers over sky
In.
Wherein, fault type is the class fault type that makes a return voyage, because unmanned plane is precision instruments, is provided with a large amount of accurate electricity
Sub- device.It is influenced by factors such as atmospheric perturbations in flight course, Parts Breakdown is unavoidable.Some failures such as medical fluid
Failure of pump must make a return voyage processing.Spray pump in unmanned plane is by driven by Brush-Less DC motor, if DC brushless motor failure, medicine
Liquid pump cisco unity malfunction, the reading of the flowmeter of water outlet are zero.Unmanned plane sends state of flight information to control station
The fault message.Control station judges that such failure belongs to class failure of making a return voyage, and control unmanned plane hovering prepares to make a return voyage.
Because traditional electronic map, such as Amap, Baidu map etc. can not timely update on demand, map denotation
Not in detail.In order to which the electronic map to control station is updated, user is before operation first with unmanned plane to operating area
Carry out detailed detection, detect the altitude range of doubtful barrier such as trees, the width range of tree crown, the height of signal tower and
Width range etc., by the information input electronic map database detected to update electronic map so that electronic map is completeer
Kind ground, more targetedly shows the obstacle information in operating area.
Corresponding to the above method, disclosure embodiment provides a kind of control unmanned plane and makes a return voyage device, is applied to ground
Unmanned aerial vehicle (UAV) control station, which is stored with electronic map；A kind of control unmanned plane shown in Figure 4 makes a return voyage dress
The structural schematic diagram set, the device include:
Monitoring module 401, if monitoring flying for the unmanned plane for starting unmanned plane operation since being taken off takeoff setting
Row state, the state of flight include normal operation state of flight and failure floating state；
Module 402 is obtained, for when above-mentioned unmanned plane is in failure floating state, obtaining on above-mentioned electronic map should
Path between the current hovering position of unmanned plane and above-mentioned takeoff setting；
The position coordinates of the corresponding barrier of the hovering position are obtained on the electronic map；
Control module 403, for judging whether there is barrier on above-mentioned path according to the position coordinates of above-mentioned barrier；Such as
Fruit has barrier, controls unmanned plane adjustment position, is suitble to the path maked a return voyage to make a return voyage to control unmanned plane edge.
If there is no barrier on the path maked a return voyage, in a kind of possible embodiment, if control module 403 is used for
There is no barrier, controls the unmanned plane and make a return voyage along above-mentioned path.If not having barrier on path, control module 403 is for controlling
Unmanned plane processed directly flies back takeoff setting from the position of hovering along path.
For avoiding obstacles, in one embodiment, it can use the third place point and make a return voyage.Above-mentioned control mould
Block 403 is also used to select at least one position candidate based on above-mentioned hovering position；Above-mentioned candidate is calculated according to above-mentioned electronic map
First path between position and above-mentioned hovering position；Above-mentioned position candidate and above-mentioned position of taking off are calculated according to above-mentioned electronic map
The second path between setting；If controlling above-mentioned unmanned plane without barrier on above-mentioned first path and above-mentioned second path
It adjusts along above-mentioned first path to above-mentioned position candidate, then controls unmanned plane and make a return voyage from position candidate to along the second path
Fly position.
For avoiding obstacles, in another embodiment, control unmanned plane adjusted near hovering position position with
Find the path properly maked a return voyage.Control module 403, which is also used to control after the unmanned plane is moved along assigned direction, hovers over new position
It sets；The third path between above-mentioned new position and above-mentioned takeoff setting is calculated according to electronic map；Judge be on the third path
It is no to have barrier；If there is barrier, then controls unmanned plane and continue to adjust position；If the new position made without barrier
For position adjusted.
The application controls unmanned plane and makes a return voyage device, and control module 403 is used to be judged according to the position coordinates of above-mentioned barrier
Whether there is barrier on above-mentioned path；If there is barrier, unmanned plane adjustment position is controlled, to control the unmanned plane edge
It is suitble to the path maked a return voyage to make a return voyage.The sensor that setting is maked a return voyage on unmanned plane is avoided, manufacturing cost is saved, unmanned plane is returning
The path of avoiding barrier has been chosen before boat, improves efficiency of making a return voyage.
In several embodiments provided herein, it should be understood that disclosed device and method can also lead to
Other modes are crossed to realize.Device embodiments described above are only schematical, for example, the flow chart in attached drawing and
Block diagram shows the system in the cards of the device of multiple embodiments according to the present invention, method and computer program product
Framework, function and operation.In this regard, each box in flowchart or block diagram can represent a module, program segment or generation
A part of code, a part of the module, section or code include one or more for realizing defined logic function
Executable instruction.It should also be noted that function marked in the box can also be in some implementations as replacement
Occur different from the sequence marked in attached drawing.For example, two continuous boxes can actually be basically executed in parallel, they
Sometimes it can also execute in the opposite order, this depends on the function involved.It is also noted that block diagram and or flow chart
In each box and the box in block diagram and or flow chart combination, can function or movement as defined in executing it is special
Hardware based system is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention can integrate and form one together solely
Vertical part is also possible to modules individualism, can also be integrated to form with two or more modules one it is independent
Part.
Finally, it should be noted that embodiment described above, the only specific embodiment of the disclosure, to illustrate this public affairs
The technical solution opened, rather than its limitations, the protection scope of the disclosure are not limited thereto, although referring to aforementioned embodiments pair
The disclosure is described in detail, those skilled in the art should understand that: any technology for being familiar with the art
Personnel can still modify to technical solution documented by aforementioned embodiments in the technical scope that the disclosure discloses
Or variation or equivalent replacement of some of the technical features can be readily occurred in；And these modifications, variation or replacement,
The spirit and scope for disclosure embodiment technical solution that it does not separate the essence of the corresponding technical solution, should all cover in this public affairs
Within the protection scope opened.Therefore, the protection scope of the disclosure shall be subject to the protection scope of the claim.
Claims (10)
- A kind of method 1. control unmanned plane makes a return voyage, which is characterized in that applied to the unmanned aerial vehicle (UAV) control station on ground, the unmanned plane control System station is stored with electronic map；The described method includes:If starting unmanned plane operation since being taken off takeoff setting, the state of flight of the unmanned plane, the flight shape are monitored State includes normal operation state of flight and failure floating state；When the unmanned plane is in failure floating state, the current hovering position of the unmanned plane is obtained on the electronic map Path between the takeoff setting；The position coordinates of the corresponding barrier of the hovering position are obtained on the electronic map；Judge whether there is barrier on the path according to the position coordinates of the barrier；If there is barrier, unmanned plane adjustment position is controlled, is suitble to the path maked a return voyage to control the unmanned plane edge It makes a return voyage.
- 2. the method as described in claim 1, which is characterized in that the method also includes: if without barrier, described in control Unmanned plane makes a return voyage along the path.
- 3. the method as described in claim 1, which is characterized in that the step of controlling the unmanned plane adjustment position, comprising:At least one position candidate is selected based on the hovering position；The first path between the position candidate and the hovering position is calculated according to the electronic map；The second path between the position candidate and the takeoff setting is calculated according to the electronic map；If controlling the unmanned plane along the first via without barrier on the first path and second path Diameter is adjusted to the position candidate.
- 4. the method as described in claim 1, which is characterized in that the step of controlling the unmanned plane adjustment position, comprising:It controls after the unmanned plane is moved along assigned direction and hovers over new position；The third path between the new position and the takeoff setting is calculated according to electronic map；Judge whether there is barrier on the third path；If there is barrier, then controls unmanned plane and continue to adjust position；If without barrier, using the new position as position adjusted.
- 5. the method as described in claim 1, which is characterized in that be labeled with the position coordinates of barrier on the electronic map；Judge whether there is the step of barrier on the path according to the position coordinates of the barrier, comprising: in the electronics Searched on map on the path whether include barrier position coordinates, determine on the path there is barrier.
- 6. the method as described in claim 1, which is characterized in that the step of the state of flight of the monitoring unmanned plane, packet It includes:Receive the state of flight information that the unmanned plane is sent by wireless network；If the state of flight information received includes fault type information, judge whether the fault type information belongs to Class of making a return voyage failure；If so, controlling the unmanned plane switches to failure floating state, so that unmanned plane hovering is in the sky.
- 7. as the method according to claim 1 to 6, which is characterized in that the barrier is at least one of: trees, Building, signal tower and massif.
- The device 8. a kind of control unmanned plane makes a return voyage, which is characterized in that applied to the unmanned aerial vehicle (UAV) control station on ground, the unmanned plane control System station is stored with electronic map；Described device includes:Monitoring module, if monitoring the flight shape of the unmanned plane for starting unmanned plane operation since being taken off takeoff setting State, the state of flight include normal operation state of flight and failure floating state；Obtain module, for when the unmanned plane is in failure floating state, obtained on the electronic map it is described nobody Path between the current hovering position of machine and the takeoff setting；The position coordinates of the corresponding barrier of the hovering position are obtained on the electronic map；Control module, for judging whether there is barrier on the path according to the position coordinates of the barrier；If there is barrier, unmanned plane adjustment position is controlled, is suitble to the path maked a return voyage to control the unmanned plane edge It makes a return voyage.
- 9. device as claimed in claim 8, which is characterized in that the control module is also used to select based on the hovering position At least one position candidate；The first path between the position candidate and the hovering position is calculated according to the electronic map；The second path between the position candidate and the takeoff setting is calculated according to the electronic map；If controlling the unmanned plane along second tunnel without barrier on the first path and second path Diameter is adjusted to the position candidate.
- 10. device as claimed in claim 8, which is characterized in that the control module is also used to:It controls after the unmanned plane is moved along assigned direction and hovers over new position；The third path between the new position and the takeoff setting is calculated according to electronic map；Judge whether there is barrier on the third path；If there is barrier, then controls unmanned plane and continue to adjust position；If without barrier, using the new position as position adjusted.
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