WO2019056172A1

WO2019056172A1 - Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium

Info

Publication number: WO2019056172A1
Application number: PCT/CN2017/102249
Authority: WO
Inventors: 陈锦熙; 王坤殿
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-09-19
Filing date: 2017-09-19
Publication date: 2019-03-28
Also published as: CN108885462B; CN108885462A

Abstract

A flight control method for an unmanned aerial vehicle, the unmanned aerial vehicle, and a machine readable storage medium. The method comprises: control, based on a one-button start of a user, a vertical takeoff and landing fixed-wing unmanned aerial vehicle to take off in a multi-rotor mode; after the vertical takeoff and landing fixed-wing unmanned aerial vehicle flies to a specified height, automatically control a flight mode of the vertical takeoff and landing fixed-wing unmanned aerial vehicle to be switched from the multi-rotor mode to a fixed-wing mode and fly in the fixed-wing mode; and when a set landing condition is satisfied, the vertical takeoff and landing fixed-wing unmanned aerial vehicle automatically switches the flight mode from the fixed-wing mode to the multi-rotor mode, and lands at a specified position in the multi-rotor mode. After the vertical takeoff and landing fixed-wing unmanned aerial vehicle is controlled to take off at one operation, the vertical takeoff and landing fixed-wing unmanned aerial vehicle autonomously completes a flight task and autonomously returns to a specified position, so that the whole flight process is smoothly completed, and user experience is improved; in addition, the occupation of the flight duration of the unmanned aerial vehicle due to manual operations can be reduced.

Description

UAV flight control method, drone and machine readable storage medium

Technical field

The present application relates to the field of drone technology, and in particular, to a flight control method for a drone, a drone, and a machine readable storage medium.

Background technique

The vertical take-off and landing fixed-wing UAV is in a multi-rotor flight state during take-off, and is in a fixed-wing flight state during the execution of the mission. When the mission is completed, the vertical take-off and landing fixed-wing UAV is The multi-rotor flight state is lowered. It can be seen that the vertical take-off and landing fixed-wing UAVs combine the advantages of the multi-rotor aircraft and the fixed-wing aircraft to be used for performing long-range voyages, long voyages, and more flight requirements. At the same time, operators of vertical take-off and landing fixed-wing drones must have extensive operational experience with multi-rotor aircraft and fixed-wing aircraft.

However, during the entire flight preparation for take-off to landing, the vertical take-off and landing fixed-wing UAV can only rely on external operating instructions to switch the flight state. Therefore, the whole operation process is cumbersome and the operation experience is not friendly; Unexpected accidents will occur during the execution of the mission, and the vertical take-off and landing fixed-wing drones will not be able to take corresponding measures in case of accidents to avoid the risk of crashes.

Summary of the invention

In view of this, the present application discloses a flight control method for a drone, a drone, and a machine readable storage medium.

In a first aspect, a flight control method for a drone is provided for a vertical take-off and landing fixed-wing UAV, comprising: controlling a vertical take-off fixed-wing UAV in a multi-rotor mode based on a one-key start of a user And automatically controlling the vertical takeoff and landing fixed-wing drone to switch the flight mode from the multi-rotor mode to the fixed-wing mode after the vertical take-off and landing fixed-wing drone flies to a specified altitude, and Fixed-wing mode flight; and,

The vertical take-off and landing fixed-wing drone automatically switches the flight mode from the fixed-wing mode back to the multi-rotor mode and falls to the designated position in the multi-rotor mode when the set descent condition is met.

In a second aspect, a flight control method for a drone is provided for a vertical take-off and landing fixed-wing UAV, including: the vertical take-off and landing fixed-wing UAV in the process of flying in a fixed-wing mode, when monitoring Automatically switching the flight mode from the fixed wing mode to the multi-rotor mode when the flight state information of the user meets the set rescue condition;

The vertical take-off and landing fixed-wing drone is dropped to a designated position in the multi-rotor mode;

Wherein the flight state information includes an attitude angle and a flight altitude;

The setting of the rescue condition includes at least one of the following:

The attitude angle of the vertical take-off and landing fixed-wing UAV is greater than the attitude angle threshold;

The flying height of the vertical take-off and landing fixed-wing UAV is lower than a height threshold.

In a third aspect, a drone is provided, and the drone is a vertical take-off and landing fixed-wing drone, and the drone includes:

a multi-rotor assembly that causes the drone to fly in a multi-rotor mode, the multi-rotor assembly including a multi-rotor blade and a multi-rotor motor;

a fixed wing assembly that causes the drone to fly in a fixed wing configuration, the fixed wing assembly including a wing and fixed wing motor;

a processor; the processor is configured to:

Controlling the vertical take-off and landing fixed-wing UAV in a multi-rotor mode based on a one-key start of the user, and automatically controlling the vertical take-off and landing fixed wing after the vertical take-off and landing fixed-wing UAV flies to a designated height The drone switches the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode;

In a fourth aspect, a drone is provided, and the drone is a vertical take-off and landing fixed-wing drone, and the drone includes:

a processor; the processor is configured to:

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode to the multi-rotor when it detects that its own flight state information meets the set rescue condition during flight in the fixed-wing mode. mode;

The setting of the rescue condition includes at least one of the following:

In a fifth aspect, a machine readable storage medium is provided, on which a plurality of computer instructions are stored, the computer instructions being executed as follows:

In a sixth aspect, a machine readable storage medium is provided having stored thereon a plurality of computer instructions that, when executed, perform the following processing:

The setting of the rescue condition includes at least one of the following:

It can be seen from the above embodiments that the present invention can realize the autonomous operation of the fixed-wing unmanned aerial vehicle by the vertical take-off and landing fixed-wing drone after one operation control of the vertical take-off and landing fixed-wing drone, and return to the designated position autonomously, thereby making the whole flight The process is improved in one go, which improves the user experience. At the same time, it can reduce the occupation of the drone's battery life by manual operation. At the same time, the present invention can realize the vertical take-off and landing fixed-wing drone to switch its flight mode from multi-rotor mode to fixed wing. Mode, in the process of flying in fixed-wing mode, in the event of an accident, the vertical take-off and landing fixed-wing drones can take corresponding measures to avoid the risk of crash.

DRAWINGS

Figure 1 is an example of a vertical take-off and landing fixed-wing UAV;

2 is a flow chart of an embodiment of a flight control method of a drone of the present invention;

3 is a flow chart of an embodiment of a flight control method of another drone according to the present invention;

Figure 4 is a block diagram of an embodiment of a drone;

Figure 5 is a block diagram of another embodiment of a drone.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

As shown in Figure 1, an example of a fixed-wing UAV is used for vertical take-off and landing. The vertical take-off and landing fixed-wing UAVs shown in Fig. 1 combine the advantages of a multi-rotor aircraft and a fixed-wing aircraft, and can be used for performing missions with long range, long flight time, and high lifting requirements. At present, the vertical take-off and landing fixed-wing UAVs must be completed by the user's operation instructions during the entire flight from take-off to landing. It can be seen that the operation of the vertical take-off and landing fixed-wing UAVs The process is complicated and the operating experience is not friendly.

Based on this, an embodiment of the present invention provides a flight control method for a drone, which can be implemented by a vertical take-off and landing fixed-wing UAV after a single operation to control a vertical take-off and landing fixed-wing drone take-off. The mission is completed and returned to the designated location, which makes the whole flight process in one go, improves the user experience, and at the same time reduces the occupation of the drone's battery life by manual operation.

The flight control method of the unmanned aerial vehicle of the present invention will be described below by showing the following embodiments.

Embodiment 1:

2 is a flow chart of an embodiment of a flight control method for a drone according to the present invention. The method can be applied to a vertical take-off and landing fixed-wing UAV, including the following steps:

Step 201: Control the vertical take-off and landing fixed-wing drone to take off in a multi-rotor mode based on the user's one-button activation.

In an embodiment, before the user controls the vertical take-off and landing fixed-wing drone, some flight parameters, such as speed, altitude, flight path, etc., may be first set for the vertical take-off and landing fixed-wing drone, and Do the necessary inspections, such as checking whether the power is normal, checking whether the sensors are normal, checking whether the anemometer is normal, etc. After everything is ready, the user can operate through an external device, such as a remote control, to control the vertical The fixed-wing drone took off.

In one embodiment, the vertical take-off and landing fixed-wing drone takes off in a multi-rotor mode, in popular terms, that is, from the ground. Take off vertically.

In an embodiment, the flight parameters may include a specified altitude, a set speed, a set route, a set landing position, a designated position, and the like, wherein the designated height may be a fixed wing suitable for the vertical take-off and landing fixed-wing drone The altitude of the mode flight; the set speed can be the speed suitable for the vertical take-off and landing fixed-wing UAV to fly in the fixed-wing mode; the set route can be the flight path of the vertical take-off and landing fixed-wing UAV in the fixed-wing mode. Specifically, the user can set a series of set waypoints, and upload the series of set waypoints to the vertical takeoff and landing fixed-wing drone through the cloud server, and the connection between the series of set waypoints is Set the route; the designated position is the final landing position of the vertical take-off and landing fixed-wing UAV, which can be the take-off position of the vertical take-off and landing fixed-wing UAV, or a target position preset by the user.

Step 202: After the vertical take-off and landing fixed-wing UAV flies to a specified height, the automatic control vertical take-off and landing fixed-wing UAV switches the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode.

In one embodiment, the vertical take-off and landing fixed-wing drone can automatically switch the flight mode from the multi-rotor mode to the fixed-wing mode after taking off vertically from the ground to a specified altitude.

Specifically, after the vertical take-off and landing fixed-wing drone takes off from the ground vertically upward to a specified height, the current heading is automatically adjusted first, for example, such that the heading angle of the vertical take-off fixed-wing drone is directed to the first of the set routes. At this time, it is considered that the current heading of the vertical take-off and landing fixed-wing UAV is the same as the direction of the set route, so that the vertical take-off and landing fixed-wing UAV can perform the mission; after that, the vertical take-off and landing is fixed. The winged drone automatically accelerates along the adjusted current heading in multi-rotor mode until the flight speed reaches the above set speed. The vertical take-off and landing fixed-wing drone opens the fixed-wing motor and is long at a certain time, for example 1 After the second, the multi-rotor motor is controlled to stop, so that the flight mode will be automatically switched to the fixed-wing mode.

In an optional implementation manner, the vertical take-off and landing fixed-wing UAV can accelerate the flight setting duration, for example, 4 seconds, in a multi-rotor mode along the adjusted current heading with a set acceleration, so that The flight speed of the vertical take-off and landing fixed-wing UAV reaches the above set speed.

In an embodiment, after the vertical take-off and landing fixed-wing drone switches the flight mode from the multi-rotor mode to the fixed-wing mode, it can automatically follow the set route, fly in the fixed-wing mode, and when flying to the setting At the end of the route of the route, the vertical take-off and landing fixed-wing drone continues to return to the set landing position in fixed-wing mode.

In an embodiment, the set landing position may be the starting point of the route of the set route, and correspondingly, the vertical take-off fixed-wing drone may return to the starting point of the route along the set route.

In an embodiment, the set landing position may be located directly above the designated position.

Step 203: When the set landing condition is met, the vertical take-off and landing fixed-wing drone automatically adopts the flight mode from the fixed-wing mode. Switch back to multi-rotor mode and land in the multi-rotor mode to the specified position.

In an embodiment, the set landing condition may be a vertical take-off and landing fixed-wing drone flying to a set landing position.

In an embodiment, when the vertical take-off and landing fixed-wing UAV flies to the set landing position, the vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode to the multi-rotor mode, and in the multi-rotor mode. Drop from the set landing position to the above specified position. Specifically, the vertical take-off and landing fixed-wing UAV automatically turns on the multi-rotor motor to assist in maintaining the balance between the pitch angle and the roll angle of the vertical take-off and landing fixed-wing UAV, and at the same time, the vertical take-off and landing fixed-wing UAV automatically The fixed-wing motor is controlled to decelerate until the speed of the fixed-wing motor is reduced to zero. At this point, the vertical take-off and landing fixed-wing drone switches the flight mode from the fixed-wing mode to the multi-rotor mode.

In an optional implementation, the vertical take-off and landing fixed-wing UAV can automatically control the fixed-wing motor to set the angular acceleration to decelerate until the fixed-wing motor rotates at zero.

It can be seen from the above embodiments that the present invention can realize the autonomous operation of the fixed-wing unmanned aerial vehicle by the vertical take-off and landing fixed-wing drone after one operation control of the vertical take-off and landing fixed-wing drone, and return to the designated position autonomously, thereby making the whole flight The process is improved in one go, improving the user experience, while also reducing the manual operation of the drone's battery life.

So far, the description of the first embodiment is completed.

In the process of performing a mission, the vertical take-off and landing fixed wing is likely to be disturbed by external forces, such as strong winds, causing unexpected situations. However, in the event of an accident, the vertical take-off and landing fixed-wing drone cannot be taken autonomously. Corresponding measures to avoid the risk of crashes.

Based on this, an embodiment of the present invention further provides a flight control method for another UAV. The method is based on the embodiment shown in FIG. 1 , and the method can be used to implement a vertical take-off and landing fixed-wing UAV. The flight mode is switched from multi-rotor mode to fixed-wing mode. In the process of flying in fixed-wing mode, in the event of an unexpected situation, the vertical take-off and landing fixed-wing UAV independently takes corresponding measures to avoid the risk of crash.

As will be described below, another flight control method of the unmanned aerial vehicle proposed by the present invention will be described with reference to the following embodiments.

Embodiment 2:

3 is a flow chart of an embodiment of a flight control method for another drone according to the present invention. The method can be applied to a vertical take-off and landing fixed-wing UAV, including the following steps:

Step 301: During the process of flying in the fixed-wing mode, the vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode to the multi-rotor mode when it detects that its own flight state information meets the set rescue condition.

In an embodiment, the vertical take-off and landing fixed-wing drone can be implemented in the process of performing the mission in the fixed-wing mode. While monitoring its own flight status information, the flight status information referred to herein may include an attitude angle and a flying height.

Correspondingly, in an embodiment, setting the rescue condition may include at least one of the following: the attitude angle of the vertical take-off fixed-wing UAV is greater than the attitude angle threshold, and the flying height of the vertical take-off fixed-wing UAV is low. At the height threshold.

Then, when the vertical take-off and landing fixed-wing drone performs the mission in the fixed-wing mode, if the attitude angle is greater than the attitude angle threshold, and/or the detected flight altitude is lower than the altitude threshold, the vertical take-off and landing The fixed-wing drone can switch its flight mode from fixed-wing mode back to multi-rotor mode to end the mission and prepare to implement the landing.

In an embodiment, the attitude angle threshold may be a fixed value preset by a user, or may be calculated based on a real-time flight attitude of a vertical take-off and landing fixed-wing UAV.

In an embodiment, the height threshold may be a fixed value preset by a user.

Step 302: The vertical take-off and landing fixed-wing drone is dropped to a designated position in a multi-rotor mode.

In an embodiment, the vertical take-off and landing fixed-wing UAV switches its flight state from the fixed-wing mode to the multi-rotor mode, and after being in a stable state, can first detect whether the distance between its current position and the specified position is If the threshold is greater than the preset distance threshold, if it is, the vertical take-off and landing fixed-wing drone will fly vertically in the multi-rotor mode. When flying to the specified altitude, the flight mode will be switched from the multi-rotor mode to the fixed-wing mode to fix. The wing mode flies to the set landing position.

Subsequently, after reaching the set landing position, the vertical take-off and landing fixed-wing drone switches its flight mode from the fixed-wing mode back to the multi-rotor mode, and descends from the set landing position to the designated position in the multi-rotor mode.

In an embodiment, if the distance between the current position of the fixed-wing UAV and the designated position does not exceed the preset distance threshold, the vertical take-off and landing fixed-wing UAV can directly from the current position in the multi-rotor mode. Return to the designated location. Specifically, the vertical take-off and landing fixed-wing UAV can first fly horizontally in the multi-rotor mode to directly above the designated position, and then vertically descend to the designated position.

The set landing position and the designated position involved in this embodiment may be the same as the set landing position and the designated position described in the first embodiment, and the description will not be repeated here.

It can be seen from the above embodiments that the present invention can realize that the vertical take-off and landing fixed-wing UAV switches its own flight mode from the multi-rotor mode to the fixed-wing mode. In the process of flying in the fixed-wing mode, in the event of an accident, the vertical The fixed-wing drone can take corresponding measures to avoid the risk of crash.

So far, the description of the second embodiment is completed.

In addition, in the embodiment of the present invention, the vertical take-off and landing fixed-wing UAV can communicate with the ground station through the onboard 4G communication module during the whole flight, for example, passing its real-time flight information through the onboard 4G. Communication module is transmitted to The signal base station forwards the real-time flight information to the cloud server by the signal base station, the cloud server backs up the real-time flight information, and forwards the real-time flight information to the ground station, so that the ground station obtains the vertical take-off and landing fixed wing according to the real-time flight information. Flight data of man and machine. The flight data may include at least one of the following: attitude angle, heading, geographic location, voltage and current, satellite signal strength, real-time image transmission. For another example, the vertical take-off and landing fixed-wing UAV receives the flight control command sent by the ground station through the signal base station through the onboard 4G communication module during the whole flight, and the flight control command may include at least one of the following: one button Return command, pointing flight command, flight parameter real-time change command.

Based on the same inventive concept as the method illustrated in FIG. 2 above, the embodiment of the present invention further provides an unmanned aerial vehicle, which is a vertical take-off and landing fixed-wing unmanned aerial vehicle, as shown in FIG. The machine 400 includes a multi-rotor assembly 410, a fixed wing assembly 420, and a processor 430, wherein the multi-rotor assembly 410 includes a multi-rotor blade and a multi-rotor motor (not shown in FIG. 4), and the multi-rotor assembly 410 can be unmanned The aircraft is in a multi-rotor mode; the fixed wing assembly 420 includes a wing and fixed wing motor (not shown in FIG. 4), the fixed wing assembly 420 can cause the drone to fly in a fixed wing mode; the processor 430 is used to: based on the user One-button activation controls the vertical take-off and landing fixed-wing drone to take off in a multi-rotor mode, and automatically controls the vertical take-off and landing fixed wing after the vertical take-off and landing fixed-wing drone flies to a designated height The aircraft switches the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode; and, when the set landing condition is met, the vertical take-off and landing fixed-wing drone automatically takes the flight mode from Fixed wing mode cutting Multi-mode back to the rotor, and the landing position to a specified mode of the multi-rotor.

In an embodiment, the processor 430 is configured to: automatically control the vertical take-off and landing fixed-wing UAV to adjust the current heading so that the current heading is consistent with the direction of the set route; automatically controlling the vertical direction The fixed-wing UAV accelerates flight along the current heading direction so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed; when the flight speed of the vertical take-off and landing fixed-wing UAV reaches the stated speed When the speed is set, the vertical take-off and landing fixed-wing drone automatically controls the flight mode from the multi-rotor mode to the fixed-wing mode.

In an embodiment, the processor 430 is configured to: automatically control the vertical take-off and landing fixed-wing UAV to adjust the current heading, so that the heading angle of the vertical take-off and landing fixed-wing UAV is directed to the set route. The first set of waypoints.

In an embodiment, the processor 430 is configured to: automatically control the vertical take-off and landing fixed-wing UAV along the current heading to set an acceleration acceleration flight setting duration, so that the vertical take-off and landing The flight speed of the fixed-wing UAV reaches the set speed.

In an embodiment, the processor 430 is configured to: the vertical take-off and landing fixed-wing UAVs fly in a fixed-wing mode along a set route; when the vertical take-off and landing fixed-wing UAVs fly to the When the route end point of the route is set, the vertical takeoff and landing fixed wing drone continues to return to the set landing position in the fixed wing mode.

In an embodiment, the set landing position is located directly above the designated position.

In an embodiment, the set landing condition is that the vertical takeoff and landing fixed wing drone flies to the set landing position.

In an embodiment, the processor 430 is configured to: the vertical take-off and landing fixed-wing UAV automatically controls the rotation of the multi-rotor motor; and the vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to decelerate and rotate Until the speed of the fixed wing motor is zero.

In an embodiment, the processor 430 is configured to: the vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate at a set angular acceleration until the rotational speed of the fixed-wing motor is zero.

In an embodiment, the processor 430 is configured to: the vertical take-off and landing fixed-wing UAV drop from the set landing position to a designated position in the multi-rotor mode.

In an embodiment, the designated position is a take-off position or a preset target position of the vertical take-off and landing fixed-wing drone.

In an embodiment, the UAV includes a 4G communication module; the processor 330 is configured to: the vertical take-off and landing fixed-wing UAV is performed by the 4G communication module and the ground station during the entire flight Communication.

In an embodiment, the processor 430 is configured to: during the entire flight, the vertical take-off and landing fixed-wing UAV forwards real-time flight information to the cloud server via the signal base station through the onboard 4G communication module, And causing the cloud server to back up the real-time flight information, and forwarding the real-time flight information to a ground station, so that the ground station acquires flight data of the vertical take-off and landing fixed-wing drone according to the real-time flight information.

In an embodiment, the flight data includes at least one of: attitude angle, heading, geographic location, voltage current, satellite signal strength, real-time image transmission.

In an embodiment, the processor 430 is configured to: during the entire flight, the vertical take-off and landing fixed-wing UAV receives a flight control command sent by the ground station through the signal base station through the onboard 4G communication module.

Based on the same inventive concept as the method illustrated in FIG. 3 above, an embodiment of the present invention further provides a drone, which is a vertical take-off and landing fixed-wing UAV, as shown in FIG. 5, the unmanned person The machine 500 includes a multi-rotor assembly 510, a fixed wing assembly 520, and a processor 530, wherein the multi-rotor assembly 510 includes a multi-rotor blade and a multi-rotor motor (not shown in FIG. 5), and the multi-rotor assembly 510 can be unmanned The aircraft is in a multi-rotor mode; the fixed wing assembly 520 includes a wing and fixed wing motor (not shown in FIG. 5), the fixed wing assembly 520 can cause the drone to fly in a fixed wing mode; the processor 530 is configured to: Vertical take-off and landing fixed-wing UAVs in the process of flying in fixed-wing mode, when monitoring their own flight status letter Automatically switching the flight mode from the fixed wing mode to the multi-rotor mode when the met the set rescue condition; the vertical takeoff and landing fixed wing drone is dropped to the designated position in the multi-rotor mode; wherein The flight state information includes an attitude angle and a flight altitude; the set rescue condition includes at least one of: the attitude angle of the vertical take-off fixed-wing UAV is greater than a posture angle threshold; and the vertical take-off and landing fixed wing has no The flying height of the human machine is below the altitude threshold.

In an embodiment, the attitude angle threshold is a preset fixed value, or is calculated based on a real-time flight attitude of the vertical take-off and landing fixed-wing UAV; the height threshold is a preset fixed value.

In an embodiment, the processor 530 is configured to: when the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the specified position exceeds a preset distance threshold, in the multi-rotor mode Flying vertically upwards; the vertical take-off fixed-wing UAV automatically switches the flight mode from the multi-rotor mode back to the fixed-wing mode after flying to a specified altitude, and flies to the set in the fixed-wing mode a landing position; the vertical takeoff and landing fixed wing drone automatically switches the flight mode from the fixed wing mode back to the multi-rotor mode, and drops from the set landing position to the designation in the multi-rotor mode position.

In an embodiment, the processor 530 is configured to: when the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the specified position does not exceed a preset distance threshold, the vertical take-off and landing The fixed-wing drone is returned from the current position to the designated position in the multi-rotor mode.

In an embodiment, the processor 530 is configured to: the vertical take-off and landing fixed-wing drone is horizontally flying directly above the designated position in the multi-rotor mode; the vertical take-off and landing fixed-wing drone vertically falls To the specified location.

Based on the same inventive concept as the method shown in FIG. 2 above, the embodiment of the present invention further provides a machine readable storage medium, where the machine readable storage medium can be located on a drone, and the machine readable storage medium stores a plurality of computer instructions, the computer instructions being executed to: control the vertical take-off and landing fixed-wing drone to take off in a multi-rotor mode based on a one-key activation of a user, and to perform the fixed-wing drone in the vertical take-off and landing After flying to a specified altitude, the vertical take-off and landing fixed-wing drone automatically controls the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode; and, when the set landing condition is met The vertical takeoff and landing fixed wing drone automatically switches the flight mode from the fixed wing mode back to the multi-rotor mode and drops to a designated position in the multi-rotor mode.

In an embodiment, the automatically controlling the vertical take-off and landing fixed-wing UAV to switch the flight mode from the multi-rotor mode to the fixed-wing mode, the computer instruction is executed as follows: automatic Controlling the vertical take-off and landing fixed-wing drone to adjust the current heading so that the current heading is consistent with the direction of the set route; automatically controlling the said The vertical take-off and landing fixed-wing UAV accelerates the flight along the current heading so that the flight speed of the vertical take-off fixed-wing UAV reaches a set speed; when the vertical take-off and landing fixed-wing UAV is flying When the speed reaches the set speed, the vertical take-off and landing fixed-wing drone is automatically controlled to switch the flight mode from the multi-rotor mode to the fixed-wing mode.

In an embodiment, the automatically controlling the vertical take-off and landing fixed-wing UAV adjusts the current heading so that the current heading is consistent with the direction of the set route, and the computer instruction is executed as follows Processing: automatically controlling the vertical take-off and landing fixed-wing drone to adjust the current heading so that the heading angle of the vertical take-off and landing fixed-wing drone is directed to the first set waypoint in the set route.

In an embodiment, the automatically controlling the vertical take-off and landing fixed-wing UAV to accelerate the flight along the current heading to make the flight speed of the vertical take-off and landing fixed-wing UAV reach a set speed The computer command is executed to automatically control the vertical take-off and landing fixed-wing UAV along the current heading to set an acceleration acceleration flight setting duration to fix the vertical takeoff and landing The flying speed of the winged drone reaches the set speed.

In an embodiment, during the flight of the vertical take-off and landing fixed-wing UAV in the fixed-wing mode, the computer command is executed as follows: the vertical take-off and landing fixed-wing UAV is set along the setting a flight in a fixed-wing mode; when the vertical take-off and landing fixed-wing drone flies to the end of the route of the set route, the vertical take-off and landing fixed-wing drone continues to return to the fixed-wing mode to Set the landing position.

In an embodiment, the vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode back to the multi-rotor mode, and when the computer command is executed, the following processing is performed: The vertical take-off and landing fixed-wing UAV automatically controls the rotation of the multi-rotor motor; and the vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to decelerate and rotate until the rotational speed of the fixed-wing motor is zero.

In an embodiment, the vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to decelerate and rotate until the rotational speed of the fixed-wing motor is zero, and the computer instruction is executed as follows: The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate at a set angular acceleration until the rotational speed of the fixed-wing motor is zero.

In an embodiment, the vertical take-off and landing fixed-wing UAV is dropped into the specified position in the multi-rotor mode, and the computer command is executed as follows: the vertical take-off and landing fixed-wing unmanned The machine descends from the set landing position to the designated position in the multi-rotor mode.

In an embodiment, the designated position is a take-off position or a preset target of the vertical take-off and landing fixed-wing drone position.

In an embodiment, the computer instructions are further processed as follows: the vertical take-off and landing fixed-wing drone communicates with the ground station through the onboard 4G communication module throughout the flight.

In an embodiment, during the whole flight, the vertical take-off and landing fixed-wing UAV communicates with the ground station through the onboard 4G communication module, and the computer instruction is executed as follows: The vertical take-off and landing fixed-wing UAV forwards real-time flight information to the cloud server via the signal base station through the onboard 4G communication module during the whole flight, so that the cloud server backs up the real-time flight information, and the real-time flight information The flight information is forwarded to the ground station to enable the ground station to acquire flight data of the vertical takeoff and landing fixed-wing drone based on the real-time flight information.

In an embodiment, during the whole flight, the vertical take-off and landing fixed-wing UAV communicates with the ground station through the onboard 4G communication module, and the computer instruction is executed as follows: The vertical take-off and landing fixed-wing UAV receives the flight control commands sent by the ground station through the signal base station through the onboard 4G communication module during the whole flight.

Based on the same inventive concept as the method shown in FIG. 3 above, an embodiment of the present invention further provides another machine readable storage medium, which may be located on a drone, and stored on the machine readable storage medium. There are a plurality of computer instructions, when the computer instructions are executed, the following processing is performed: the vertical take-off fixed-wing UAV is in the process of flying in the fixed-wing mode, and when the flight state information is monitored to meet the set rescue condition Automatically switching the flight mode from the fixed wing mode to the multi-rotor mode; the vertical take-off and landing fixed-wing drone is dropped to the designated position in the multi-rotor mode; wherein the flight state information includes an attitude angle and Flying height; the set rescue condition includes at least one of: the attitude angle of the vertical take-off fixed-wing UAV is greater than an attitude angle threshold; and the flying height of the vertical take-off fixed-wing UAV is lower than Height threshold.

In an embodiment, the vertical take-off and landing fixed-wing UAV is dropped into the specified position in the multi-rotor mode, and the computer command is executed as follows: the vertical take-off and landing fixed-wing unmanned When the machine detects that the distance between its current position and the specified position exceeds the preset distance threshold, it vertically flies upward in the multi-rotor mode; the vertical take-off fixed-wing drone automatically starts after flying to a specified height The flight mode is switched from the multi-rotor mode back to the fixed wing mode and flies to the set landing position in the fixed wing mode; the vertical takeoff and landing fixed wing drone automatically flies The row mode switches from the fixed wing mode back to the multi-rotor mode and falls from the set landing position to the designated position in the multi-rotor mode.

In an embodiment, the vertical take-off and landing fixed-wing UAV is dropped into the specified position in the multi-rotor mode, and the computer command is executed as follows: the vertical take-off and landing fixed-wing unmanned When the machine detects that the distance between its current position and the designated position does not exceed the preset distance threshold, the vertical take-off and landing fixed-wing drone returns from the current position to the designated position in the multi-rotor mode.

In an embodiment, the vertical take-off and landing fixed-wing drone is returned from the current position to the designated position in the multi-rotor mode, and the computer instruction is executed as follows: The descending fixed-wing UAV flies horizontally above the designated position in the multi-rotor mode; the vertical take-off fixed-wing UAV falls vertically to the designated position.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations. There is any such actual relationship or order between them. The terms "comprising," "comprising," or "include" or "include" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that includes a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principles and implementation manners of the present invention are described herein by using specific examples. The description of the above embodiments is only used to help understand the method of the present invention and At the same time, there will be changes in the specific embodiments and the scope of application according to the idea of the present invention, and the contents of the present specification should not be construed as limiting the present invention. .

Claims

A flight control method for a drone is applied to a vertical take-off and landing fixed-wing UAV, characterized in that the method comprises:

Controlling the vertical take-off and landing fixed-wing UAV in a multi-rotor mode based on a one-key start of the user, and automatically controlling the vertical take-off and landing fixed wing after the vertical take-off and landing fixed-wing UAV flies to a designated height The drone switches the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode;

The vertical take-off and landing fixed-wing drone automatically switches the flight mode from the fixed-wing mode back to the multi-rotor mode and falls to the designated position in the multi-rotor mode when the set descent condition is met.
The method of claim 1 wherein said automatically controlling said vertical takeoff and landing fixed-wing drone to switch an airplane mode from said multi-rotor mode to a fixed-wing mode comprises:

Automatically controlling the vertical take-off and landing fixed-wing UAV to adjust the current heading so that the current heading is consistent with the direction of the set route;

Automatically controlling the vertical take-off and landing fixed-wing UAV to accelerate the flight along the current heading direction, so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed;

When the flight speed of the vertical take-off and landing fixed-wing UAV reaches the set speed, the vertical take-off fixed-wing UAV is automatically controlled to switch the flight mode from the multi-rotor mode to the fixed-wing mode.
The method of claim 2, wherein the automatically controlling the vertical take-off and landing fixed-wing UAV adjusts the current heading so that the current heading is in the same direction as the set route, including:

The vertical take-off and landing fixed-wing drone automatically controls the current heading so that the heading angle of the vertical take-off and landing fixed-wing drone is directed to the first set waypoint in the set route.
The method according to claim 2, wherein said automatically controlling said vertical take-off and landing fixed-wing drone to accelerate flight along said current heading to cause flight of said vertical take-off and landing fixed-wing drone The speed reaches the set speed, including:

Automatically controlling the vertical take-off and landing fixed-wing UAV along the current heading to set an acceleration to accelerate the flight set duration so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed.
The method of claim 1 wherein said vertical take-off and landing fixed-wing UAVs fly in a fixed-wing mode, comprising:

The vertical take-off and landing fixed-wing UAV flies in a fixed-wing mode along a set route;

When the vertical take-off and landing fixed-wing UAV flies to the end of the route of the set route, the vertical take-off and landing fixed-wing UAV continues to return to the set landing position in the fixed wing mode.
The method of claim 5 wherein said set landing position is located directly above said designated position.
The method of claim 5 wherein said setting the landing condition is:

The vertical takeoff and landing fixed wing drone flies to the set landing position.
The method of claim 1 wherein said vertical takeoff and landing fixed wing drone automatically switches flight mode from said fixed wing mode back to said multi-rotor mode, comprising:

The vertical take-off and landing fixed-wing UAV automatically controls the rotation of the multi-rotor motor;

The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to decelerate and rotate until the rotational speed of the fixed-wing motor is zero.
The method according to claim 8, wherein the vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate down until the rotational speed of the fixed-wing motor is 0, including:

The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate at a set angular acceleration until the rotational speed of the fixed-wing motor is zero.
The method of claim 7 wherein said vertical take-off and landing fixed-wing drone is dropped to said designated position in said multi-rotor mode, comprising:

The vertical take-off and landing fixed-wing drone is dropped from the set landing position to a designated position in the multi-rotor mode.
The method according to any one of claims 1 to 10, wherein the designated position is a take-off position or a preset target position of the vertical take-off and landing fixed-wing drone.
The method of claim 1 wherein said vertical take-off and landing fixed-wing UAV communicates with the ground station via an onboard 4G communication module throughout the flight.
The method according to claim 12, wherein said vertical take-off and landing fixed-wing UAV communicates with the ground station through the onboard 4G communication module during the entire flight, including:

The vertical take-off and landing fixed-wing UAV forwards real-time flight information to the cloud server via the signal base station through the onboard 4G communication module during the whole flight, so that the cloud server backs up the real-time flight information, and the The real-time flight information is forwarded to the ground station to enable the ground station to acquire flight data of the vertical take-off and landing fixed-wing drone according to the real-time flight information.
The method of claim 13 wherein said flight data comprises at least one of:

Attitude angle, heading, geographical location, voltage and current, satellite signal strength, real-time image transmission.
The method according to claim 12, wherein said vertical take-off and landing fixed-wing UAV communicates with the ground station through the onboard 4G communication module during the entire flight, including:

The vertical take-off and landing fixed-wing UAV receives the flight control command sent by the ground station through the signal base station through the onboard 4G communication module during the whole flight.
A flight control method for a drone is applied to a vertical take-off and landing fixed-wing UAV, characterized in that the method comprises:

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode to the multi-rotor when it detects that its own flight state information meets the set rescue condition during flight in the fixed-wing mode. mode;

The vertical take-off and landing fixed-wing drone is dropped to a designated position in the multi-rotor mode;

Wherein the flight state information includes an attitude angle and a flight altitude;

The setting of the rescue condition includes at least one of the following:

The attitude angle of the vertical take-off and landing fixed-wing UAV is greater than the attitude angle threshold;

The flying height of the vertical take-off and landing fixed-wing UAV is lower than a height threshold.
The method according to claim 16, wherein the attitude angle threshold is a preset fixed value, or is calculated based on a real-time flight attitude of the vertical take-off and landing fixed-wing UAV;

The height threshold is a predetermined fixed value.
The method of claim 16 wherein said vertical take-off and landing fixed-wing drone is dropped to said designated position in said multi-rotor mode, comprising:

When the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the designated position exceeds a preset distance threshold, the vertical flight is vertically upward in the multi-rotor mode;

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the multi-rotor mode back to the fixed-wing mode after flying to a specified altitude, and flies to the set landing position in the fixed-wing mode;

The vertical takeoff and landing fixed wing drone automatically switches the flight mode from the fixed wing mode back to the multi-rotor mode and falls from the set landing position to the designated position in the multi-rotor mode.
The method of claim 16 wherein said vertical take-off and landing fixed-wing drone is dropped to said designated position in said multi-rotor mode, comprising:

When the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the designated position does not exceed the preset distance threshold, the vertical take-off and landing fixed-wing UAV is in the multi-rotor mode from the The current position is returned to the specified location.
The method of claim 19 wherein said vertical take-off and landing fixed-wing drone is returned from said current position to said designated position in said multi-rotor mode, comprising:

The vertical take-off and landing fixed-wing UAV flies horizontally above the designated position in the multi-rotor mode;

The vertical takeoff and landing fixed wing drone falls vertically to the designated position.
The method according to any one of claims 16 to 20, wherein the designated position is a take-off position or a preset target position of the vertical take-off and landing fixed-wing drone.
An unmanned aerial vehicle, wherein the unmanned aerial vehicle is a vertical take-off and landing fixed-wing unmanned aerial vehicle, characterized in that the drone includes:

a multi-rotor assembly that causes the drone to fly in a multi-rotor mode, the multi-rotor assembly including a multi-rotor blade and a multi-rotor motor;

a fixed wing assembly that causes the drone to fly in a fixed wing configuration, the fixed wing assembly including a wing and fixed wing motor;

a processor; the processor is configured to:

Controlling the vertical take-off and landing fixed-wing UAV in a multi-rotor mode based on a one-key start of the user, and automatically controlling the vertical take-off and landing fixed wing after the vertical take-off and landing fixed-wing UAV flies to a designated height The drone switches the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode;

The vertical take-off and landing fixed-wing drone automatically switches the flight mode from the fixed-wing mode back to the multi-rotor mode and falls to the designated position in the multi-rotor mode when the set descent condition is met.
The drone according to claim 22, wherein said processor is configured to:

Automatically controlling the vertical take-off and landing fixed-wing UAV to adjust the current heading so that the current heading is consistent with the direction of the set route;

Automatically controlling the vertical take-off and landing fixed-wing UAV to accelerate flight along the current heading direction, so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed;

When the flight speed of the vertical take-off and landing fixed-wing UAV reaches the set speed, the vertical take-off fixed-wing UAV is automatically controlled to switch the flight mode from the multi-rotor mode to the fixed-wing mode.
The drone according to claim 23, wherein said processor is configured to:

The vertical take-off and landing fixed-wing drone automatically controls the current heading so that the heading angle of the vertical take-off and landing fixed-wing drone is directed to the first set waypoint in the set route.
The drone according to claim 23, wherein said processor is configured to:

Automatically controlling the vertical take-off and landing fixed-wing UAV along the current heading to set an acceleration to accelerate the flight set duration so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed.
The drone according to claim 22, wherein said processor is configured to:

The vertical take-off and landing fixed-wing UAV flies in a fixed-wing mode along a set route;

When the vertical take-off and landing fixed-wing UAV flies to the end of the route of the set route, the vertical take-off and landing fixed-wing UAV continues to return to the set landing position in the fixed wing mode.
The drone according to claim 26, wherein said set landing position is at said designated position Just above it.
The drone according to claim 26, wherein said set landing condition is:

The vertical takeoff and landing fixed wing drone flies to the set landing position.
The drone according to claim 22, wherein said processor is configured to:

The vertical take-off and landing fixed-wing UAV automatically controls the rotation of the multi-rotor motor;

The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to decelerate and rotate until the rotational speed of the fixed-wing motor is zero.
The drone according to claim 29, wherein said processor is configured to:

The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate at a set angular acceleration until the rotational speed of the fixed-wing motor is zero.
The drone according to claim 28, wherein said processor is for:

The vertical take-off and landing fixed-wing drone is dropped from the set landing position to a designated position in the multi-rotor mode.
The drone according to any one of claims 22 to 31, wherein the designated position is a take-off position or a preset target position of the vertical take-off and landing fixed-wing drone.
The drone according to claim 22, wherein said drone comprises a 4G communication module; said processor is for:

The vertical take-off and landing fixed-wing UAV communicates with the ground station through the 4G communication module throughout the flight.
The drone according to claim 33, wherein said processor is configured to:

The vertical take-off and landing fixed-wing UAV forwards real-time flight information to the cloud server via the signal base station through the onboard 4G communication module during the whole flight, so that the cloud server backs up the real-time flight information, and the The real-time flight information is forwarded to the ground station to enable the ground station to acquire flight data of the vertical take-off and landing fixed-wing drone according to the real-time flight information.
The drone according to claim 34, wherein said flight data comprises at least one of the following:

Attitude angle, heading, geographical location, voltage and current, satellite signal strength, real-time image transmission.
The drone according to claim 33, wherein said processor is configured to:

The vertical take-off and landing fixed-wing UAV receives the flight control command sent by the ground station through the signal base station through the onboard 4G communication module during the whole flight.
An unmanned aerial vehicle, wherein the unmanned aerial vehicle is a vertical take-off and landing fixed-wing unmanned aerial vehicle, characterized in that the drone includes:

a multi-rotor assembly that causes the drone to fly in a multi-rotor mode, the multi-rotor assembly including a multi-rotor blade and a multi-rotor Wing motor

a fixed wing assembly that causes the drone to fly in a fixed wing configuration, the fixed wing assembly including a wing and fixed wing motor;

a processor; the processor is configured to:

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode to the multi-rotor when it detects that its own flight state information meets the set rescue condition during flight in the fixed-wing mode. mode;

The vertical take-off and landing fixed-wing drone is dropped to a designated position in the multi-rotor mode;

Wherein the flight state information includes an attitude angle and a flight altitude;

The setting of the rescue condition includes at least one of the following:

The attitude angle of the vertical take-off and landing fixed-wing UAV is greater than the attitude angle threshold;

The flying height of the vertical take-off and landing fixed-wing UAV is lower than a height threshold.
The drone according to claim 37, wherein the attitude angle threshold is a preset fixed value, or is calculated based on a real-time flight attitude of the vertical take-off and landing fixed-wing UAV;

The height threshold is a predetermined fixed value.
A drone according to claim 37, wherein said processor is for:

When the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the designated position exceeds a preset distance threshold, the vertical flight is vertically upward in the multi-rotor mode;

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the multi-rotor mode back to the fixed-wing mode after flying to a specified altitude, and flies to the set landing position in the fixed-wing mode;

The vertical takeoff and landing fixed wing drone automatically switches the flight mode from the fixed wing mode back to the multi-rotor mode and falls from the set landing position to the designated position in the multi-rotor mode.
A drone according to claim 37, wherein said processor is for:

When the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the designated position does not exceed the preset distance threshold, the vertical take-off and landing fixed-wing UAV is in the multi-rotor mode from the The current position is returned to the specified location.
The drone according to claim 40, wherein said processor is configured to:

The vertical take-off and landing fixed-wing UAV flies horizontally above the designated position in the multi-rotor mode;

The vertical takeoff and landing fixed wing drone falls vertically to the designated position.
The drone according to any one of claims 37 to 41, wherein the designated position is a take-off position or a preset target position of the vertical take-off and landing fixed-wing drone.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

Controlling the vertical take-off and landing fixed-wing UAV in a multi-rotor mode based on a one-key start of the user, and automatically controlling the vertical take-off and landing fixed wing after the vertical take-off and landing fixed-wing UAV flies to a designated height The drone switches the flight mode from the multi-rotor mode to the fixed-wing mode and flies in the fixed-wing mode;

The vertical take-off and landing fixed-wing drone automatically switches the flight mode from the fixed-wing mode back to the multi-rotor mode and falls to the designated position in the multi-rotor mode when the set descent condition is met.
A machine-readable storage medium according to claim 43, wherein said automatically controlling said vertical take-off and landing fixed-wing drone to switch an airplane mode from said multi-rotor mode to a fixed-wing mode When the computer instructions are executed, the following processing is performed:

Automatically controlling the vertical take-off and landing fixed-wing UAV to adjust the current heading so that the current heading is consistent with the direction of the set route;

Automatically controlling the vertical take-off and landing fixed-wing UAV to accelerate the flight along the current heading direction, so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed;

When the flight speed of the vertical take-off and landing fixed-wing UAV reaches the set speed, the vertical take-off fixed-wing UAV is automatically controlled to switch the flight mode from the multi-rotor mode to the fixed-wing mode.
A machine-readable storage medium according to claim 44, wherein said automatically controlling said vertical take-off and landing fixed-wing drone to adjust a current heading to align said current heading with a direction of a set course When the computer instruction is executed, the following processing is performed:

The vertical take-off and landing fixed-wing drone automatically controls the current heading so that the heading angle of the vertical take-off and landing fixed-wing drone is directed to the first set waypoint in the set route.
A machine-readable storage medium according to claim 44, wherein said automatic control of said vertical take-off and landing fixed-wing drone accelerates flight along said current heading such that said vertical take-off and landing fixed wing has no During the process in which the flying speed of the human machine reaches the set speed, the computer instructions are executed as follows:

Automatically controlling the vertical take-off and landing fixed-wing UAV along the current heading to set an acceleration to accelerate the flight set duration so that the flight speed of the vertical take-off and landing fixed-wing UAV reaches a set speed.
A machine readable storage medium according to claim 43 wherein said computer command is executed as follows during said vertical take-off and landing fixed-wing UAV flight in a fixed-wing mode;

The vertical take-off and landing fixed-wing UAV flies in a fixed-wing mode along a set route;

When the vertical take-off and landing fixed-wing UAV flies to the end of the route of the set route, the vertical take-off and landing fixed-wing UAV continues to return to the set landing position in the fixed wing mode.
A machine readable storage medium according to claim 47, wherein said set landing position is located at Directly above the specified location.
A machine readable storage medium according to claim 47, wherein said set fall condition is:

The vertical takeoff and landing fixed wing drone flies to the set landing position.
A machine readable storage medium according to claim 43 wherein said vertical takeoff and landing fixed wing drone automatically switches the flight mode from said fixed wing mode back to said multi-rotor mode, said When the computer instruction is executed, the following processing is performed:

The vertical take-off and landing fixed-wing UAV automatically controls the rotation of the multi-rotor motor;

The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to decelerate and rotate until the rotational speed of the fixed-wing motor is zero.
The machine readable storage medium according to claim 50, wherein said vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate down until the rotational speed of said fixed-wing motor is zero. When the computer instructions are executed, the following processing is performed:

The vertical take-off and landing fixed-wing UAV automatically controls the fixed-wing motor to rotate at a set angular acceleration until the rotational speed of the fixed-wing motor is zero.
A machine-readable storage medium according to claim 49, wherein said vertical take-off and landing fixed-wing drone is dropped into said designated position in said multi-rotor mode, said computer instructions being executed as follows deal with:

The vertical take-off and landing fixed-wing drone is dropped from the set landing position to a designated position in the multi-rotor mode.
A machine-readable storage medium according to any one of claims 43 to 52, wherein the designated position is a take-off position or a preset target position of the vertical take-off and landing fixed-wing drone.
A machine-readable storage medium according to claim 43, wherein said computer instructions are further processed as follows when executed:

The vertical take-off and landing fixed-wing UAV communicates with the ground station through the onboard 4G communication module throughout the flight.
A machine-readable storage medium according to claim 54, wherein said vertical take-off and landing fixed-wing drone communicates with the ground station through the onboard 4G communication module throughout the flight. When the computer instructions are executed, the following processing is performed:

The vertical take-off and landing fixed-wing UAV forwards real-time flight information to the cloud server via the signal base station through the onboard 4G communication module during the whole flight, so that the cloud server backs up the real-time flight information, and the The real-time flight information is forwarded to the ground station to enable the ground station to acquire flight data of the vertical take-off and landing fixed-wing drone according to the real-time flight information.
A machine readable storage medium according to claim 55, wherein said flight data comprises at least one of the following:

Attitude angle, heading, geographical location, voltage and current, satellite signal strength, real-time image transmission.
A machine-readable storage medium according to claim 54, wherein said vertical take-off and landing fixed-wing drone communicates with the ground station through the onboard 4G communication module throughout the flight. When the computer instructions are executed, the following processing is performed:

The vertical take-off and landing fixed-wing UAV receives the flight control command sent by the ground station through the signal base station through the onboard 4G communication module during the whole flight.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the fixed-wing mode to the multi-rotor when it detects that its own flight state information meets the set rescue condition during flight in the fixed-wing mode. mode;

The vertical take-off and landing fixed-wing drone is dropped to a designated position in the multi-rotor mode;

Wherein the flight state information includes an attitude angle and a flight altitude;

The setting of the rescue condition includes at least one of the following:

The attitude angle of the vertical take-off and landing fixed-wing UAV is greater than the attitude angle threshold;

The flying height of the vertical take-off and landing fixed-wing UAV is lower than a height threshold.
A machine-readable storage medium according to claim 58, wherein said attitude angle threshold is a predetermined fixed value or calculated based on a real-time flight attitude of said vertical take-off and landing fixed-wing UAV ;

The height threshold is a predetermined fixed value.
A machine-readable storage medium according to claim 58, wherein said vertical take-off and landing fixed-wing drone is dropped into said designated position in said multi-rotor mode, said computer instructions being executed as follows deal with:

When the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the designated position exceeds a preset distance threshold, the vertical flight is vertically upward in the multi-rotor mode;

The vertical take-off and landing fixed-wing UAV automatically switches the flight mode from the multi-rotor mode back to the fixed-wing mode after flying to a specified altitude, and flies to the set landing position in the fixed-wing mode;

The vertical takeoff and landing fixed wing drone automatically switches the flight mode from the fixed wing mode back to the multi-rotor mode and falls from the set landing position to the designated position in the multi-rotor mode.
A machine-readable storage medium according to claim 58, wherein said vertical take-off and landing fixed-wing drone is dropped into said designated position in said multi-rotor mode, said computer instructions being executed as follows deal with:

When the vertical take-off and landing fixed-wing UAV detects that the distance between its current position and the designated position does not exceed the preset distance threshold, the vertical take-off and landing fixed-wing UAV is in the multi-rotor mode from the The current position is returned to the specified location.
A machine-readable storage medium according to claim 61, wherein said vertical take-off and landing fixed-wing drone is returned from said current position to a designated position in said multi-rotor mode, said computer command When executed, proceed as follows:

The vertical take-off and landing fixed-wing UAV flies horizontally above the designated position in the multi-rotor mode;

The vertical takeoff and landing fixed wing drone falls vertically to the designated position.
A machine readable storage medium according to any one of claims 58 to 62, wherein said designated position is a take-off position or a preset target position of said vertical take-off and landing fixed-wing drone.