WO2019119199A1

WO2019119199A1 - Control method and control device for unmanned aerial vehicle, unmanned aerial vehicle and agricultural unmanned aerial vehicle

Info

Publication number: WO2019119199A1
Application number: PCT/CN2017/116900
Authority: WO
Inventors: 王石荣; 王春明; 王俊喜
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-18
Filing date: 2017-12-18
Publication date: 2019-06-27
Also published as: CN109074098B; CN109074098A; JP2021504790A; CN115951713A

Abstract

An embodiment of the present invention provides a control method and control device for a unmanned aerial vehicle, an unmanned aerial vehicle and an agricultural unmanned aerial vehicle, the method comprising: detecting topographical information of a working area of an unmanned aerial vehicle by means of detecting equipment on the unmanned aerial vehicle; adjusting flight state parameters of the unmanned aerial vehicle according to the topographical information of the working area of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly in the working area according to the flight state parameters of the unmanned aerial vehicle. In the embodiment of the present invention, topographical information of the working area of the unmanned aerial vehicle is detected by means of detecting equipment on the unmanned aerial vehicle, flight state parameters of the unmanned aerial vehicle are adjusted according to the topographical information of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to fly in the working area according to the flight state parameters of the unmanned aerial vehicle such that the flight state parameters of the unmanned aerial vehicle may vary as the topography changes, thus ensuring that the unmanned aerial vehicle may fly in real time according to the topography. When the topography is complex, the flight of the unmanned aerial vehicle is controlled according to changes in topography, which may improve the stability of the unmanned aerial vehicle when flying following the topography.

Description

UAV control method, control device, drone and agricultural drone

Technical field

The embodiment of the invention relates to the field of drones, and in particular to a control method, a control device, a drone and an agricultural drone of a drone.

Background technique

In the prior art, the drone can be applied in many fields, such as aerial photography, agricultural plant protection, electric power inspection, disaster relief and the like.

In some applications, drones need to follow terrain flight. For example, agricultural drones, as a tool for generating agricultural plant protection, need to maintain a certain height with the ground when working, but the terrain of the working area of the agricultural drone It may be more complicated. When the local shape is more complicated, it is difficult to control the stable flight of the drone.

Summary of the invention

Embodiments of the present invention provide a control method, a control device, a drone, and an agricultural drone of a drone to improve the stability of the drone during flight following the terrain.

A first aspect of the embodiments of the present invention provides a method for controlling a drone, including:

Detecting terrain information of the operating area of the drone through the detecting device on the drone;

Adjusting a flight state parameter of the drone according to terrain information of the unmanned aerial working area;

The drone is controlled to fly in the work area according to the flight state parameter of the drone.

A second aspect of the embodiments of the present invention provides a control device for a drone, including: a memory and a processor;

The memory is for storing program code;

The processor calls the program code to perform the following operations when the program code is executed:

Adjusting the flight status of the drone according to the terrain information of the operating area of the drone number;

A third aspect of the embodiments of the present invention provides a drone, including:

body;

a power system mounted to the fuselage for providing flight power;

a detecting device mounted on the body for detecting a target object around the drone;

And the control device of the second aspect, wherein the control device is in communication with the power system for controlling the flight of the drone.

A fourth aspect of the embodiments of the present invention provides an agricultural drone, including:

body;

a power system mounted to the fuselage for providing flight power;

a detecting device installed in the body for detecting a target object around the agricultural drone;

And the control device of the second aspect, wherein the control device is in communication with the power system for controlling the flight of the agricultural drone.

The control method, the control device, the drone and the agricultural drone of the drone provided by the embodiment detect the topographical information of the working area of the drone through the detecting device on the drone, according to the topographic information of the operating area of the drone Adjusting the flight state parameters of the drone and controlling the flight of the drone in the work area according to the flight state parameters of the drone, so that the flight state parameters of the drone can be changed as the terrain changes, ensuring the drone It can follow the terrain flight in real time. When the local shape is more complicated, the flight of the drone can be controlled according to the change of the terrain, which can improve the stability of the drone during the follow-up flight.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention;

2 is a schematic diagram of a drone according to an embodiment of the present invention;

3 is a schematic diagram of a drone according to an embodiment of the present invention;

4 is a schematic diagram of adjusting a posture of a drone according to an embodiment of the present invention;

FIG. 5 is a flowchart of a method for controlling a drone according to another embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of a drone according to another embodiment of the present invention; FIG.

FIG. 7 is a flowchart of a method for controlling a drone according to another embodiment of the present invention; FIG.

FIG. 8 is a flowchart of a method for controlling a drone according to another embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of a drone according to another embodiment of the present invention; FIG.

FIG. 10 is a schematic diagram of a drone according to another embodiment of the present invention; FIG.

FIG. 11 is a schematic diagram of a drone according to another embodiment of the present invention; FIG.

FIG. 12 is a structural diagram of a control apparatus according to an embodiment of the present invention;

FIG. 13 is a structural diagram of a drone according to an embodiment of the present invention;

FIG. 14 is a structural diagram of an agricultural drone according to an embodiment of the present invention.

Reference mark:

20-UAV 21-Probing Equipment 22-Processor

30-UAV 31-Probing Equipment 32-Processor

120-control device 121-memory 122-processor

130-UAV 107-Motor 106-Propeller

117-Electronic governor 132-Control device 131-Detection equipment

140-Agricultural drone 141-Detection equipment

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The specification of the present invention herein The terminology used herein is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a method for controlling a drone. FIG. 1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

Step S101: detecting terrain information of the operating area of the drone by using the detecting device on the drone.

As shown in FIG. 2, the drone 20 is provided with a detecting device 21, and the detecting device 21 can detect a target object around the drone 20. Optionally, the detecting device includes at least one of the following: an electromagnetic wave radar detecting device and a laser Radar detection equipment, vision sensors, ultrasonic detection equipment. In this embodiment, the detecting device 21 may specifically be an electromagnetic wave radar detecting device. As shown in FIG. 2, the detecting device 21 emits electromagnetic waves. When the ground below the drone 20 receives the electromagnetic wave, the electromagnetic wave is reflected. The detecting device 21 determines the distance of the ground relative to the drone 20 based on the electromagnetic waves emitted by it and the electromagnetic waves reflected by the received ground. It can be understood that the detecting device 21 can emit electromagnetic waves in different directions, and the ground in different directions under the drone 20 can receive electromagnetic waves in corresponding directions, so that the detecting device 21 can receive electromagnetic waves reflected by the ground in different directions, thereby determining no The distance between the ground in different directions below the man-machine 20 relative to the drone 20, the processor 22 can determine the terrain below the drone 20 according to the distance of the ground in different directions under the drone 20 relative to the drone 20 Information, such as the slope of the ground, flatness, etc. Processor 22 may be a flight controller of drone 20 or other general purpose or special purpose processor.

In addition, the drone is an agricultural drone. As shown in FIG. 2, the drone 20 may specifically be an agricultural drone, and the ground below the agricultural drone may be a working area of the agricultural drone, and the processor 22 may be opposite to the ground in different directions under the agricultural drone. The terrain information of the working area of the agricultural drone determines the topographical information of the working area of the agricultural drone. Optionally, the topographical information of the operating area of the drone includes at least one of the following: the ground gradient of the operating area of the drone The ground level of the working area of the drone.

In other embodiments, optionally, detecting, by the detecting device on the drone, terrain information of the operating area of the drone, including: detecting terrain information of the working area of the drone by continuously rotating the detecting device on the drone . That is, as shown in FIG. 2, the detecting device 21 such as the electromagnetic wave radar detecting device is rotatable, for example, continuously rotated. The rotation axis of the detecting device is perpendicular to the yaw axis of the drone, and the rotation axis of the detecting device is parallel to the pitch axis of the drone.

As shown in FIG. 3, the detecting device 31 is vertically disposed on the drone 30. Specifically, the rotating shaft of the detecting device 31 is perpendicular to the yaw axis of the drone 30, and the rotating shaft of the detecting device 31 and the drone 30 The pitch axes are parallel. This embodiment does not limit the position of the detecting device 31 on the drone 30. Optionally, the detecting device is connected to a tripod of the drone. That is, the detecting device 31 can be fixed to the stand of the drone 30.

Specifically, the processor 32 on the drone 30 can determine the working area of the drone 30 according to the distance of the ground in the different direction of the drone 30 detected by the detecting device 31 during the continuous rotation from the drone 30. Terrain information, such as the slope of the work area, and the ground flatness of the work area.

Optionally, the ground slope of the UAV working area includes at least one of: a ground slope of the first detecting direction of the detecting device, a ground slope of the second detecting direction, and a ground slope of the third detecting direction; wherein The first detecting direction is at a first preset angle with a yaw axis direction of the drone, and the second detecting direction is parallel to a yaw axis direction of the drone, the third detecting direction a second predetermined angle with the yaw axis direction of the drone, the first detecting direction and the third detecting direction being on both sides of the second detecting direction.

Optionally, the ground flatness of the UAV working area includes at least one of: ground flatness of the first detecting direction, ground flatness of the second detecting direction, and ground flatness of the third detecting direction.

In this embodiment, as shown in FIG. 2, the first detecting direction of the detecting device 21 is the direction indicated by the arrow A, the second detecting direction of the detecting device 21 is the direction indicated by the arrow B, and the third detecting device 21 The detecting direction is the direction indicated by the arrow C, that is, the first detecting direction of the detecting device 21 is the front lower side of the drone 20, and the second detecting direction of the detecting device 21 is directly below the drone 20, and the detecting device The third detection direction of 21 is the lower rear of the drone 20. Optionally, the first detecting direction is at a first preset angle α with the yaw axis direction of the drone 20, and the second detecting direction is Parallel to the yaw axis direction of the drone 20, the third detecting direction is at a second predetermined angle β with the yaw axis direction of the drone 20, and the first preset angle α and the second preset angle β may be equal. Can not wait. In addition, the embodiment does not limit the sizes of the first preset angle α and the second preset angle β.

The processor 22 can detect, by the detecting device 21, that the ground slope of the front and lower sides of the drone 20 is recorded as k ₁ , the ground slope immediately below is recorded as k ₂ , and the ground slope of the lower rear is recorded as k ₃ ; in addition, the processor 22 It may also be detected by the detection device 21 out of the ground 20 below the front UAV flatness e _1, just below the surface flatness e _2, and the ground below the rear flatness e _3.

Similarly, as shown in FIG. 3, the processor 32 can detect, by the detecting device 31, that the ground slope of the front and lower sides of the drone 30 is recorded as k ₁ , the slope of the ground directly below is recorded as k ₂ , and the slope of the ground below and below. It is k _3; further, the processor 32 may also be detected by the detection device 31 prior to the UAV ground below 30 flatness e _1, just below the surface flatness of _2, and the ground below the rear flatness e e _3.

Step S102: Adjust a flight state parameter of the UAV according to terrain information of the UAV work area.

As shown in FIG. 2, the processor 22 determines the ground gradient k _{1 in} front of the front and rear of the drone 20, the ground gradient k ₂ directly below, the ground slope k _{3 in the} lower rear, and the ground flatness e in front of and below the drone 20 _{1. After} the ground flatness e ₂ directly below and the ground flatness e ₃ below, the processor 22 may adjust according to at least one of k ₁ , k ₂ , k ₃ , e ₁ , e ₂ , e ₃ Flight status parameters of the drone 20. Similarly, as shown in FIG. 3, the processor 32 can adjust the flight state parameters of the drone 30 according to at least one of k ₁ , k ₂ , k ₃ , e ₁ , e ₂ , and e ₃ .

Specifically, the adjusting the flight state parameter of the UAV according to the terrain information of the UAV work area includes at least one of: adjusting the None according to a ground slope of the UAV work area The attitude angle of the man-machine; adjusting the flying height of the drone according to the ground flatness of the working area of the drone.

For example, the processor 22 may adjust the attitude angle of the drone 20 according to at least one of k ₁ , k ₂ , k ₃ ; adjust the flight of the drone 20 according to at least one of e ₁ , e ₂ , e ₃ The height of the drone 20 may specifically be the vertical height of the drone 20 relative to the ground.

Adjusting the attitude angle of the drone according to the ground gradient of the UAV working area includes: adjusting a pitch angle of the UAV according to a ground gradient of the UAV working area. For example, when the processor 22 can adjust the attitude angle of the drone 20 according to at least one of k ₁ , k ₂ , and k ₃ , the pitch angle of the drone 20 can be specifically adjusted. As shown in FIG. 2, the ground slope k _{1 in} front of the front and rear of the drone 20 corresponds to an angle δ, and the relationship between k ₁ and δ is k ₁ = tan δ when the drone 20 moves forward in the direction indicated by the arrow D. flight, the UAV can be adjusted according to the k ₁ pitch angle 20, as shown in FIG. 2, the current UAV pitch angle 20 is 0, the UAV after adjusting the pitch angle [theta] is 20, as shown in FIG 4 It is shown that the relationship between θ and k ₁ is θ=arctan(k ₁ ), that is, θ and δ are equal. Here, it is only a schematic description, and the specific manner of adjusting the attitude angle of the drone 20 according to at least one of k ₁ , k ₂ , and k ₃ is not limited, and is not limited to at least one of e ₁ , e ₂ , and e ₃ . A specific way of adjusting the flying height of the drone 20.

Step S103: Control the drone to fly in the work area according to the flight state parameter of the drone.

When the processor 22 adjusts the attitude angle of the drone 20 according to at least one of k ₁ , k ₂ , k ₃ , and/or adjusts the flying height of the drone 20 according to at least one of e ₁ , e ₂ , e ₃ Thereafter, the processor 22 can control the drone 20 to fly in the work area according to the adjusted flight state parameters of the drone 20, for example, controlling the agriculture according to the adjusted pitch angle and/or flight height of the agricultural drone. The drone flies in the work area.

In this embodiment, the terrain information of the operating area of the drone is detected by the detecting device on the drone, and the flight state parameters of the drone are adjusted according to the terrain information of the operating area of the drone, and are controlled according to the flight state parameters of the drone. The drone is flying in the work area, so that the flight state parameters of the drone can change with the change of the terrain, ensuring that the drone can follow the terrain flight in real time. When the local shape is more complicated, the unmanned person is controlled according to the change of the terrain. The flight of the aircraft can improve the stability of the drone during the follow-up flight.

Embodiments of the present invention provide a method for controlling a drone. FIG. 5 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 5, based on the embodiment shown in FIG. 1 , step S102 may adjust the flight state parameters of the drone according to the terrain information of the operating area of the drone.

Step S501: Adjust an attitude angle of the drone according to a ground gradient of the unmanned aerial working area.

Adjusting the attitude angle of the drone according to the ground gradient of the drone working area, comprising: adjusting the pitch of the drone according to the ground gradient of the drone working area angle.

3, the processor ₁ 32 may be adjusted according to the slope k below the front surface 30 of the UAV 30 of the UAV pitch angle, consistent with the specific adjustment method for adjusting in FIG. 2, the method shown in FIG. 4, this I won't go into details here. On the basis of FIG. 3, after adjusting the pitch angle of the drone 30, as shown in FIG. 6, the relationship between k ₁ and δ is k ₁ = tan δ, and the relationship between θ and k ₁ is θ=arctan(k ₁ ). That is, θ and δ are equal.

Step S502, determining a current flying height of the drone.

Optionally, the determining the current flying height of the drone includes: determining, according to the adjusted attitude angle of the drone, and the current rotation angle of the detecting device, determining the first detecting device An angle of the detecting direction with respect to the vertical direction; determining a current flying height of the drone according to an angle of the first detecting direction of the detecting device with respect to the vertical direction and a detecting distance of the first detecting direction.

As shown in FIG. 6, when the pitch angle of the drone 30 changes, the direction of the first detecting direction of the detecting device 31, for example, the direction indicated by the arrow A also changes, and in addition, when the detecting device 31 rotates, the detecting device 31 The direction of the first detection direction, for example, indicated by the arrow A, also changes. According to the adjusted elevation angle of the drone 30 and the current rotation angle of the detection device 31, the first detection direction of the detection device 31 can be determined relative to the vertical. The angle φ of the direction is further based on the angle φ of the first detecting direction of the detecting device 31 with respect to the vertical direction, and the distance of the ground relative to the drone 30 before and below the drone 30 detected by the detecting device 31 in the first detecting direction. For example, L, the current flying height H of the drone 30 can be determined.

In other embodiments, the angle of the second detecting direction of the detecting device 31, for example, the direction indicated by the arrow B, with respect to the vertical direction, and the detecting device 31 directly below the unmanned aerial vehicle 30 detected in the second detecting direction may also be used. The distance of the ground relative to the drone 30 determines the current flying height H of the drone 30.

In still other embodiments, the angle of the direction indicated by the third detecting direction of the detecting device 31, for example, the arrow C, with respect to the vertical direction, and the lower side of the drone 30 detected by the detecting device 31 in the third detecting direction may also be used. The distance of the ground relative to the drone 30 determines the current flying height H of the drone 30.

Step S503: Adjust a flying height of the drone according to a current flying height of the drone and a ground level of the drone working area.

In this embodiment, the flying height of the drone can be adjusted according to the current flying height of the drone 30 and the ground flatness of the operating area of the drone. As shown in FIG. 6, the drone 30 is along the Flying in the direction indicated by the arrow D, the current flying height of the drone 30 is H, and the ground flatness of the front and lower sides of the drone 30 is e ₁ . If e ₁ is smaller than a predetermined value ε, it is determined whether H is less than a first predetermined height H _a, if H is less than H _a, 30 need to adjust the current UAV flying height H, such that H is greater than or equal to H _a. If e _{1 is} greater than or equal to the given value ε, it is determined whether H is less than the second preset height H _b . If H is less than H _b , then the current flying height H of the drone 30 needs to be adjusted so that H is greater than or equal to H. _b , optionally, H _{a is} less than H _b .

In this embodiment, the attitude angle of the drone, such as the pitch angle, is adjusted by the ground gradient of the operating area of the drone, so that the drone can climb or descend down at an angle consistent with the slope of the ground, so that the drone can be relative to the slope. Contour flight; according to the ground level of the UAV operating area, adjusting the flying height of the UAV can make the flying height of the UAV not lower than the safe altitude, ensuring the safety of the UAV during the flight.

Embodiments of the present invention provide a method for controlling a drone. FIG. 7 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 7 , based on the foregoing embodiment, step S102, according to the terrain information of the operating area of the drone, adjusting the flight state parameter of the drone may include:

Step S701: Obtain a current flight state of the drone.

As shown in Fig. 8, when the processor in the drone determines the ground gradient k _{1 in} front of the drone, the ground slope k ₂ directly below, the ground slope k ₃ in the lower rear, and the ground in the lower front by the electromagnetic wave radar. After the flatness e ₁ , the ground flatness e ₂ directly below, and the ground flatness e ₃ below, the current flight state of the drone is further obtained, for example, the drone advances forward, backward moves backwards, Hover or move left and right.

Step S702, adjusting a pitch angle of the drone according to a current flight state of the drone and a ground gradient of the drone working area.

Adjusting the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area, including the following possible situations:

A possible situation is: when the drone flies forward, if the ground slope of the first detecting direction is greater than a preset slope, adjusting the none according to the ground slope of the first detecting direction The pitch angle of the man-machine.

As shown in FIG. 8 , when the drone advances and advances, it can be preferentially judged whether the ground gradient k _{1 in} front of the front of the drone is valid, and the basis for determining whether k ₁ is valid is: if k _{1 is} greater than the preset gradient, Then it is determined that k _{1 is} valid, and if k _{1 is} less than or equal to the preset slope, it is determined that k _{1 is} invalid. When k _{1 is} valid, the pitch angle of the drone is adjusted according to k ₁ , that is, the pitch angle of the drone is adjusted according to the angle δ corresponding to k ₁ , k ₁ = tan δ, for example, the pitch angle θ of the drone is adjusted to θ=arctan(k ₁ ), further determining whether k ₁ is greater than 0, and if k _{1 is} greater than 0, it indicates that the drone can perform a climbing motion according to k ₁ , as shown in FIG. 4 or FIG. 6 . If k _{1 is} less than 0, it means that the drone can perform downhill motion according to k ₁ , as shown in FIG. 9 . X represents the X-axis of the body coordinate system of the drone. The angle between the X-axis and the horizontal plane is the pitch angle of the drone. When the X-axis is above the horizontal plane of the origin of the coordinate, the pitch angle of the drone is positive. As shown in Figure 4 or Figure 6. When the X axis is below the horizontal plane of the origin of the coordinate, the pitch angle of the drone is negative, as shown in Figure 9. When k _{1 is} less than 0, the drape angle of the drone is negative, and when the drone flies forward, the drone is moving downhill.

Another possible situation is: when the drone is flying backwards, if the ground slope of the third detecting direction is greater than a preset slope, adjusting the drone according to the ground slope of the third detecting direction The pitch angle.

As shown in FIG. 8 , when the drone moves backwards and then retreats, it can be preferentially judged whether k ₃ is valid, and the basis for judging whether k ₃ is valid is: if k _{3 is} greater than the preset gradient, it is determined that k _{3 is} valid, if k _{3 is} less than or equal to the preset slope, then it is determined that k _{3 is} invalid. When k _{3 is} valid, the pitch angle of the drone is adjusted according to k ₃ , for example, the pitch angle θ of the drone is adjusted to θ=arctan(k ₃ ), and it is further determined whether k ₃ is greater than 0, if k _{3 is} greater than 0 , the drone can perform downhill motion according to k ₃ . As shown in FIG. 10 , the X axis is forward in front of the drone, and the drone 20 flies backward in the direction indicated by the arrow D. If k _{3 is} less than 0, it means that the drone can perform the climbing motion according to k ₃ . As shown in FIG. 11 , the X axis is forward in front of the drone, and the drone 20 is rearward in the direction indicated by the arrow D. flight.

A further possible situation is: when the drone flies forward, if the ground slope of the first detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, The ground slope of the second detecting direction is described, and the pitch angle of the drone is adjusted.

As shown in Fig. 8, when the drone advances and advances, it can be preferentially judged whether the ground slope k _{1 in} front of the drone is valid. If k _{1 is} invalid, it is judged whether k ₂ is valid, and whether k ₂ is valid is determined. The basis is also to compare k ₂ and the preset slope. When k _{1 is} invalid and k _{2 is} valid, the pitch angle of the drone can be adjusted according to k ₂ , for example, the pitch angle θ of the drone is adjusted to θ= Arctan(k ₂ ), further determining whether k ₂ is greater than 0, if k _{2 is} greater than 0, it indicates that the drone can perform a climbing motion according to k ₂ , similarly to FIG. 4 or FIG. 6; if k _{2 is} less than 0, then The drone can perform downhill motion according to k ₂ , similarly to Figure 9.

A further possible situation is: when the drone is flying backwards, if the ground slope of the third detecting direction is less than the preset slope, and the ground slope of the second detecting direction is greater than the preset slope, The ground slope of the second detecting direction is described, and the pitch angle of the drone is adjusted.

As shown in Figure 8, when the drone moves backwards, that is, it can be judged whether k ₃ is valid. If k _{3 is} invalid, it is judged whether k ₂ is valid. The basis for judging whether k ₂ is valid is also by comparing k ₂ and Preset slope, when k _{3 is} invalid and k _{2 is} valid, the pitch angle of the drone can be adjusted according to k ₂ , for example, the pitch angle θ of the drone is adjusted to θ=arctan(k ₂ ), and further judged Whether k ₂ is greater than 0, if k _{2 is} greater than 0, it indicates that the drone can perform downhill motion according to k ₂ , similarly to Figure 10; if k _{2 is} less than 0, it indicates that the drone can climb according to k ₂ Same as in Figure 11.

Step S703, determining a current flying height of the drone.

Step S703 is the same as the specific principle and implementation manner of step S502, and details are not described herein again.

Step S704, adjusting a flying height of the drone according to a current flying height of the drone and a ground level of the drone working area.

Optionally, adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone, including the following possible situations:

a possible case: when the drone flies forward, and the ground gradient of the first detecting direction is greater than a preset gradient, the current flying height according to the drone and the drone working area The ground level is adjusted to adjust the flying height of the drone, including: adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction.

8, i.e. when the UAV flight proceeds forward, priority is determined before UAV ground slope below k ₁ is valid, effective in the case where k _1, k ₁ according to the pitch adjustment UAV After the angle, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e _{1 in} front of the drone.

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction, including: if the first detecting direction is ground level If the whole flight height is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least the first Setting a height; if the ground flatness of the first detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to The flying height of the drone is at least a second preset height; wherein the first preset height is smaller than the second preset height.

Specifically, if the ground flatness e _{1 in} front of the front of the drone is less than a preset flatness, for example, a given value ε, it is determined whether the current flying height H of the drone is less than the first preset height H _a , if H is less than H _a , you need to adjust the current flying height H of the drone so that H is greater than or equal to H _a . If e _{1 is} greater than or equal to the given value ε, it is determined whether H is less than the second preset height H _b . If H is less than H _b , the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H _{b .} , optionally, H _{a is} less than H _b .

Another possible case: when the drone flies backward, and the ground gradient of the third detecting direction is greater than a preset gradient, the current flying height according to the drone and the drone operation The ground level of the area, adjusting the flying height of the drone, includes: adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction.

8, i.e. when the UAV flying rearwardly retracted, priority is determined after the ground slope below k ₃ UAV is valid, effective in the case where k _3, k ₃ in accordance with the pitch adjusted UAV After the angle, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e ₃ below the drone.

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction, including: if the ground flatness of the third detecting direction is less than a preset Flatness, if the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a first preset height; If the ground flatness of the third detecting direction is greater than or equal to the preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least a second preset height; wherein the first preset height is smaller than the second preset height.

Specifically, if the ground flatness e ₃ at the lower rear of the drone is less than the preset flatness, for example, a given value ε, it is determined whether the current flying height H of the drone is less than the first preset height H _a , if H is less than H _a , you need to adjust the current flying height H of the drone so that H is greater than or equal to H _a . If e _{3 is} greater than or equal to the given value ε, it is determined whether H is less than the second preset height H _b . If H is less than H _b , then the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H _{b .} , optionally, H _{a is} less than H _b .

Still another possible case: when the drone flies forward, the ground slope of the first detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, Adjusting the flying height of the drone, and adjusting the flying height of the drone according to the current flying height of the drone and the ground level of the drone operating area, including: according to the current flying height of the drone and the second detecting direction The ground level is adjusted to adjust the flying height of the drone.

As shown in Fig. 8, when the drone advances and advances, it can be preferentially judged whether the ground gradient k _{1 in} front of the front of the drone is valid, and if k _{1 is} invalid and k _{2 is} valid, the adjustment is based on k ₂ . After the pitch angle of the man-machine, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e ₂ directly under the drone.

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction, including: if the ground flatness of the second detecting direction is less than a preset Flatness, if the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a first preset height; If the ground flatness of the second detecting direction is greater than or equal to the preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least a second preset height; wherein the first preset height is smaller than the second preset height.

Specifically, if the ground flatness e ₂ directly below the drone is less than a preset flatness, for example, a given value ε, it is determined whether the current flying height H of the drone is less than the first preset height H _a , if H is less than H _a , you need to adjust the current flying height H of the drone so that H is greater than or equal to H _a . If e _{2 is} greater than or equal to the given value ε, it is determined whether H is less than the second preset height H _b . If H is less than H _b , the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H _{b .} , optionally, H _{a is} less than H _b .

Still another possible case: when the drone flies backward, the ground slope of the third detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the drone working area, including: according to the current flying height of the drone and the second The ground level of the detection direction is adjusted to adjust the flying height of the drone.

As shown in Fig. 8, when the drone moves backwards and then retreats, it can be prioritized whether the ground slope k ₃ below the drone is valid, and if k _{3 is} invalid and k _{2 is} valid, the adjustment is based on k ₂ . After the pitch angle of the man-machine, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e ₂ directly under the drone.

Further, as shown in FIG. 8, when the unmanned aircraft hover or move about, the priority may be determined directly below the UAV ground slope k ₂ is valid, effective in the case where k _2, k ₂ adjusted according UAV After the pitch angle, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e ₂ directly under the drone. Specifically, if the ground flatness e ₂ directly below the drone is less than a preset flatness, for example, a given value ε, it is determined whether the current flying height H of the drone is less than the first preset height H _a , if H is less than H _a , you need to adjust the current flying height H of the drone so that H is greater than or equal to H _a . If e _{2 is} greater than or equal to the given value ε, it is determined whether H is less than the second preset height H _b . If H is less than H _b , the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H _{b .} , optionally, H _{a is} less than H _b .

In this embodiment, the pitch angle of the drone is adjusted according to the current flight state of the drone and the ground gradient of the drone operating area, and the ground slope of different detection directions can be selected according to different flight states of the drone to adjust the unmanned The pitch angle of the machine improves the accuracy of adjusting the pitch angle of the drone. In addition, according to the different flight states of the drone, the ground level of different detection directions is selected to adjust the flying height of the drone, so that the flying height of the drone is not lower than the safe height, further ensuring the drone's flight process. Security in the middle. In addition, motion predictions for drones are implemented, such as predicting drone climbs or downhill.

Embodiments of the present invention provide a control device for a drone. FIG. 12 is a structural diagram of a control apparatus according to an embodiment of the present invention. As shown in FIG. 12, the control apparatus 120 includes: a memory 121 and a processor 122. The memory 121 is configured to store program code, and the processor 122 calls the program code. When the program code is executed, the following operations are performed: detecting terrain information of the drone working area by the detecting device on the drone; and adjusting the drone according to the topographic information of the drone working area a flight state parameter; controlling the drone to fly in the work area according to the flight state parameter of the drone.

Optionally, the terrain information of the UAV work area includes at least one of: a ground slope of the UAV work area, and a ground flatness of the UAV work area.

Optionally, when the processor 122 adjusts the flight state parameter of the UAV according to the terrain information of the UAV work area, the processor 122 is specifically configured to: at least one of: according to the ground slope of the UAV work area Adjusting the attitude angle of the drone; adjusting the flying height of the drone according to the ground flatness of the unmanned aerial working area.

Optionally, when the processor 122 adjusts the attitude angle of the drone according to the ground gradient of the operating area of the drone, the processor 122 is specifically configured to: adjust the The pitch angle of the man-machine.

Optionally, when detecting, by the detecting device on the drone, the processor 122 detects terrain information of the operating area of the drone, the processor 122 is configured to: detect, by using a continuously rotating detecting device on the drone, terrain information of the operating area of the drone.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and are not described herein again.

Embodiments of the present invention provide a control device for a drone. On the basis of the embodiment shown in FIG. 12, optionally, the processor 122 adjusts the attitude angle of the drone according to the ground gradient of the operating area of the drone, and is further configured to: determine the unmanned The current flying height of the aircraft; when the processor 122 adjusts the flying height of the drone according to the ground flatness of the operating area of the drone, specifically for: according to the current flying height of the drone and the The ground level of the drone operating area adjusts the flying height of the drone.

Optionally, when the processor 122 determines the current flying height of the drone, the method is specifically configured to: determine the detecting according to the adjusted attitude angle of the drone and the current rotation angle of the detecting device. Determining the angle of the first detecting direction of the device with respect to the vertical direction; determining the current state of the drone according to the angle of the first detecting direction of the detecting device with respect to the vertical direction and the detecting distance in the first detecting direction Flight height.

Optionally, the processor 122 is further configured to: acquire a current flight state of the drone; and when the processor 122 adjusts a pitch angle of the drone according to a ground gradient of the drone operating area, specifically: Adjusting a pitch angle of the drone according to a current flight state of the drone and a ground gradient of the drone working area.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 5, and details are not described herein again.

Embodiments of the present invention provide a control device for a drone. On the basis of the embodiment shown in FIG. 12, optionally, the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area. Specifically, when the UAV is flying forward, if the ground slope of the first detecting direction is greater than a preset slope, adjusting the pitch angle of the drone according to the ground slope of the first detecting direction .

Optionally, when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone, the processor 122 is specifically configured to: according to the unmanned The current flying height of the machine and the ground flatness of the first detecting direction adjust the flying height of the drone.

Optionally, when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction, the processor 122 is specifically configured to: if the first detecting If the ground level of the direction is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least a first preset height; if the ground flatness of the first detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than a second preset height, adjusting the flight of the drone a height such that the flying height of the drone is at least a second predetermined height; wherein the first preset height is smaller than the second preset height.

Optionally, when the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone working area, the processor 122 is specifically configured to: when the drone is backward During flight, if the ground gradient of the third detecting direction is greater than the preset gradient, the pitch angle of the drone is adjusted according to the ground gradient of the third detecting direction.

Optionally, the processor 122 is configured according to the current flying height of the drone and the drone. The ground level of the industrial area, when adjusting the flying height of the drone, is specifically used to: adjust the drone according to the current flying height of the drone and the ground flatness of the third detecting direction Flight height.

Optionally, when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction, the processor 122 is specifically configured to: if the third detecting If the ground level of the direction is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least a first preset height; if the ground flatness of the third detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flight of the drone a height such that the flying height of the drone is at least a second predetermined height; wherein the first preset height is smaller than the second preset height.

Optionally, when the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone working area, the processor 122 is specifically configured to: when the drone moves forward In flight, if the ground slope of the first detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, adjusting the unmanned according to the ground slope of the second detecting direction The pitch angle of the machine.

Optionally, when the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone working area, the processor 122 is specifically configured to: when the drone is backward In flight, if the ground slope of the third detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, adjusting the unmanned according to the ground slope of the second detecting direction The pitch angle of the machine.

Optionally, when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone, the processor 122 is specifically configured to: according to the unmanned The current flying height of the machine and the ground flatness of the second detecting direction adjust the flying height of the drone.

Optionally, when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction, the processor 122 is specifically configured to: if the second detecting If the ground level of the direction is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least a first preset height; if the ground flatness of the second detecting direction is greater than or equal to Presetting the flatness, if the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a second preset height; The first preset height is smaller than the second preset height.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 7, and are not described herein again. .

Embodiments of the present invention provide a drone. FIG. 13 is a structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 13, the drone 130 includes: a fuselage, a power system, a detecting device 131, and a control device 132, and the power system includes at least one of the following The motor 107, the propeller 106 and the electronic governor 117 are mounted on the airframe for providing flight power; the control device 132 is in communication with the power system for controlling the drone 130 to fly. In some embodiments, control device 132 may specifically be a flight controller.

The implementation manner and specific principles of the control device 132 are consistent with the foregoing embodiments, and details are not described herein again.

In some embodiments, the detection device 131 is continuously rotated, as shown in FIG. The rotation axis of the detecting device 131 is perpendicular to the yaw axis of the drone 130, and the rotation axis of the detecting device 131 is parallel to the pitch axis of the drone 130.

In some embodiments, the detection device 131 is coupled to the stand of the drone 130.

In some embodiments, the detecting device 131 includes at least one of: an electromagnetic wave radar detecting device, a lidar detecting device, a visual sensor, and an ultrasonic detecting device.

In this embodiment, the terrain information of the operating area of the drone is detected by the detecting device on the drone, and the flight state parameters of the drone are adjusted according to the terrain information of the operating area of the drone, and are controlled according to the flight state parameters of the drone. The drone flies in the work area, making the flight of the drone The state parameters can change with the change of the terrain, ensuring that the drone can follow the terrain flight in real time. When the local shape is more complicated, the flight of the drone can be controlled according to the change of the terrain, which can improve the flight process of the drone following the terrain. Stability in the middle.

Embodiments of the present invention provide an agricultural drone. FIG. 14 is a structural diagram of an agricultural drone according to an embodiment of the present invention. As shown in FIG. 14, the agricultural drone 140 includes a fuselage, a power system, a detecting device 141, and a control device. a power system is mounted on the airframe for providing flight power; a detection device 141 is mounted on the airframe for detecting a target object around the agricultural drone; and a control device is in communication with the power system for control The agricultural drone 140 flies. The control device may specifically be a flight controller of an agricultural drone. The implementation manner and specific principles of the control device are consistent with the foregoing embodiments, and details are not described herein again.

In some embodiments, the detection device 141 is continuously rotated; the axis of rotation of the detection device 141 is perpendicular to the yaw axis of the agricultural drone 140, and the axis of rotation of the detection device is parallel to the pitch axis of the agricultural drone 140.

In some embodiments, the detection device 141 is coupled to the stand of the agricultural drone 140. That is to say, the detecting device 141 is fixed on the stand of the agricultural drone.

In some embodiments, the detecting device 141 includes at least one of: an electromagnetic wave radar detecting device, a lidar detecting device, a visual sensor, and an ultrasonic detecting device.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. Another point, displayed or The mutual coupling or direct coupling or communication connection discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A control method for a drone, characterized in that it comprises:

Detecting terrain information of the operating area of the drone through the detecting device on the drone;

Adjusting a flight state parameter of the drone according to terrain information of the unmanned aerial working area;

The drone is controlled to fly in the work area according to the flight state parameter of the drone.
The method according to claim 1, wherein the terrain information of the UAV work area comprises at least one of the following:

The ground slope of the UAV working area and the ground flatness of the UAV working area.
The method according to claim 2, wherein the ground slope of the UAV work area comprises at least one of the following:

a ground slope of the first detecting direction of the detecting device, a ground slope of the second detecting direction, and a ground slope of the third detecting direction;

Wherein the first detecting direction is at a first preset angle with a yaw axis direction of the drone, and the second detecting direction is parallel to a yaw axis direction of the drone, the third detecting The direction is at a second predetermined angle with the yaw axis direction of the drone, and the first detecting direction and the third detecting direction are on both sides of the second detecting direction.
The method according to claim 3, wherein the ground level of the UAV work area comprises at least one of the following:

The ground flatness of the first detecting direction, the ground flatness of the second detecting direction, and the ground flatness of the third detecting direction.
The method according to claim 1, wherein the adjusting the flight state parameters of the drone according to the topographical information of the operating area of the drone includes at least one of the following:

Adjusting an attitude angle of the drone according to a ground slope of the unmanned aerial working area;

Adjusting the flying height of the drone according to the ground flatness of the drone working area.
The method according to claim 5, wherein the adjusting the attitude angle of the drone according to the ground gradient of the operating area of the drone includes:

Adjusting the pitch angle of the drone according to the ground gradient of the drone working area.
The method according to claim 5 or claim 6, wherein the adjusting the attitude angle of the drone according to the ground gradient of the operating area of the drone further comprises:

Determining a current flying height of the drone;

Adjusting the flying height of the drone according to the ground flatness of the working area of the drone, including:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the drone operating area.
The method of claim 7, wherein the determining the current flying height of the drone comprises:

Determining an angle of the first detecting direction of the detecting device with respect to a vertical direction according to the adjusted attitude angle of the drone and the current rotation angle of the detecting device;

Determining a current flying height of the drone according to an angle of the first detecting direction of the detecting device with respect to a vertical direction and a detecting distance in the first detecting direction.
The method according to claim 7 or 8, further comprising:

Obtain the current flight status of the drone;

Adjusting the pitch angle of the drone according to the ground gradient of the working area of the drone, including:

Adjusting a pitch angle of the drone according to a current flight state of the drone and a ground gradient of the drone working area.
The method according to claim 9, wherein the adjusting the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area comprises:

When the drone flies forward, if the ground gradient of the first detecting direction is greater than the preset gradient, the pitch angle of the drone is adjusted according to the ground gradient of the first detecting direction.
The method according to claim 10, wherein the adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the drone operating area comprises:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction.
The method according to claim 11, wherein the adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction comprises:

If the ground flatness of the first detecting direction is less than a preset flatness, and the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least the first preset height;

If the ground flatness of the first detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to enable the The flying height of the drone is at least a second preset height;

The first preset height is smaller than the second preset height.
The method according to claim 9, wherein the adjusting the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area comprises:

When the drone is flying backwards, if the ground gradient of the third detecting direction is greater than the preset gradient, the pitch angle of the drone is adjusted according to the ground gradient of the third detecting direction.
The method according to claim 13, wherein the adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the drone operating area comprises:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction.
The method according to claim 14, wherein the adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction comprises:

If the ground flatness of the third detecting direction is less than a preset flatness, and the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least the first preset height;

If the ground flatness of the third detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to enable the The flying height of the drone is at least a second preset height;

The first preset height is smaller than the second preset height.
The method according to claim 9, wherein the adjusting the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area comprises:

When the drone moves forward, if the ground slope of the first detecting direction is less than the preset slope, and the ground slope of the second detecting direction is greater than the preset slope, adjusting the ground slope according to the second detecting direction The pitch angle of the drone.
The method according to claim 9, wherein the adjusting the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area comprises:

When the drone is flying backward, if the ground slope of the third detecting direction is less than the preset slope, and the ground slope of the second detecting direction is greater than the preset slope, the ground slope is adjusted according to the second detecting direction The pitch angle of the drone.
The method according to claim 16 or 17, wherein the flying height of the drone is adjusted according to a current flying height of the drone and a ground level of the drone operating area, include:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction.
The method according to claim 18, wherein the adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction comprises:

If the ground flatness of the second detecting direction is less than a preset flatness, and the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least the first preset height;

If the ground flatness of the second detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to enable the The flying height of the drone is at least a second preset height;

The first preset height is smaller than the second preset height.
The method according to claim 1, wherein the detecting the terrain information of the operating area of the drone by the detecting device on the drone comprises:

Detecting topographical information of the operating area of the drone through a continuously rotating detection device on the drone interest.
The method according to claim 20, wherein a rotation axis of said detecting device is perpendicular to a yaw axis of said drone, and a rotation axis of said detecting device is parallel to a pitch axis of said drone .
The method of claim 1 wherein said detecting device is coupled to a stand of said drone.
The method according to claim 1, wherein the detecting device comprises at least one of the following:

Electromagnetic wave radar detection equipment, laser radar detection equipment, visual sensors, ultrasonic detection equipment.
A method according to any one of claims 1 to 23, wherein the drone is an agricultural drone.
A control device for a drone, comprising: a memory and a processor;

The memory is for storing program code;

The processor calls the program code to perform the following operations when the program code is executed:

Detecting terrain information of the operating area of the drone through the detecting device on the drone;

Adjusting a flight state parameter of the drone according to terrain information of the unmanned aerial working area;

The drone is controlled to fly in the work area according to the flight state parameter of the drone.
The control device according to claim 25, wherein the topographical information of the unmanned aerial working area comprises at least one of the following:

The ground slope of the UAV working area and the ground flatness of the UAV working area.
The control device according to claim 26, wherein the ground slope of the drone working area comprises at least one of the following:

a ground slope of the first detecting direction of the detecting device, a ground slope of the second detecting direction, and a ground slope of the third detecting direction;

Wherein the first detecting direction is at a first preset angle with a yaw axis direction of the drone, and the second detecting direction is parallel to a yaw axis direction of the drone, the third detecting Square And a second predetermined angle to the yaw axis direction of the drone, wherein the first detecting direction and the third detecting direction are on both sides of the second detecting direction.
The control device according to claim 27, wherein the ground level of the drone working area comprises at least one of the following:

The ground flatness of the first detecting direction, the ground flatness of the second detecting direction, and the ground flatness of the third detecting direction.
The control device according to claim 25, wherein the processor is configured to adjust at least one of the following when the flight state parameter of the drone is adjusted according to the terrain information of the operating area of the drone:

Adjusting an attitude angle of the drone according to a ground slope of the unmanned aerial working area;

Adjusting the flying height of the drone according to the ground flatness of the drone working area.
The control device according to claim 29, wherein when the processor adjusts the attitude angle of the drone according to the ground gradient of the operating area of the drone, the processor is specifically configured to:

Adjusting the pitch angle of the drone according to the ground gradient of the drone working area.
The control device according to claim 29 or 30, wherein the processor adjusts the attitude angle of the drone according to the ground gradient of the operating area of the drone, and is further used for:

Determining a current flying height of the drone;

When the processor adjusts the flying height of the drone according to the ground flatness of the working area of the drone, the processor is specifically configured to:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the drone operating area.
The control device according to claim 31, wherein when the processor determines the current flying height of the drone, it is specifically used to:

Determining an angle of the first detecting direction of the detecting device with respect to a vertical direction according to the adjusted attitude angle of the drone and the current rotation angle of the detecting device;

Determining a current flying height of the drone according to an angle of the first detecting direction of the detecting device with respect to a vertical direction and a detecting distance in the first detecting direction.
The control device according to claim 31 or 32, wherein the processor is further configured to:

Obtain the current flight status of the drone;

The processor is configured to: when the pitch angle of the drone is adjusted according to the ground gradient of the working area of the drone;

Adjusting a pitch angle of the drone according to a current flight state of the drone and a ground gradient of the drone working area.
The control device according to claim 33, wherein said processor adjusts a pitch angle of said drone according to a current flight state of said drone and a ground gradient of said drone operating area Specifically for:

When the drone flies forward, if the ground gradient of the first detecting direction is greater than the preset gradient, the pitch angle of the drone is adjusted according to the ground gradient of the first detecting direction.
The control device according to claim 34, wherein said processor adjusts a flying height of said drone according to a current flying height of said drone and a ground level of said unmanned working area When specifically used to:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction.
The control device according to claim 35, wherein said processor adjusts a flying height of said drone according to a current flying height of said drone and a ground flatness of said first detecting direction Specifically for:

If the ground flatness of the first detecting direction is less than a preset flatness, and the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least the first preset height;

If the ground flatness of the first detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to enable the The flying height of the drone is at least a second preset height;

The first preset height is smaller than the second preset height.
The control device according to claim 34, wherein said processor adjusts a pitch angle of said drone according to a current flight state of said drone and a ground gradient of said drone operating area Specifically for:

When the drone is flying backwards, if the ground gradient of the third detecting direction is greater than the preset gradient, the pitch angle of the drone is adjusted according to the ground gradient of the third detecting direction.
The control device according to claim 37, wherein said processor adjusts a flying height of said drone according to a current flying height of said drone and a ground level of said unmanned working area When specifically used to:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction.
The control device according to claim 38, wherein said processor adjusts a flying height of said drone according to a current flying height of said drone and a ground flatness of said third detecting direction Specifically for:

If the ground flatness of the third detecting direction is less than a preset flatness, and the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least the first preset height;

If the ground flatness of the third detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to enable the The flying height of the drone is at least a second preset height;

The first preset height is smaller than the second preset height.
The control device according to claim 34, wherein said processor adjusts a pitch angle of said drone according to a current flight state of said drone and a ground gradient of said drone operating area Specifically for:

When the drone moves forward, if the ground slope of the first detecting direction is less than the preset slope, and the ground slope of the second detecting direction is greater than the preset slope, adjusting the ground slope according to the second detecting direction The pitch angle of the drone.
The control device according to claim 34, wherein said processor adjusts a pitch angle of said drone according to a current flight state of said drone and a ground gradient of said drone operating area Specifically for:

When the drone is flying backward, if the ground slope of the third detecting direction is less than the preset slope, and the ground slope of the second detecting direction is greater than the preset slope, the ground slope is adjusted according to the second detecting direction The pitch angle of the drone.
A control device according to claim 40 or 41, wherein said processing When adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone, the device is specifically configured to:

Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction.
The control device according to claim 42, wherein said processor adjusts a flying height of said drone according to a current flying height of said drone and a ground flatness of said second detecting direction Specifically for:

If the ground flatness of the second detecting direction is less than a preset flatness, and the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone to make the unmanned The flying height of the machine is at least the first preset height;

If the ground flatness of the second detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to enable the The flying height of the drone is at least a second preset height;

The first preset height is smaller than the second preset height.
The control device according to claim 25, wherein when the processor detects the topographical information of the operating area of the drone by the detecting device on the drone, the processor is specifically configured to:

The terrain information of the operating area of the drone is detected by a continuously rotating detecting device on the drone.
A drone, characterized in that it comprises:

body;

a power system mounted to the fuselage for providing flight power;

a detecting device mounted on the body for detecting a target object around the drone;

And a control device according to any one of claims 25 to 44, said control device being in communication with said power system for controlling said drone to fly.
The drone according to claim 45, wherein said detecting device continuously rotates;

The rotation axis of the detecting device is perpendicular to the yaw axis of the drone, and the rotation axis of the detecting device is parallel to the pitch axis of the drone.
The drone according to claim 45, wherein said detecting device is coupled to a stand of said drone.
The drone according to claim 45, wherein said detecting device comprises at least one of the following:

Electromagnetic wave radar detection equipment, laser radar detection equipment, visual sensors, ultrasonic detection equipment.
An agricultural drone characterized by comprising:

body;

a power system mounted to the fuselage for providing flight power;

a detecting device installed in the body for detecting a target object around the agricultural drone;

And a control device according to any of claims 25-44, said control device being in communication with said power system for controlling said agricultural drone to fly.
The agricultural drone according to claim 49, wherein said detecting device continuously rotates;

The rotation axis of the detection device is perpendicular to the yaw axis of the agricultural drone, and the rotation axis of the detection device is parallel to the pitch axis of the agricultural drone.
The agricultural drone according to claim 49, wherein said detecting device is coupled to a stand of said agricultural drone.
The agricultural drone according to claim 49, wherein said detecting device comprises at least one of the following:

Electromagnetic wave radar detection equipment, laser radar detection equipment, visual sensors, ultrasonic detection equipment.