WO2020154942A1 - Control method for unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Abstract

A control method for an unmanned aerial vehicle (301), and an unmanned aerial vehicle (301). The method comprises: obtaining a light of flight (302), wherein the light of flight (302) comprises a task location point; obtaining a work task corresponding to the task location point; adjusting, during a process of controlling the unmanned aerial vehicle (301) to fly according to the light of flight (302), a first flight state parameter of the unmanned aerial vehicle (301) so that, when the unmanned aerial vehicle (301) reaches the task location point, the first flight state parameter of the unmanned aerial vehicle (301) meets a first preset flight state condition of the unmanned aerial vehicle (301) for executing the work task; and controlling, when the unmanned aerial vehicle (301) reaches the task location point, the unmanned aerial vehicle (301) to execute the work task corresponding to the task location point, so that the flight state of the unmanned aerial vehicle (301) reaching the task location point is more suitable for the execution of the work task, thereby enabling the executed work task to achieve a better effect.

Description

Control method of drone and drone Technical field

The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a control method of an unmanned aerial vehicle and an unmanned aerial vehicle.

Background technique

Automatic route flight refers to the autonomous flight guidance and control of the drone according to the planned route. There is no need to manually operate the drone during this flight, which greatly reduces the difficulty of guiding the flight on complex trajectories and can achieve high-precision trajectory following. , Is an important operating mode of drones. Generally, the drone will perform some actions through the carried load during the automatic route flight, such as taking pictures through the equipped camera, spraying pesticides through the equipped nozzle, etc. To achieve these tasks, it is necessary to manually plan in advance where to perform these actions on the route. Correspondingly, in the prior art, when the drone reaches the position where the action needs to be performed according to the flight position, it starts to control the load to execute the corresponding Actions, such as taking photos or spraying pesticides. However, when the drone reaches the position, the flight state of the drone may not be suitable for performing the action, so the above solution may make the execution effect of the action poor. For example, if the drone arrives at the position and the flying speed is too high, the photos obtained by taking pictures will be blurred and the amount of pesticide sprayed will be insufficient. If the flying speed is too low, the amount of pesticide sprayed will be wasted.

Summary of the invention

The embodiment of the present invention provides a control method of an unmanned aerial vehicle and an unmanned aerial vehicle, which are used to improve the effect of the unmanned aerial vehicle in performing work tasks during flight.

In a first aspect, an embodiment of the present invention provides a method for controlling a drone, which is applied to a drone, and the method includes:

Acquiring a flight route, the flight route including mission location points;

Acquiring a work task corresponding to the task location point;

In the process of controlling the drone to fly according to the flight route, the first flight status parameter of the drone is adjusted so that the first flight status parameter of the drone when the drone reaches the mission location point meets The first preset flight state condition for the drone to perform the work task;

When the drone reaches the mission location point, the drone is controlled to perform a work task corresponding to the mission location point.

In the second aspect, an embodiment of the present invention provides a drone, including: a memory and a processor;

The memory is used to store program codes.

The processor is configured to execute when the program code is called:

Acquiring a flight route, the flight route including mission location points;

Acquiring a work task corresponding to the task location point;

In the process of controlling the drone to fly according to the flight route, the first flight status parameter of the drone is adjusted so that the first flight status parameter of the drone when the drone reaches the mission location point meets The first preset flight state condition for the drone to perform the work task;

When the drone reaches the mission location point, the drone is controlled to perform a work task corresponding to the mission location point.

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control all The computer executes the drone control method described in the embodiment of the present invention in the first aspect.

In a fourth aspect, an embodiment of the present invention provides a computer program, when the computer program is executed by a computer, it is used to implement the drone control method described in the embodiment of the present invention in the first aspect.

According to the control method of the drone and the drone provided by the embodiment of the present invention, by acquiring a flight route, the flight route includes a mission location point; acquiring a work task corresponding to the mission location point; and controlling the drone In the process of flying according to the flight route, the first flight state parameter of the drone is adjusted so that the first flight state parameter of the drone when the drone reaches the mission location point meets the requirements of the drone. The first preset flight status condition of the working task; when the drone reaches the task location point, the drone is controlled to perform the task corresponding to the task location point. Since the first flight state parameter of the drone of this embodiment meets the first preset flight state condition when performing a work task, the flight state of the drone can be more suitable when the drone reaches the task position point. The unmanned aerial vehicle executes the work task, thereby making the executed work task achieve better results.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present invention;

FIG. 2 is a flowchart of a control method of a drone provided by an embodiment of the present invention;

Figure 3 is a scene diagram of drone control provided by an embodiment of the present invention;

Figure 4 is a schematic structural diagram of a drone provided by an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection 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 a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present invention provides a control method of the drone and the drone. The unmanned aerial vehicle may be, for example, a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through the air, and the embodiments of the present invention are not limited thereto. It should be noted that this embodiment takes drones as an example for description, but the embodiments of the present invention are not limited to being applied to drones, and can be applied to other movable platforms, such as unmanned vehicles, unmanned ships, Robots and so on.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present invention. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected to the fuselage and used for supporting the UAV 110 when it is landing.

The power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, where the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry the camera 123. The flight controller 161 can control the movement of the pan-tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt may be located on the top of the drone or on the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor or a charge-coupled device (Charge-coupled Device, CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.

The display device 130 is located on the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image captured by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes and should not be understood as a limitation to the embodiments of the present invention.

Among them, the unmanned aerial vehicle 110 equipped with the camera 123 can perform photographing and video recording tasks. Optionally, the drone 110 may also be equipped with a medicine box and a spray head for performing spraying tasks. This embodiment does not limit the work tasks performed by the drone 110.

Fig. 2 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. As shown in Fig. 2, the method of this embodiment can be applied to a drone, and the method of this embodiment may include:

S201. Obtain a flight route, where the flight route includes mission location points.

In this embodiment, the drone obtains a flight route, and the drone can fly according to the flight route. As shown in FIG. 3, the drone 301 acquires a flight route 302, where the flight route 302 includes mission location points, and the number of mission location points is at least one. For example, the flight route 302 includes five mission location points. The task location point can be specified by the user. Take any task location point as an example for description. In addition, the task location point is used to instruct the drone to perform a work task, that is, the task location point is the location point on the flight route of the drone when the drone performs the work task, and the work task may be taking pictures or spraying pesticides.

Optionally, the drone of this embodiment can obtain a flight route generated by an external device of the drone. The external device is, for example, a terminal device. The terminal device can be a control terminal of the drone, and the flight route can be The external device is generated according to the user's operation, and how to generate the flight route can refer to related solutions in the prior art, which will not be repeated here.

Among them, in a possible implementation manner, the drone may receive the flight route sent by the external device through a wireless communication connection or a wired communication connection, where the wired communication connection or the wireless communication connection communication may be direct communication, namely Point-to-point communication can also be indirect communication, that is, communication through intermediate devices. In another possible implementation manner, the external device stores the flight route in a storage device, and the drone obtains the flight route from the storage device. The storage device is, for example, a Secure Digital Memory Card (SD card). This embodiment is not limited to this. The external device can store the obtained flight route in the SD card, and then the user removes the SD card from the external device. And insert it into the drone. The drone obtains the flight path from the SD card inserted into it.

S202: Acquire a work task corresponding to the task location point.

In this embodiment, after the UAV obtains the flight route, it obtains the work task corresponding to the mission location point in the flight route. Wherein, the work task is a task that the drone needs to perform at the task location point. Wherein, the work task may be a work task of a drone load, where the load may be a photographing device (such as a camera, etc.), a spraying device, an infrared imaging device, and correspondingly, the work task may be a photographing or Videography or spraying pesticides, etc.

Optionally, the above-mentioned flight route may include multiple task location points, and obtaining the work task corresponding to the task location point may include obtaining the work task corresponding to each of the multiple task location points. The work tasks corresponding to these task location points are the same type of work tasks. For example, continue to refer to Figure 3. The work task corresponding to task location point 1 is to take photos, and the work task corresponding to task location point 2 is to take photos; these task location points also correspond to It can be different types of work tasks. For example, the work task corresponding to task position point 1 is to take a picture, and the work task corresponding to task position point 2 is to perform a spraying action, which is not limited in this embodiment.

S203. In the process of controlling the drone to fly according to the flight route, adjust the first flight state parameter of the drone so that the first flight state of the drone when the drone reaches the mission location point The parameter satisfies the first preset flight state condition for the drone to perform the work task.

In this embodiment, after the drone obtains the flight route, it can control the drone to fly according to the flight route, and during the flight, adjust the first flight state parameters of the drone to make the drone arrive at the mission. The first flight state parameter of the UAV at the position point meets the first preset flight state condition, so that the first flight state parameter of the UAV can perform the work task under the first preset flight state condition, wherein: When the first flight state parameter of the drone satisfies the first preset flight state condition, the first flight state parameter of the drone is more suitable for the execution of the drone at the task location point corresponding to the task location point Task. For example, the flight route includes one or position task points, and the work task corresponding to the one or more task position points is taking pictures. In order to ensure the quality of the pictures, the drone will fly according to the flight route. Adjust its own speed so that when the drone reaches the mission location, the drone's flying speed is less than or equal to the preset speed threshold, for example, less than or equal to 5 meters per second, so that the drone can take photos at the mission location. The picture will not appear blurry scene, improve the shooting quality.

Optionally, if there are multiple mission location points, the first flight status parameter of the drone will be adjusted before the drone reaches each mission location point, so that the drone will first arrive at each mission location point. A flight state parameter satisfies the first preset flight state condition. It is understandable that the first flight status parameter corresponding to one of the multiple task location points and the first flight status parameter corresponding to another task location point of the multiple task location points may be the same type of flight status parameter For example, both are flight speeds; the first flight status parameter corresponding to one of the multiple task location points and the first flight status parameter corresponding to another task location point of the multiple task location points may be of different types Flight status parameters, for example, the first flight status parameter corresponding to one of the multiple task location points is the flight speed, and the first flight status parameter corresponding to the other task location point of the multiple task locations is the drone Gesture. Similarly, the first flight status condition corresponding to one task location point among the multiple task location points may be the same as the first flight status condition corresponding to another task location point of the multiple task location points. The first flight status condition corresponding to one task location point among the points may also be different from the first flight status condition corresponding to another task location point of the multiple task location points.

S204: When the drone reaches the mission location point, control the drone to perform a work task corresponding to the mission location point.

In this embodiment, since the first flight state parameter of the drone has been adjusted, when the drone reaches the mission location point, the first flight state parameter of the drone has met the first preset flight state condition, and the control The drone executes the task corresponding to the location of the task. Since the first flight state parameter of the UAV has met the first preset flight state condition when the UAV performs the work task, it can be ensured that the UAV can exert a better effect when performing the work task.

Optionally, when the drone reaches the mission location point, the drone stops adjusting the first flight status parameter of the drone, so that the drone can maintain the drone for a certain period of time after reaching the mission location point The first flight state parameter meets the first preset flight state condition.

Optionally, the first flight state parameter includes one or more of the flying speed of the drone, the flying acceleration of the drone, the attitude of the drone, and the attitude of the load of the drone.

Take the first flight status parameter including flight speed as an example. For example, if the work task corresponding to the task location point is taking photos or videos, in order to ensure the best display of the photos or videos, the flight speed of the drone when taking photos or videos It cannot be too fast. Therefore, in this embodiment, the flying speed of the drone can be adjusted so that the flying speed of the drone does not exceed a certain flying speed when it reaches the mission location point, so as to avoid the possibility of the flying speed of the drone being too high when taking photos or videos. It will cause the image to be blurred. For another example: if the work task corresponding to the task point is spraying, in order to ensure the optimal amount of spraying, the flying speed of the drone during spraying should not be too fast or too slow. Therefore, this embodiment can adjust the drone The flying speed of the drone is not higher than one flying speed and not lower than the other flying speed when the drone reaches the mission position, so as to avoid the flying speed of the drone when spraying is too high, resulting in insufficient dose spraying, and flying speed too small Lead to excessive spraying and waste.

Taking the first flight state parameter including the attitude of the drone as an example, the attitude of the drone may include at least one of the following: a pitch angle, a roll angle, and a yaw angle. For example: if the job task corresponding to the task location is spraying, in order to ensure the best spray coverage, the attitude of the drone during spraying should not be too large (that is, the pitch and roll angles should not be too large). Therefore, this implementation For example, the pitch and roll angles of the drone can be adjusted so that when the drone reaches the mission position, the pitch and roll angles do not exceed a certain angle, so as to prevent the drone from flying at too high a pitch and roll angle when spraying. The phenomenon that caused the spray coverage area to shrink.

In the method for controlling the drone provided in this embodiment, by acquiring a flight route, the flight route includes a mission location point; acquiring a work task corresponding to the mission location point; and controlling the drone to follow the flight route During the flight, the first flight state parameter of the drone is adjusted so that the first flight state parameter of the drone when the drone reaches the mission location point meets the requirements for the drone to perform the work task The first preset flight state condition; when the drone reaches the mission location point, the drone is controlled to perform a work task corresponding to the mission location point. Since the first flight state parameter of the drone of this embodiment meets the first preset flight state condition when performing a work task, the flight state of the drone can be more suitable when the drone reaches the task position point. The unmanned aerial vehicle executes the work task, thereby making the executed work task achieve better results.

In some embodiments, the first preset flight state condition is specified by the user. Among them, the user can set the first preset flight state condition according to actual needs, so that the first flight state parameter of the drone meets the first preset flight state condition specified by the user when the drone performs the task, so that the drone performs the work The effect of the task can meet the effect required by the user. For example, the user can perform the first preset flight state condition setting operation on the drone. Accordingly, the drone can determine the first preset flight state condition specified by the user according to the user's first preset flight state condition setting operation. Alternatively, the user may perform the first preset flight state condition setting operation on the external device. Accordingly, the external device may determine the first preset flight state condition specified by the user according to the user's first preset flight state condition setting operation, and then no The man-machine obtains the first preset flight state condition determined by the external device. For the implementation scheme of how the drone obtains the first preset flight state condition, please refer to the foregoing implementation scheme for obtaining the flight route, which will not be repeated here. Optionally, the drone also acquires the first preset flight state condition when acquiring the flight route.

In some embodiments, the first preset flight state condition is determined according to the work task corresponding to the task location point. For example, after the drone can obtain the flight route, it can determine the first preset flight state condition according to the task corresponding to the mission location point in the flight route. It can be considered that the work task is different, and the first preset flight state condition corresponding to the work task Can be different. For another example: the user can specify the first preset flight status condition according to the task corresponding to the task location point in the flight route, where how the drone obtains the first preset flight status condition specified by the user can refer to the description in the above embodiment , I won’t repeat it here.

For example, the work task is taking photos or videos, and the first preset flight state condition is, for example, that the flight speed does not exceed the set flight speed. Or, the work task is spraying, and the first preset flight state condition is, for example, that the flight speed during the execution of the work task does not exceed a set flight speed and is not lower than another set flight speed, as well as pitch angle and roll The angle is limited to the set angle range.

Optionally, the drone can send the type of work task supported by the drone and the first preset flight status condition corresponding to each type of work task to an external device, so that the external device can display this information to the user, thereby The user can specify the first preset flight state condition of the work task corresponding to the task location point.

In some embodiments, the mission location point is determined according to the waypoint in the flight route. Wherein, the flight route includes multiple waypoints, and the flight route is a route generated based on the multiple waypoints. For example, the UAV can obtain the flight route and determine the mission location based on the waypoints in the flight route. Another example: the user can set the mission location point according to the waypoints in the flight route, and perform the mission location point setting operation on the drone, and the drone can obtain the mission location point in the flight route according to the mission location point setting operation . Another example: the user can set mission location points according to the waypoints in the flight route, and perform mission location point setting operations on the UAV's external equipment, and the external equipment can obtain the missions in the flight route according to the mission location point setting operation The location point, and then the drone obtains the mission location point obtained by the external device.

Optionally, the mission location point is a waypoint in the flight route. The mission location point can be some waypoints in the flight route, or all the waypoints in the flight route.

In some embodiments, when the second flight state parameter of the drone meets the second preset flight state condition, the drone arrives at the mission location point, wherein the second flight state parameter is different from all The first flight status parameter. Among them, the second flight status parameter may include one or more of the flying position of the drone, the flying speed of the drone, the flight acceleration of the drone, the attitude of the drone, and the attitude of the load of the drone. The second flight state parameter is different from the first flight state parameter. For example: the second flight state parameter is the flight position of the drone, and the first flight state parameter is the flight speed of the drone. When the flight position of the drone meets the second preset flight state condition, the drone arrives at the mission Position, and the flight speed of the drone is adjusted to meet the first preset flight state condition at this time.

In some embodiments, a possible implementation manner of adjusting the first flight state parameter of the drone is: adjusting the first flight state parameter of the drone according to a preset adjustment strategy. The preset adjustment strategy may enable the adjusted first flight state parameter of the UAV to meet the first preset flight state condition when it reaches the mission position point. For example: the preset adjustment strategy can be set by the user or determined by the drone. The drone may determine the aforementioned preset adjustment strategy according to the first flight state parameter of the drone that needs to meet the first preset flight state condition at the mission location point. Alternatively, the user can set the aforementioned preset adjustment strategy according to the first flight state parameter of the drone that needs to meet the first preset flight state condition at the mission location point, and perform the adjustment strategy setting operation on the drone, The UAV obtains the aforementioned preset adjustment strategy according to the adjustment strategy setting operation. Alternatively, the user can set the aforementioned preset adjustment strategy according to the first flight state parameter of the drone that needs to meet the first preset flight state condition at the mission location point, and adjust the strategy for the external equipment of the drone In the setting operation, the external device obtains the aforementioned preset adjustment strategy according to the adjustment strategy setting operation, and then the drone obtains the aforementioned preset adjustment strategy obtained by the external device.

In some embodiments, a possible implementation manner of adjusting the first flight state parameter of the drone according to a preset adjustment strategy is: before determining that the drone flies to the mission position point When the preset distance is reached, the first flight state parameter of the drone is adjusted.

In this embodiment, the drone can obtain the flight position of the drone in real time, and the position of the mission location point is also known. The drone can determine in real time the distance the drone is currently flying to the mission location point. At the preset distance, the drone starts to adjust the drone's first flight state parameters. Alternatively, the drone determines in real time whether it receives an adjustment instruction sent by an external device, and when it receives an adjustment instruction sent by an external device, it determines that the drone flies to a preset distance before the mission location point, and then no one The aircraft began to adjust the first flight status parameters of the UAV.

Optionally, the adjustment instruction is determined by the external device according to the flight position of the drone and the second flight state parameter. The drone can push the drone's flight position and second flight state parameters to the external device in real time, and then the external device determines whether the drone has flown to the mission according to the drone's flight position and second flight state parameters The preset distance in front of the location point, if it is, the external device sends an adjustment command to the drone.

For example: the preset adjustment strategy includes: when the UAV flies to a preset distance before the mission position, the first flight state parameter is adjusted, that is, the preset adjustment strategy indicates where to start setting the first flight state parameter . For another example: when determining the preset distance before the drone flies to the mission location point, the first flight state parameter of the drone is adjusted according to the preset adjustment strategy. Optionally, the adjustment instruction is determined by the external device according to the flight position of the drone and the second flight state parameter.

Wherein, the preset distance may be determined according to the first preset state condition and the first flight state parameter of the drone. Taking the first flight state parameter as the flight speed as an example, the flight speed of the drone is, for example, 10m/s, and the first preset flight state condition is that the flight speed is, for example, 5m/s, so that it can be determined to be reduced from 10m/s to 5m /s How much flight distance is needed to determine the above preset distance. The preset distance may be determined by the drone according to the first preset state condition and the first flight state parameter of the drone. Alternatively, the preset distance is determined by an external device of the drone according to the first preset state condition and the first flight state parameter of the drone, and the first flight state parameter of the drone may be pushed in real time by the drone Give the external device, and then the drone obtains the preset distance from the external device.

Alternatively, the preset distance may be specified by the user. For example, the user may specify the preset distance according to the first preset state condition and the first flight state parameter of the drone. The user can perform a preset distance setting operation on the drone, and the drone obtains the preset distance according to the preset distance setting operation. Alternatively, the user may perform a preset distance setting operation on the external device of the drone, the external device obtains the preset distance according to the preset distance setting operation, and the drone obtains the preset distance obtained by the external device.

In some embodiments, the first flight state parameter includes: the attitude and/or flight speed of the drone; a possibility of adjusting the first flight state parameter of the drone according to a preset adjustment strategy The implementation manner is: adjusting the attitude and/or flight speed of the UAV according to a preset attitude adjustment strategy and/or flight speed adjustment strategy.

For example, the first flight state parameter includes the attitude of the UAV, the preset adjustment strategy includes a preset attitude adjustment strategy, and the UAV adjusts the attitude of the UAV according to the preset attitude adjustment strategy. The preset attitude adjustment strategy includes, for example, adjusting the attitude at a certain angular acceleration.

For example, the first flight status parameter includes the flight speed of the drone, the preset adjustment strategy includes a preset flight speed adjustment strategy, and the drone adjusts the flight speed of the drone according to the preset flight speed adjustment strategy. The preset flight speed adjustment strategy includes, for example, accelerating or decelerating the flight speed at a certain acceleration.

For example: the first flight status parameter includes the attitude and flight speed of the UAV, the preset adjustment strategy includes the preset attitude adjustment strategy and the preset flight speed adjustment strategy, and the UAV is adjusted according to the preset attitude adjustment strategy. The attitude of the man-machine and the flight speed of the UAV are adjusted according to the preset flight speed adjustment strategy.

In some embodiments, when the UAV determines the preset distance before the UAV flies to the mission location point, it starts to adjust the UAV according to the preset attitude adjustment strategy and/or flight speed adjustment strategy. The attitude and/or flight speed of the man-machine.

In some embodiments, after the control drone executes the task corresponding to the task location point, the first flight state parameter of the drone is adjusted again; and the drone is controlled to adjust After the first flight status parameter flight.

After the drone of this embodiment executes the task corresponding to the task location point, the drone adjusts the first flight state parameter of the drone again, and controls the drone to fly according to the adjusted first flight state parameter. Wherein, the adjusted first flight state parameter does not meet the first preset flight state condition. For example: Taking the first flight state parameter as the flight speed as an example, the first preset flight state condition is, for example, the flight speed is 5m/s. If the flight speed of the drone is 10m/s, the drone will adjust the drone The flying speed of the UAV is reduced from 10m/s to 5m/s when it reaches the mission position, and then the UAV performs the work task at the flight speed of 5m/s. After performing the work task, no The man-machine adjusts the 5m/s flight speed to 10m/s, so that it can achieve the goal of not affecting the progress of the work task and optimizing the effect of the work task.

Optionally, during the flight of the drone, the execution status of the drone's work task (for example, the first flight status parameter when performing the task) can be sent to the external device, so that the external device can display the execution status of the work task To the user so that the user can judge whether the execution of the work task meets the expected requirements based on the display of the external device.

Optionally, during the flight of the drone, the flight route completion status of the drone can be sent to the external device so that the external device can display the flight route completion status to the user.

The embodiment of the present invention also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include parts or parts of the drone control method shown in FIG. 2 and its corresponding embodiments. All steps.

FIG. 4 is a schematic structural diagram of a drone provided by an embodiment of the present invention. As shown in FIG. 4, the drone 400 of this embodiment may include a memory 401 and a processor 402. The aforementioned memory 401 and the processor 402 are connected by a bus. Optionally, the drone 400 may further include a communication device 403, and the communication device 403 may be connected to the aforementioned components through a bus.

The memory 401 is used to store program codes.

The processor 402 is configured to execute when the program code is called:

Acquiring a flight route, the flight route including mission location points;

Acquiring a work task corresponding to the task location point;

In the process of controlling the drone 400 to fly according to the flight route, the first flight status parameter of the drone 400 is adjusted so that the drone 400 will first fly when the drone 400 reaches the mission position. The state parameter satisfies the first preset flight state condition for the UAV 400 to perform the work task;

When the drone 400 reaches the mission location point, the drone 400 is controlled to perform a work task corresponding to the mission location point.

In some embodiments, the first preset flight state condition is specified by the user.

In some embodiments, the first preset flight state condition is determined according to the work task corresponding to the task location point.

In some embodiments, the mission location point is determined according to the waypoint in the flight route.

In some embodiments, the mission location point is a waypoint in the flight route.

In some embodiments, when the second flight state parameter of the drone 400 meets the second preset flight state condition, the drone 400 reaches the mission location point, where the second flight state parameter is different In the first flight state parameter.

In some embodiments, the first flight state parameter includes one of the flight speed of the drone 400, the flight acceleration of the drone 400, the attitude of the drone 400, the attitude of the load of the drone 400, or Many kinds.

In some embodiments, the processor 402 is specifically configured to: when adjusting the first flight state parameter of the drone 400:

The first flight state parameter of the UAV 400 is adjusted according to a preset adjustment strategy.

In some embodiments, when the processor 402 adjusts the first flight state parameter of the UAV 400 according to a preset adjustment strategy, it is specifically configured to:

When it is determined that the drone 400 flies to the preset distance before the mission location point, the first flight state parameter of the drone 400 is adjusted.

In some embodiments, the communication device 403 is configured to receive an adjustment instruction sent by an external device.

The processor 402 is configured to determine a preset distance before the drone 400 flies to the mission location point when the communication device 403 receives an adjustment instruction sent by the external device.

In some embodiments, the adjustment instruction is determined by the external device according to the flight position of the drone 400 and the second flight state parameter.

In some embodiments, the preset distance is determined according to the first preset flight state condition and the first flight state parameter of the drone 400.

In some embodiments, the first flight state parameter includes: the attitude and/or flight speed of the drone 400.

When the processor 402 adjusts the first flight state parameter of the drone 400 according to a preset adjustment strategy, it is specifically configured to:

According to a preset attitude adjustment strategy and/or flight speed adjustment strategy, the attitude and/or flight speed of the UAV 400 are adjusted.

In some embodiments, the processor 402 is further configured to adjust the first flight state parameter of the drone 400 again after controlling the drone 400 to perform the work task corresponding to the task location point; The unmanned aerial vehicle 400 flies according to the first flight state parameter after adjustment again.

In some embodiments, the adjusted first flight state parameter does not meet the first preset flight state condition.

The drone of this embodiment can be used to implement the technical solutions of the drone in the foregoing method embodiments of the present invention, and its implementation principles and technical effects are similar, and will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium, and when the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims (31)

1. A control method of UAV, which is characterized in that it is applied to UAV, and includes:

   Acquiring a flight route, the flight route including mission location points;

   Acquiring a work task corresponding to the task location point;

   In the process of controlling the drone to fly according to the flight route, the first flight status parameter of the drone is adjusted so that the first flight status parameter of the drone when the drone reaches the mission location point meets The first preset flight state condition for the drone to perform the work task;

   When the drone reaches the mission location point, the drone is controlled to perform a work task corresponding to the mission location point.
2. The method according to claim 1, wherein the first preset flight state condition is specified by a user.
3. The method according to claim 1 or 2, wherein the first preset flight state condition is determined according to the work task corresponding to the task location point.
4. The method according to any one of claims 1 to 3, wherein the mission location point is determined according to the waypoint in the flight route.
5. The method according to claim 4, wherein the task location point is a waypoint in a flight route.
6. The method according to any one of claims 1 to 5, wherein when the second flight state parameter of the drone meets a second preset flight state condition, the drone reaches the mission location point, Wherein, the second flight state parameter is different from the first flight state parameter.
7. The method according to any one of claims 1-6, wherein the first flight status parameter includes the flight speed of the drone, the flight acceleration of the drone, the attitude of the drone, the drone's One or more of the postures of the load.
8. The method according to any one of claims 1-7, wherein:

   The adjusting the first flight state parameter of the drone includes:

   Adjust the first flight state parameter of the drone according to a preset adjustment strategy.
9. The method according to claim 8, wherein:

   The adjusting the first flight state parameter of the drone according to a preset adjustment strategy includes:

   When it is determined that the UAV flies to the preset distance before the mission location point, the first flight state parameter of the UAV is adjusted.
10. The method according to claim 9, wherein when an adjustment instruction sent by an external device is received, it is determined that the drone flies to a preset distance before the mission location point.
11. The method according to claim 10, wherein the adjustment instruction is determined by the external device according to a flight position of the drone and a second flight state parameter.
12. The method according to claim 9 or 10, wherein the preset distance is determined according to the first preset flight state condition and the first flight state parameter of the drone.
13. The method according to claim 8, wherein the first flight state parameter comprises: attitude and/or flight speed of the drone;

    The adjusting the first flight state parameter of the drone according to a preset adjustment strategy includes:

    Adjust the attitude and/or flight speed of the UAV according to a preset attitude adjustment strategy and/or flight speed adjustment strategy.
14. The method according to any one of claims 1-13, wherein after the controlling the drone executes a work task corresponding to the task location point, the method further comprises:

    Adjust the first flight state parameter of the drone again;

    Control the UAV to fly according to the first flight state parameter after adjustment again.
15. The method according to claim 14, wherein the first flight state parameter after readjustment does not satisfy the first preset flight state condition.
16. An unmanned aerial vehicle, characterized by comprising: a memory and a processor;

    The memory is used to store program code;

    The processor is configured to execute when the program code is called:

    Acquiring a flight route, the flight route including mission location points;

    Acquiring a work task corresponding to the task location point;

    In the process of controlling the drone to fly according to the flight route, the first flight status parameter of the drone is adjusted so that the first flight status parameter of the drone when the drone reaches the mission location point meets The first preset flight state condition for the drone to perform the work task;

    When the drone reaches the mission location point, the drone is controlled to perform a work task corresponding to the mission location point.
17. The drone according to claim 16, wherein the first preset flight state condition is specified by a user.
18. The drone according to claim 16 or 17, wherein the first preset flight state condition is determined according to the work task corresponding to the task location point.
19. The UAV according to any one of claims 16-18, wherein the mission location point is determined according to the waypoint in the flight route.
20. The UAV according to claim 19, wherein the mission location point is a waypoint in a flight route.
21. The drone according to any one of claims 16-20, wherein when the second flight state parameter of the drone meets the second preset flight state condition, the drone reaches the mission position Point, wherein the second flight state parameter is different from the first flight state parameter.
22. The UAV according to any one of claims 16-21, wherein the first flight state parameters include the flight speed of the UAV, the flight acceleration of the UAV, the attitude of the UAV, and the unmanned aircraft. One or more of the postures of the machine's load.
23. The drone according to any one of claims 16-22, characterized in that:

    When the processor adjusts the first flight state parameter of the drone, it is specifically configured to:

    Adjust the first flight state parameter of the drone according to a preset adjustment strategy.
24. The drone of claim 23, wherein:

    When the processor adjusts the first flight state parameter of the drone according to a preset adjustment strategy, it is specifically configured to:

    When it is determined that the UAV flies to the preset distance before the mission location point, the first flight state parameter of the UAV is adjusted.
25. The UAV according to claim 24, further comprising: a communication device;

    The communication device is used to receive an adjustment instruction sent by an external device;

    The processor is configured to determine a preset distance before the drone flies to the mission location point when the communication device receives an adjustment instruction sent by the external device.
26. The UAV according to claim 25, wherein the adjustment instruction is determined by the external device according to a flight position of the UAV and a second flight state parameter.
27. The drone according to claim 25 or 26, wherein the preset distance is determined according to the first preset flight state condition and the first flight state parameter of the drone.
28. The UAV according to claim 23, wherein the first flight state parameter comprises: attitude and/or flight speed of the UAV;

    When the processor adjusts the first flight state parameter of the UAV according to a preset adjustment strategy, it is specifically configured to:

    Adjust the attitude and/or flight speed of the UAV according to a preset attitude adjustment strategy and/or flight speed adjustment strategy.
29. The drone according to any one of claims 16-28, wherein the processor is further configured to adjust the drone again after controlling the drone to perform a work task corresponding to the task location point. The first flight state parameter of the man-machine; controlling the UAV to fly according to the re-adjusted first flight state parameter.
30. The unmanned aerial vehicle according to claim 29, wherein the adjusted first flight state parameter does not satisfy the first preset flight state condition.
31. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, the computer program contains at least one piece of code, and the at least one piece of code can be executed by a computer to control the computer to execute The drone control method described in any one of 1-15 is required.

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