WO2021237500A1

WO2021237500A1 - Flight control method and device

Info

Publication number: WO2021237500A1
Application number: PCT/CN2020/092555
Authority: WO
Inventors: 翁松伟; 梁季光
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2021-12-02
Also published as: CN113853560A

Abstract

An unmanned aerial vehicle flight control method and a device, the method comprising: obtaining the flying height of an unmanned aerial vehicle (S301), determining whether the flying height satisfies a first preset height condition (S302), and if yes, controlling the unmanned aerial vehicle to switch from a first control mode to a second control mode (S303), wherein in response to one same motion control instruction from a remote control, a first motion change of the unmanned aerial vehicle in the first control mode is greater than a second motion change in the second control mode, thus facilitating adjustment of the flight attitude and reducing the number of aircraft crashes.

Description

Flight control method and equipment

Technical field

The embodiments of the present application relate to the technical field of drones, and in particular, to a flight control method and equipment.

Background technique

The unmanned aerial system includes drones, display devices and remote controls. Among them, the remote control is located on the ground-side remote control of the unmanned aerial system, which can communicate with the drone in a wireless manner for remote control of the drone.

The principle of a common remote control for remote control of drones is: the pilot inputs the control value by manipulating the lever or knob on the remote control, and the remote control processes the control value to generate a ground-side control signal, and then transmits the ground-side control signal to the drone. Human-machine, UAV generates ESC control signal according to ground-side control signal. The ESC control signal is used to control the ESC drive motor to realize the flight control of the UAV. In other words, there is a mapping relationship between the control amount input by the pilot and the flight data of the UAV, and the pilot can adjust the flying speed or attitude of the UAV by changing the input control amount.

However, when the pilot is a new pilot, it is easy to operate the control lever or the knob too fast, causing the input control amount to change too much, causing the aircraft to lose control and cause the aircraft to blow up.

Summary of the invention

The embodiments of the present application provide a flight control method and device, aiming to solve the technical problem that when the control amount changes too much, it is easy to cause the aircraft to lose control.

In the first aspect, this application provides a flight control method, the method includes:

Obtain the flying height of the drone, where the drone performs motion change control in response to the motion control instructions of the remote controller;

Determine whether the flight altitude meets the first preset altitude condition;

If yes, control the drone to switch from the first control mode to the second control mode, wherein, in response to the same motion control instruction of the remote control, the first motion change of the drone in the first control mode is greater than that in the second control mode. The second movement change amount in the mode.

In a second aspect, the present application provides a flight control device, the device includes:

The acquisition module is used to acquire the flying height of the drone, where the drone controls the motion variation in response to the motion control instructions of the remote controller;

The determining module is used to determine whether the flying altitude meets the first preset altitude condition;

The control module is used to control the drone to switch from the first control mode to the second control mode if it is, wherein, in response to the same motion control instruction of the remote controller, the first motion change of the drone in the first control mode Greater than the second movement change amount in the second control mode.

In the third aspect, this application provides a control device, including:

Memory, used to store programs;

The processor is configured to execute a program stored in the memory, and when the program is executed, the processor is configured to execute the method involved in the first aspect.

In a fourth aspect, this application provides an unmanned aerial vehicle, including: control equipment;

The control device includes a memory and a processor;

The memory is used to store programs;

The processor is used to execute a program stored in the memory, and when the program is executed, the processor is used to execute the flight control method involved in the first aspect.

In a fifth aspect, the present application provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the flight control method involved in the first aspect.

In a sixth aspect, the present application provides a computer program product including instructions, which when the instructions run on a computer, cause the computer to execute the flight control method involved in the first aspect.

The embodiments of the application provide a flight control method and device. By monitoring the flying height of the drone, when the flying height meets the first preset altitude condition, the control mode of the drone is switched from the first control mode to the second control In this mode, the sensitivity of the drone in response to the control commands of the remote control is reduced, and the amount of change in the movement of the drone becomes smaller, making it easier to adjust the flight attitude and reducing the number of aircraft bombings.

Description of the drawings

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

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application;

FIG. 3 is a schematic flowchart of a flight control method provided by an embodiment of this application;

FIG. 4 is a schematic flowchart of a flight control method provided by another embodiment of this application;

FIG. 5 is a schematic flowchart of a flight control method provided by another embodiment of this application;

FIG. 6 is a schematic flowchart of a flight control method provided by another embodiment of this application;

FIG. 7 is a schematic structural diagram of an aircraft control device provided by an embodiment of the application;

FIG. 8 is a schematic structural diagram of an aircraft control device provided by an embodiment of the application;

Fig. 9 is a schematic structural diagram of a drone provided by an embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments These are a part of the embodiments of this application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

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 centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component 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 this application. The terminology used in the specification of the application herein is only for the purpose of describing specific embodiments, and is not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The embodiments of the present application provide a method and equipment for controlling an aircraft. Among them, the embodiments of the present application can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone may be a rotorcraft, for example, a multi-rotor drone that is propelled through the air by a plurality of propulsion devices. The embodiments of the present application are not limited to this. It will be obvious to technicians that other types of drones can be used without restrictions.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. 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 remote controller 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 communicate with the remote controller 140 and the display device 130 wirelessly. Among them, the drone 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150. The UAV 110 may be an agricultural UAV or an industrial application UAV, and there is a need for cyclic operation. Correspondingly, the battery also has the need for cyclic operation.

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 with the fuselage and used for supporting the UAV 110 when it is landed.

The power system 150 may include one or more electronic speed governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein 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, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to realize movement of one or more degrees of freedom. 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 the 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 remote control signals from the remote controller 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry a load, and the load may be, for example, 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 remote controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122 by degrees. 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 (CMOS) sensor or a 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 in the remote control 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 photographed by the photographing device 123 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 remote control 140.

The remote controller 140 is located in the remote controller 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 above-mentioned 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 application.

The following focuses on the problems in related technologies. The principle of common remote control of drones is: the pilot inputs a control quantity by manipulating the lever or knob on the remote control, and the remote control processes the control quantity to generate a ground-side control signal , Transmit the ground-side control signal to the UAV, and the UAV generates an ESC control signal according to the ground-side control signal. The ESC control signal is used to control the ESC drive motor to realize the flight control of the UAV. In other words, there is a mapping relationship between the control amount input by the pilot and the flight data of the UAV, and the pilot can adjust the flying speed or attitude of the UAV by changing the input control amount. Especially in competitive UAVs, such as traversing aircraft, in order to improve the pilot experience, the pilot can adjust the attitude and speed of the UAV by adjusting the amount of control lever. However, when the pilot is a new pilot, it is easy to operate the control lever or the knob too fast, causing the control amount to change too much, and it is easy to cause the aircraft to lose control and fall.

This application provides a flight control method and equipment for an unmanned aerial vehicle, which aims to solve the above-mentioned problems. The inventive concept of this application is: multiple control modes are set inside the drone, and the flying height of the drone is monitored in real time. When the flying altitude exceeds the preset altitude, or the flying altitude is lower than the preset value, the pilot is prone to excessive control, that is, the amount of sticking is too large. At this time, the sensitivity of the drone in response to the control commands input by the remote control is reduced. That is, the amount of change in the movement of the drone becomes smaller, and the drone is easy to maintain the flying attitude, which can avoid the occurrence of bombers.

FIG. 2 is a schematic diagram of a flight control scene provided by an embodiment of the application. As shown in FIG. 2, FIG. 2 shows a drone 201 and a remote controller 202 of the drone. The remote controller 202 of the drone 201 may be one or more of a remote controller, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet). The pilot sends control instructions to the drone through the remote control. After the drone receives the control, it responds according to the control instructions. For example, the pilot sends a remote control to the drone to adjust the attitude or speed of the aircraft. After the motion change control command, the drone responds to the motion control command of the remote controller to control the motion change amount. In this embodiment of the present application, the remote controller 202 is the remote controller 2021 and the terminal device 2022 as an example for schematic description. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto. The various embodiments of the present application can be used for drone flight control scenarios.

Hereinafter, some embodiments of the present application 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.

As shown in FIG. 3, the flight control method provided by an embodiment of the present application includes the following steps:

S301. Obtain the flying height of the drone.

Among them, the global navigation satellite system, barometer and other sensors in the UAV's sensing system are used to obtain the UAV's flight altitude in real time. That is to measure its position by receiving signals from global positioning satellites and combining with star maps. The barometer can assist in altitude measurement.

S302. Determine whether the flying altitude meets the first preset altitude condition, if yes, perform S303, otherwise, perform S304.

Wherein, determining whether the flight altitude meets the first preset altitude condition specifically includes: whether the flight altitude is greater than the first highest threshold, and/or whether the flight altitude is less than the first minimum threshold.

Determining whether the flying height is greater than the first highest threshold is used to avoid excessive control of the pilot when the aircraft is flying too high, that is, if the stick is too high, the movement of the drone will change too much, which is not conducive to the adjustment of the drone's attitude , And then the bomber appeared.

Determining whether the flying height is less than the first minimum threshold is used to avoid excessive control of the pilot when the aircraft is flying too low, that is, if the stick is too large, the movement of the drone will change too much, and the aircraft will directly collide with the ground and cause explosion. machine.

S303. Control the drone to switch from the first control mode to the second control mode.

Wherein, the drone responds to the same motion control instruction of the remote controller, and the first motion change in the first control mode is greater than the second motion change in the second control mode. That is, in the second control mode, the sensitivity of the drone in response to motion control commands is reduced.

Take the pilot operating the control lever as an example to illustrate the difference between the first control mode and the second control mode. The maximum channel volume of the control stick is 5000. In the first control mode, when the channel volume of the control stick changes in the range of 0-5000, the flying speed of the drone changes in the range of 0-50km/h. In the second control mode, when the channel volume of the control stick changes in the range of 0 to 5000, the flying speed of the drone changes in the range of 0 to 10 km/h. That is, under the same amount of stick, the flight speed in the first control mode is greater than the flight speed in the second flight control mode.

S304. Control the drone to remain in the first control mode.

Among them, the flying height of the drone does not meet the first preset altitude condition, and the probability of excessive control by the pilot is reduced. The control of the drone is maintained in the first control mode, that is, the sensitivity of the drone in response to motion control commands is maintained In a higher range, the pilot has a better flying experience.

In the flight control method provided by the embodiment of the present application, when the flight altitude meets the first preset altitude condition, the sensitivity of the flight control is reduced, that is, the movement change of the drone in response to the motion control instruction of the remote controller becomes smaller. It is easy for the drone to control its own attitude and reduce the number of bombings of the drone.

Another embodiment of the present application provides a flight control method. The flight control method includes the following steps:

S401. Obtain the flying height of the drone.

Among them, this step has been described in detail in S301, and will not be repeated here.

S402: Determine whether the flying altitude meets the first preset altitude condition, if yes, perform S403, otherwise, perform S404.

Among them, this step has been described in detail in S302, and will not be repeated here.

S403. Control the drone to switch from the first control mode to the second control mode.

Wherein, the drone responds to the same motion control instruction from the remote controller, and the first motion change in the first control mode is greater than the second motion change in the second control mode.

Wherein, the amount of motion transformation includes any one or a combination of speed change, acceleration change, displacement change, and attitude angle change. The attitude angle change includes any of the roll angle (Roll) change, the yaw angle (Yaw) change, and the pitch angle (pitch) change.

When the amount of movement change is the amount of speed change, the control of the drone to switch from the first control mode to the second control mode is specifically that the maximum speed change of the control drone in the first control mode is greater than that in the second control mode When the drone responds to the same motion control command from the remote control, the first speed change in the first control mode is greater than the second speed change in the second control mode.

When the amount of change in motion is the amount of change in acceleration, controlling the drone to switch from the first control mode to the second control mode is specifically controlling the drone to have a greater acceleration change in the first control mode than in the second control mode When the drone responds to the same motion control command from the remote control, the first acceleration change in the first control mode is greater than the second acceleration change in the second control mode.

When the movement change is the displacement change, the maximum displacement change of the control drone in the first control mode is greater than the maximum displacement change in the second control mode, when the drone responds to the same movement control of the remote control When instructed, the first displacement change in the first control mode is greater than the second displacement change in the second control mode.

When the movement change is the attitude angle change, the maximum attitude angle change of the control drone in the first control mode is greater than the maximum attitude angle change in the second control mode. When the drone responds to the remote control Under the same motion control instruction, the first attitude angle change in the first control mode is greater than the second attitude angle change in the second control mode.

When the amount of motion transformation includes any combination of speed change, acceleration change, displacement change, and attitude angle change, the above control methods can be combined accordingly to make the drone respond to the same motion control of the remote control When instructed, the first movement change in the first control mode is greater than the second movement change in the second control mode.

S404. Control the drone to remain in the first control mode.

Among them, this step has been described in detail in S304, and will not be repeated here.

In the flight control method provided by the embodiments of this application, the maximum movement change in the second mode is controlled to be smaller than the maximum movement change in the first mode, so that when the drone responds to the same movement control command, the second movement changes The amount is smaller than the first movement change amount, which is beneficial for the drone to control its own attitude and reduce the number of bombings of the drone.

As shown in FIG. 4, another embodiment of the present application provides a flight control method including the following steps:

S501. Obtain the flying height of the drone.

S502. Determine whether the flying altitude meets the first preset altitude condition, if yes, perform S503 and S504 at the same time; otherwise, perform S505.

S503: Control the drone to switch from the first control mode to the second control mode.

Among them, this step has been described in detail in S303 and S403, and will not be repeated here.

S504. Perform any one or more of the following operations.

Among them, the operations include: reducing the flying speed of the drone; adjusting the flying height of the drone so that the flying height of the drone does not meet the first preset altitude condition; adjusting the attitude angle of the drone to make the drone The attitude angle of the aircraft satisfies the preset angle threshold.

When the flying height of the drone meets the first preset altitude condition, in addition to controlling the drone to switch from the first control mode to the second control mode, the flying speed of the drone can also be reduced at the same time, which is beneficial to the drone Control your posture. Or adjust the flying height of the drone so that the flying height of the drone does not meet the first preset altitude condition, reducing the probability of excessive control by the pilot. Or adjust the attitude angle of the drone so that the attitude angle of the drone meets the preset angle threshold, so that the drone enters a self-stabilization state. It can also be a combination of the above three additional control methods to reduce the probability of uncontrolled unmanned aircraft and effectively reduce the number of bombings.

S505. Control the drone to remain in the first control mode.

In the flight control method provided by the embodiments of the present application, when the flying height of the drone meets the first preset height condition, in addition to switching the control mode, the speed reduction control, the height reduction control, and the attitude adjustment control are combined to reduce the flying height. The probability of out-of-control of man and machine effectively reduces the number of bombings.

As shown in FIG. 5, another embodiment of the present application provides a flight control method. The flight control method includes the following steps:

S601. Obtain the flying height of the drone.

S602. Determine whether the flying altitude meets the first preset altitude condition, if yes, perform S603, otherwise, perform S607.

S603: Determine whether the flying altitude meets the second preset altitude condition, if yes, execute S605 and S606, otherwise, execute S604 and S605 at the same time.

Wherein, the second preset height condition is different from the first preset height condition. Determining whether the flight altitude meets the second preset altitude condition specifically includes: whether the flight altitude is greater than the second highest threshold, and/or whether the flight altitude is less than the second lowest threshold. Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.

For example, the first preset altitude condition may be that the flying altitude h satisfies the following formula: h>47m and/or h<5m. The second preset altitude condition may be that the flying altitude h satisfies the following formula: h>50m and/or h<2m.

The second highest threshold is the limit altitude of the flight control, and the first highest threshold is the early warning altitude of the flight control. When the flight altitude is higher than the first altitude threshold, that is, when the early warning altitude is reached, the drone is controlled to switch from the first control mode to the second control mode. The drone responds to the same motion control command from the remote controller, The first movement change amount in the control mode is greater than the second movement change amount in the second control mode. When the flying altitude is higher than the second altitude threshold, that is, higher than the limit altitude, the drone is controlled to switch from the second control mode to the third control mode, where the drone responds to the same motion control command from the remote control. The third movement change amount in the third control mode is smaller than the second movement change amount.

It should be noted that there is no sequence between step S602 and step S603. Here, it is only to determine whether the flight altitude meets the second preset altitude condition, and it is taken as an example to determine whether the flight altitude meets the first preset altitude condition. It is also possible that step S603 is located before step S603, or step S602 and step S603 are executed in parallel. In addition, when it is determined that the flying altitude does not meet the second preset altitude condition, S604 and S605 may be performed at the same time, or only S604 may be performed. There is no restriction here.

S604: Control the drone to switch from the first control mode to the second control mode.

S605. Perform any one or more of the following operations.

S606. Control the drone to switch to the third control mode.

When the flying altitude is higher than the limit altitude, control the drone to switch to the third control mode, that is, the drone responds to the same motion control command from the remote control, and the third motion change in the third control mode is less than the second The amount of movement change.

Wherein, controlling the drone to switch to the third control mode may be controlling the drone to switch from the first control mode to the third control mode, or controlling the drone to switch from the second control mode to the third control mode. For the explanation of the motion variation and the way of controlling the drone to switch from the second control mode to the third control mode or from the first control mode to the third control mode, please refer to the description in S403, which will not be repeated here.

S607. Control the drone to remain in the first control mode.

In the flight control method provided by the embodiments of the present application, the early warning altitude condition and the extreme altitude condition are set, and before the drone meets the extreme altitude condition, it switches to the low-sensitivity control mode in advance. When the drone meets the extreme altitude condition, Further switch to a lower-sensitivity control mode to reduce the probability of uncontrolled drones and effectively reduce the number of bombings.

As shown in FIG. 6, another embodiment of the present application provides a flight control method. The flight control method includes the following steps:

S701. Obtain protection state data used to indicate whether the UAV is turned on off-ground protection.

Among them, the protection status data is acquired, where the protection status data is used to indicate whether the UAV is turned on off-ground protection. Turning on off-ground protection refers to switching the control mode of the drone when the flying altitude of the drone meets the altitude preset condition. If the protection state data is the first state data, it means that the ground-off protection is turned on, and if the protection state data is the second state data, it means that the ground-off protection is not turned on.

S702: Determine whether the protection state data is the first state data indicating that the ground-off protection has been turned on, if yes, execute S704, otherwise, execute S703.

Wherein, according to the specific value of the protection state data, it is determined whether the UAV opens the ground-off protection strategy. When the protection state data indicates that the ground-off protection has been turned on, step S704 to step S710 are executed. When the protection status data indicates that the ground-off protection is not turned on, enter S703.

S703: Generate a prompt message for prompting to turn on the ground clearance protection.

Among them, when the ground clearance protection is turned on, a prompt message is generated to prompt the pilot to turn on the ground clearance protection. The prompt information can be delivered to the pilot through text or voice. For example: display the prompt message on the glasses side.

The remote control has multiple lever channels, and the pilot can set different channel amounts to turn on and off the ground protection. Take the setting of the SA channel amount as an example. Set the SA channel amount 900-1700 to turn on the ground protection, and set the SA channel amount to 1700-2100 to turn off the ground protection. After the prompt message is displayed on the glasses end, the pilot can dial Move the SA channel to between 900-1700, and turn on the ground protection.

S704. Obtain the flying height of the drone.

S705: Determine whether the flying altitude meets the first preset altitude condition, if yes, perform S706, otherwise, perform S707.

S706: Control the drone to switch from the first control mode to the second control mode, and then transfer to S708.

S707. Control the drone to remain in the first control mode.

S708. Determine whether a control instruction sent by the remote control is received, if yes, execute S709, and if not, execute S710.

Among them, when the flying height of the drone does not meet the first preset altitude condition, the drone is controlled to remain in the second control mode, and it is monitored whether the control command sent by the remote control can be received. After receiving the control instruction, the drone enters the automatic control state.

S709. Control the drone according to the control instruction.

Among them, after receiving the control instruction sent by the remote control, the drone is controlled according to the control instruction. When the control instruction is used to control the drone to return home, the drone is controlled to return to home according to the control instruction. When the control command is used to control the landing of the drone, the drone is controlled to land on the ground according to the control command.

S710, control the drone to land on the ground, or control the drone to return home.

Among them, if the control instruction is not received within the preset time, the drone enters the automatic control state. It can automatically control the drone to land on the ground, or it can control the drone to return home automatically.

In the flight control method provided by the embodiments of the present application, when the flight altitude does not meet the altitude condition, that is, when the flight altitude is less than the first highest threshold or greater than the first lowest threshold, monitor whether the remote control sends a control command, if not received Control instructions, increase drone protection measures.

S801: Receive a threshold setting instruction sent by the remote controller.

Among them, the threshold setting instruction is used to set the height threshold. The pilot inputs a given threshold value through the remote control, for example, set the first highest threshold to 47 and the second highest threshold to 50.

S802. Set a height threshold according to the threshold setting instruction.

Wherein, the height threshold is one or more of the first highest threshold, the second highest threshold, the first lowest threshold, and the second lowest threshold. After receiving the threshold setting instruction, the corresponding height threshold is set according to the threshold setting instruction.

S803. Obtain the flying height of the drone.

S804: Determine whether the flying altitude meets the first preset altitude condition, if yes, execute S805, otherwise, execute S806.

S805: Control the drone to switch from the first control mode to the second control mode.

S806. Control the drone to remain in the first control mode.

S807. Obtain the flying height of the drone again.

S808: Determine whether the flying altitude meets the first preset altitude condition, if yes, perform S809, otherwise, perform S810.

S809. Control the drone to remain in the second control mode.

S810: Control the drone to switch to the fourth control mode.

Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change of the drone in the fourth control mode is greater than the second motion change. That is, when the flight altitude does not meet the first preset altitude condition, switch to the fourth control mode with higher sensitivity in response to the motion control command.

Among them, controlling the drone to switch to the fourth control mode specifically refers to the drone switching from the second control mode to the fourth control mode. Controlling the drone to switch to the fourth control mode can be switched by the pilot through the remote control. It can be automatically switched by the drone. The pilot switching the control mode through the remote controller specifically includes: receiving the mode switching instruction sent by the remote controller. According to the mode switching instruction, the flight mode of the control drone is switched from the second control mode to the fourth control mode.

In the flight control method provided in this application, the pilot can set the altitude threshold through the remote controller to adjust the ground protection altitude. In addition, when the flying altitude does not meet the first preset altitude condition, the second control mode can be exited, and the drone can be controlled in a highly sensitive control mode.

As shown in FIG. 7, an embodiment of the present application provides a flight control device, and the device includes:

The obtaining module 901 is used to obtain the flying height of the UAV, where the UAV controls the motion variation in response to the motion control instruction of the remote controller;

The determining module 902 is used to determine whether the flying altitude meets the first preset altitude condition;

The control module 903 is used to control the drone to switch from the first control mode to the second control mode, if it is, the first movement of the drone in the first control mode changes in response to the same motion control instruction of the remote controller The amount is greater than the second movement change amount in the second control mode.

Optionally, the determining module 902 is specifically configured to:

Whether the flight altitude is greater than the first highest threshold, and/or,

Whether the flight altitude is less than the first minimum threshold.

Optionally, the control module 903 is configured to perform any one or more of the following operations if the flying altitude meets the first preset altitude condition, where the operations include:

Reduce the flying speed of the drone;

Adjust the flying height of the drone so that the flying height of the drone does not meet the first preset altitude condition;

Adjust the attitude angle of the drone so that the attitude angle of the drone meets the preset angle threshold.

Optionally, the motion transformation amount includes any one or a combination of speed change, acceleration change, displacement change, and attitude angle change.

Optionally, the control module 903 is specifically configured to: perform any one or more of the following operations, where the operations include:

The maximum speed change of the control drone in the first control mode is greater than the maximum speed change in the second control mode;

The maximum acceleration change of the control drone in the first control mode is greater than the maximum acceleration change in the second control mode;

The maximum displacement change of the control drone in the first control mode is greater than the maximum displacement change in the second control mode;

The maximum attitude angle change of the control drone in the first control mode is greater than the maximum attitude angle change in the second control mode.

Optionally, the determining module 902 is further configured to determine whether the flying altitude meets a second preset altitude condition, where the second preset altitude condition is different from the first preset altitude condition;

The control module 903 is also used to control the drone to switch from the second control mode to the third control mode, where, in response to the same motion control instruction of the remote control, the third motion change of the drone in the third control mode The amount is smaller than the second movement change amount.

Optionally, the determining module 902 is specifically configured to:

Whether the flight altitude is greater than the second highest threshold, and/or whether the flight altitude is less than the second lowest threshold;

Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.

Optionally, the control module 903 is specifically configured to keep the drone flying in the second control mode if the flying altitude does not meet the first preset altitude condition.

Optionally, the determining module 902 is further configured to determine whether a control instruction sent by the remote control is received;

The control module 903 is also used to control the drone to land on the ground or to control the drone to return home if otherwise.

Optionally, the control module 903 is also used to control the drone according to the control instruction if so.

Optionally, the control module 903 is specifically configured to:

Control the drone to return home according to the control command, or

Control the drone to land on the ground according to the control instructions.

Optionally, the control module 903 is further configured to control the drone to switch from the second control mode to the fourth control mode if the flying altitude does not meet the first preset altitude condition;

Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change of the drone in the fourth control mode is greater than the second motion change.

Optionally, the control module 903 is specifically configured to:

Receive mode switching instructions sent by the remote control;

According to the mode switching instruction, the flight mode of the control drone is switched from the second control mode to the fourth control mode.

Optionally, the device further includes: a prompt module 904, and the prompt module 904 is specifically configured to:

Obtain the protection status data used to indicate whether the UAV is turned on off-ground protection;

Judge whether the protection status data is the first status data indicating that the ground protection has been turned on;

If not, a prompt message for prompting to turn on the ground protection is generated.

Optionally, the device further includes a setting module 905, and the setting module 905 is specifically configured to:

Receive the threshold setting instruction sent by the remote control;

Set the height threshold according to the threshold setting instruction;

Wherein, the height threshold is one or more of the first highest threshold, the second highest threshold, the first lowest threshold, and the second lowest threshold.

Fig. 8 is a schematic structural diagram of a control device shown in an embodiment of the application. As shown in FIG. 15, the control device 1000 provided in this embodiment includes: a transmitter 1001, a receiver 1002, a memory 1003, and a processor 1004.

The transmitter 1001 is used to send instructions and data;

The receiver 1002 is used to receive instructions and data;

The memory 1003 is used to store computer execution instructions;

The processor 1004 is configured to execute computer-executable instructions stored in the memory to implement each step executed by the flight control method in the foregoing embodiment. For details, please refer to the relevant description in the foregoing flight control method embodiment.

Optionally, the foregoing memory 1003 may be independent or integrated with the processor 1004.

When the memory 1003 is independently provided, the processing device further includes a bus for connecting the memory 1003 and the processor 1004.

Fig. 9 is a schematic structural diagram of a drone provided by an embodiment of the application. As shown in FIG. 9, the UAV system 1100 of this embodiment includes: a flight control device.

Wherein, the flight control device 1101 may adopt the structure of the embodiment shown in FIG. 8, which correspondingly can execute the technical solutions of the drone in the foregoing method embodiments, and the implementation principles and technical effects are similar, and will not be repeated here.

A person 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. When the program is executed, the program 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 application, not to limit it; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; 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 application. Scope.

Claims

A flight control method, characterized in that the method includes:

Acquiring the flying height of the drone, wherein the drone performs motion variation control in response to a motion control instruction of the remote controller;

Determine whether the flying altitude meets the first preset altitude condition;

If yes, control the drone to switch from the first control mode to the second control mode, wherein, in response to the same motion control instruction of the remote control, the drone is in the first control mode in the first control mode. The amount of movement change is greater than the second amount of movement change in the second control mode.
The method according to claim 1, wherein determining whether the flying height meets a first preset height condition specifically comprises:

Whether the flying height is greater than the first highest threshold, and/or,

Whether the flying height is less than the first minimum threshold.
The method according to claim 1 or 2, wherein the method further comprises:

If the flying altitude meets the first preset altitude condition, perform any one or more of the following operations, where the operations include:

Reduce the flying speed of the drone;

Adjusting the flying height of the drone so that the flying height of the drone does not meet the first preset height condition;

The attitude angle of the drone is adjusted so that the attitude angle of the drone meets a preset angle threshold.
The method according to any one of claims 1 to 3, wherein the motion transformation amount includes any one or a combination of speed change, acceleration change, displacement change, and attitude angle change.
The method according to claim 4, wherein controlling the UAV to switch from the first control mode to the second control mode specifically includes: performing any one or more of the following operations, wherein the operations include :

Controlling the maximum speed change of the drone in the first control mode to be greater than the maximum speed change in the second control mode;

Controlling the maximum acceleration change of the drone in the first control mode to be greater than the maximum acceleration change in the second control mode;

Controlling the maximum displacement change of the UAV in the first control mode to be greater than the maximum displacement change in the second control mode;

Control the maximum attitude angle change of the drone in the first control mode to be greater than the maximum attitude angle change in the second control mode.
The method according to any one of claims 1 to 5, wherein the method further comprises:

Determining whether the flying altitude meets a second preset altitude condition, where the second preset altitude condition is different from the first preset altitude condition;

If yes, control the drone to switch to the third control mode, wherein, in response to the same motion control instruction of the remote controller, the third motion change of the drone in the third control mode is less than all The second movement change amount.
The method according to claim 6, wherein determining whether the flying height meets a second preset height condition specifically comprises:

Whether the flying height is greater than the second highest threshold, and/or whether the flying height is less than the second lowest threshold;

Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.
The method according to any one of claims 1 to 7, characterized in that, after determining whether the flying height meets a first preset height condition, the method further comprises:

If the flying height does not meet the first preset height condition, keep the drone flying in the second control mode.
The method according to claim 8, characterized in that, after maintaining the drone to fly in the second control mode, the method further comprises:

Determining whether a control instruction sent by the remote controller is received;

If not, control the drone to land on the ground, or control the drone to return home.
The method according to claim 9, wherein the method further comprises:

If yes, control the drone according to the control instruction.
The method according to claim 10, wherein controlling the drone according to the control instruction specifically comprises:

Control the drone to return home according to the control instruction, or

Control the drone to land on the ground according to the control instruction.
The method according to any one of claims 1 to 7, characterized in that, after determining whether the flying height meets a first preset height condition, the method further comprises:

If the flight altitude does not meet the first preset altitude condition, control the drone to switch to the fourth control mode;

Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change of the drone in the fourth control mode is greater than the second motion change.
The method according to claim 12, wherein controlling the UAV to switch from the second control mode to the fourth control mode specifically comprises:

Receiving a mode switching instruction sent by the remote controller;

According to the mode switching instruction, the drone is controlled to switch to the fourth control mode.
The method according to any one of claims 1 to 13, characterized in that, before obtaining the flying height of the drone, the method further comprises:

Obtain protection status data used to indicate whether the UAV is turned on off-ground protection;

Judging whether the protection state data is the first state data indicating that the off-ground protection has been turned on;

If not, a prompt message for prompting to turn on the ground protection is generated.
The method according to any one of claims 1 to 14, characterized in that, before obtaining the flying height of the drone, the method further comprises:

Receiving a threshold setting instruction sent by the remote controller;

Setting a height threshold according to the threshold setting instruction;

Wherein, the height threshold is one or more of the first highest threshold, the second highest threshold, the first lowest threshold, and the second lowest threshold.
A flight control device, characterized in that the device includes:

The acquisition module is used to acquire the flying height of the drone, wherein the drone controls the motion variation in response to the motion control instruction of the remote controller;

A determining module, configured to determine whether the flying altitude meets a first preset altitude condition;

The control module is used to control the drone to switch from the first control mode to the second control mode, if so, wherein, in response to the same motion control instruction of the remote controller, the drone is in the first control mode. The first movement change amount in the mode is greater than the second movement change amount in the second control mode.
The device according to claim 16, wherein the determining module is specifically configured to:

Whether the flying height is greater than the first highest threshold, and/or,

Whether the flying height is less than the first minimum threshold.
The device according to claim 16 or 17, wherein the control module is configured to perform any one or more of the following operations if the flying altitude meets the first preset altitude condition, wherein the Operations include:

Reduce the flying speed of the drone;

Adjusting the flying height of the drone so that the flying height of the drone does not meet the first preset height condition;

The attitude angle of the drone is adjusted so that the attitude angle of the drone meets a preset angle threshold.
The device according to any one of claims 16 to 18, wherein the motion transformation amount includes any one or a combination of speed change, acceleration change, displacement change, and attitude angle change.
The device according to claim 19, wherein the control module is specifically configured to: perform any one or more of the following operations, wherein the operations include:

Controlling the maximum speed change of the drone in the first control mode to be greater than the maximum speed change in the second control mode;

Controlling the maximum acceleration change of the drone in the first control mode to be greater than the maximum acceleration change in the second control mode;

Controlling the maximum displacement change of the drone in the first control mode to be greater than the maximum displacement change in the second control mode;

Control the maximum attitude angle change of the drone in the first control mode to be greater than the maximum attitude angle change in the second control mode.
The device according to any one of claims 16 to 19, characterized in that:

The determining module is further configured to determine whether the flying altitude meets a second preset altitude condition, wherein the second preset altitude condition is different from the first preset altitude condition;

The control module is also used to control the drone to switch from the second control mode to the third control mode, if so, wherein, in response to the same motion control instruction of the remote controller, the drone is in the first control mode. The third movement change amount in the three control mode is smaller than the second movement change amount.
The device according to claim 21, wherein the determining module is specifically configured to:

Whether the flying height is greater than the second highest threshold, and/or whether the flying height is less than the second lowest threshold;

Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.
The device according to any one of claims 16 to 22, wherein the control module is specifically configured to keep the drone in the second control if the flying height does not meet a first preset height condition Flying in mode.
The device of claim 23, wherein:

The determining module is also used to determine whether a control instruction sent by the remote controller is received;

The control module is also used to control the drone to land to the ground if otherwise, or to control the drone to return home.
The device according to claim 24, wherein the control module is further configured to control the drone according to the control instruction if so.
The device according to claim 25, wherein the control module is specifically configured to:

Control the drone to return home according to the control instruction, or

Control the drone to land on the ground according to the control instruction.
The device according to any one of claims 16 to 22, characterized in that:

The control module is further configured to control the UAV to switch to a fourth control mode if the flight altitude does not meet the first preset altitude condition;

Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change of the drone in the fourth control mode is greater than the second motion change.
The device according to claim 27, wherein the control module is specifically configured to:

Receiving a mode switching instruction sent by the remote controller;

According to the mode switching instruction, the drone is controlled to switch to the fourth control mode.
The device according to any one of claims 16 to 28, wherein the device further comprises: a prompt module, and the prompt module is specifically configured to:

Obtain protection status data used to indicate whether the UAV is turned on off-ground protection;

Judging whether the protection state data is the first state data indicating that the off-ground protection has been turned on;

If not, a prompt message for prompting to turn on the ground protection is generated.
The device according to any one of claims 16 to 28, wherein the device further comprises a setting module, and the setting module is specifically configured to:

Receiving a threshold setting instruction sent by the remote controller;

Setting a height threshold according to the threshold setting instruction;

Wherein, the height threshold is one or more of the first highest threshold, the second highest threshold, the first lowest threshold, and the second lowest threshold.
A control device, characterized in that it comprises:

Memory, used to store programs;

The processor is configured to execute the program stored in the memory, and when the program is executed, the processor is configured to execute the flight control method according to any one of claims 1 to 15.
An unmanned aerial vehicle, characterized by comprising: control equipment;

The control device includes a memory and a processor;

The memory is used to store programs;

The processor is configured to execute the program stored in the memory, and when the program is executed, the processor is configured to execute the flight control method according to any one of claims 1 to 15.