WO2022094785A1

WO2022094785A1 - Flight control method, unmanned aerial vehicle, electronic device, and medium

Info

Publication number: WO2022094785A1
Application number: PCT/CN2020/126425
Authority: WO
Inventors: 祝煌剑; 贾向华; 王璐
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2022-05-12
Also published as: CN114710967A

Abstract

A flight control method, an unmanned aerial vehicle, an electronic device, and a medium. The method comprises: obtaining topographic information corresponding to a flight mission area of an unmanned aerial vehicle (101); obtaining information of the current height above the ground of the unmanned aerial vehicle (102); and adjusting a vertical speed control parameter of the unmanned aerial vehicle according to the topographic information and the information of the height above the ground (103). The unmanned aerial vehicle can timely adjust a height above the ground with respect to the ground or an operation object, thereby ensuring a ground simulation effect, avoiding risks caused by control lag of the unmanned aerial vehicle in the vertical direction, and improving the safety and efficiency of operation of the unmanned aerial vehicle.

Description

Flight control method, unmanned aerial vehicle, electronic device and medium

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to flight control methods, unmanned aerial vehicles, electronic equipment and media.

Background technique

With the development of UAV technology, UAVs are gradually applied in various operation scenarios. In some operation scenarios, the UAV needs to fly imitating the ground. When flying imitating the ground in more complex environments such as mountains, hills, and terraces, due to the large fluctuations in the terrain in the environment, the height difference between the UAV and the operation object is high. It will change all the time with the ups and downs of the terrain, and the existing technology lags behind in the adjustment of this situation, which leads to the risk of collision of the drone.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a flight control method, an unmanned aerial vehicle, an electronic device, and a medium.

In a first aspect, an embodiment of the present application provides a flight control method, the method includes:

Obtain the terrain information corresponding to the flight mission area of the UAV;

Obtain the current ground height information of the UAV;

Adjust the vertical speed control parameters of the UAV according to the terrain information and the ground height information.

In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle includes a processor and a memory, the memory is used for storing instructions, and the processor calls the instructions stored in the memory for use in Do the following:

Obtain the current ground height information of the UAV;

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor, when the computer program is executed by the processor The flight control method as described above is implemented.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are executed on a computer, the computer can execute the above-mentioned flight control method.

In a fifth aspect, the embodiments of the present application provide a computer program product including instructions, which, when the instructions are executed on a computer, cause the computer to execute the above-mentioned flight control method.

In the embodiment of the present application, the UAV can obtain the terrain information corresponding to the flight mission area, and obtain the current ground height information of the UAV; according to the terrain information and the ground height information, adjust the vertical speed control parameters of the UAV , so that the UAV can adjust the height relative to the ground or the work object in time to ensure the effect of imitating the ground, avoid the risks caused by the control lag of the UAV in the vertical direction, and improve the safety and efficiency of the UAV operation.

Description of drawings

1 is a flowchart of a flight control method provided by an embodiment of the present application;

2 is a flowchart of another flight control method provided by an embodiment of the present application;

3 is a schematic diagram of a compensation in a vertical direction provided by an embodiment of the present application;

4 is a flowchart of another method for controlling the flight of an unmanned aerial vehicle provided by an embodiment of the present application;

5 is a schematic diagram of a drone operation provided by an embodiment of the present application;

6 is a flowchart of another flight control method provided by an embodiment of the present application;

7 is a schematic diagram of another drone operation provided by an embodiment of the present application;

8 is a schematic diagram of an example of a flight control provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The present application will be described in further detail below with reference to the accompanying drawings and specific embodiments.

With the wider application of UAVs, the usage scenarios of UAVs have become more and more abundant, and the proportion of complex scenarios in the usage scenarios of UAVs has gradually increased. For example, in the plant protection operation of drones, in order to achieve better operation results, if the liquid medicine is more uniformly attached to the surface of the leaf surface, the drone can be controlled to fly imitating the ground, so as to maintain the alignment between the drone and the work object. The height of the ground remains unchanged. Ground-flight UAV refers to the UAV flying at a constant height above the ground according to the fluctuations of the surrounding environment.

When the UAV operates in a complex environment such as mountains, hills, terraces and other scenes with large terrain fluctuations, the ground height between the UAV and the operating object will change constantly with the fluctuation of the terrain. If the vertical direction is not adjusted With the speed control parameters, it is very possible that the UAV cannot respond to the changes of the terrain in time, causing the UAV to collide with the obstacles ahead or fall, which greatly threatens the safety of the UAV operation.

Referring to FIG. 1, a flowchart of a flight control method provided by an embodiment of the present application is shown, which may specifically include:

101. Obtain terrain information corresponding to the flight mission area of the UAV.

In the embodiment of the present application, the drone can perform flight tasks in the flight mission area, and the flight tasks may include but are not limited to the drone flying on the ground, the movement task of the drone, the shooting task of the shooting device of the drone, At least one of the task of adjusting the gimbal attitude of the drone, the control task of the audio playback device of the drone, the spraying of pesticides by the spraying device of the drone, the surveying and mapping of the drone, the line inspection of the drone, and the like.

The terrain information can be all-round terrain information. The all-round terrain information can include not only the terrain information in the range along the nose direction, but also the terrain information in the range of the sides of the fuselage, etc. Realize 360 degree all-round ground imitation flight.

The terrain information can be obtained through the sensors carried by the UAV, and the sensors carried by the UAV can include any one of omnidirectional radar, ultrasonic sensor, and visual sensor. Taking the omnidirectional radar as an example, the omnidirectional radar can be set on the UAV. For example, the omnidirectional radar can be a millimeter wave radar or a lidar.

The terrain information can also be acquired in other ways, which is not limited in this application. For example, terrain information is collected in advance and stored for obtaining it during flight control. For another example, the drone can obtain pre-measured terrain information from the server. For another example, the drone may request the remote controller to obtain terrain information, and the remote controller may obtain the terrain information from the server and send it to the drone.

In this embodiment of the present application, the terrain information may include at least one of terrain slope and terrain flatness. The following describes how to obtain terrain information through an example. The omnidirectional radar can scan the spatial orientation information (x, y, z) of surrounding spatial points. The scanning of surrounding space points can also be replaced by sensor modules with ranging and angle measurement such as lidar and ultrasonic modules. The perception of the spatial orientation information of the surrounding environment can also be achieved by acquiring a two-dimensional image through a visual sensor, and then extracting a three-dimensional spatial point cloud from the two-dimensional image. Noise points can be removed from the original space points obtained by scanning, and then the surrounding environment can be fitted by the least squares method to obtain a plane equation: Ax+By+Cz+D=0, where parameters A, B, C, and D can be Calculated according to the spatial orientation information of multiple spatial points.

From the plane equation, the terrain slope can be extracted:

According to the plane equation, the terrain flatness can be extracted:

where N is a positive integer, and N≥1.

In this example, the geodetic coordinate system that can be used is ENU (East-North-UP coordinate system, northeast celestial coordinate system). Therefore, x represents the distance of the target object from the north of the coordinate origin, y represents the distance of the target object from the east of the coordinate origin, and z represents the vertical distance of the target object from the coordinate origin. Of course, those skilled in the art can use other coordinate systems for calculation, and only need to transform the coordinate points, for example, multiply the coordinate points by a corresponding rotation matrix.

102. Acquire the current height information of the drone over the ground.

During the operation of the UAV, due to the change of the terrain, the height information of the UAV above the ground also changes. The height-to-ground information may include at least one of height-to-ground and height-to-ground variance.

After calculating the plane equation according to the spatial orientation information of multiple spatial points, the height to the ground can be extracted according to the plane equation:

Among them, x _i , _yi , and _zi are the coordinates of the drone body. The height above the ground is the height of the aircraft relative to the environment, for example, it may be the height of the aircraft relative to the ground, or the height of the aircraft relative to the operating object.

Calculate the multi-frame ground height variance: s ² =var(h), the multi-frame ground height variance can be used to describe the degree of ground fluctuation.

103. Adjust the vertical speed control parameter of the unmanned aerial vehicle according to the terrain information and the ground height information.

The vertical speed control parameter may be a parameter for controlling the flight of the drone in the vertical direction. When the UAV is flying imitating the ground, it is necessary to try to ensure that the ground height relative to the ground or the work object is stable at the preset height. When the terrain changes, the UAV needs to adjust the height to the ground as soon as possible to reach the preset height. By adjusting the vertical speed control parameters, the time for the UAV to adjust to the preset height, the height that the UAV can reach, and the stability.

Referring to FIG. 2, a flowchart of another flight control method provided by an embodiment of the present application is shown, which may specifically include:

201. Obtain terrain information corresponding to the flight mission area of the UAV.

202. Acquire the current height information of the drone over the ground.

In this embodiment of the present application, the vertical speed control parameters may include vertical speed, vertical speed limit range, and vertical speed control gain. The operations of any one of 203-205 may be performed to adjust at least one of the vertical speed of the UAV, the vertical speed limit range, and the vertical speed control gain.

203. Adjust the vertical speed of the UAV according to the terrain slope and the height above the ground.

The greater the terrain slope, the faster the change in the altitude of the UAV to the ground. In order for the UAV to keep up with the altitude change, the vertical speed of the UAV needs to be increased.

When the terrain slope is small, it can indicate that the altitude of the UAV to the ground changes slowly, and the appropriate vertical speed can be maintained without adjusting the vertical speed, so that the UAV can perform ground imitation operations more stably.

In this embodiment of the present application, the 203 may include:

11. Obtain the horizontal speed control information of the UAV in the horizontal direction.

The horizontal direction may be the horizontal direction in the earth axis, the horizontal speed control information may include the horizontal speed, and the horizontal speed may be the modulo length of the speed in the horizontal direction.

12. Determine initial speed compensation information of the UAV in the vertical direction according to the horizontal speed control information and the terrain slope.

It can be calculated according to the horizontal speed control information and the terrain slope, and then the initial speed compensation information of the UAV in the vertical direction can be determined, that is, the initial speed component of the speed compensation in the vertical direction.

3 is a schematic diagram of the previous compensation in the vertical direction provided by the embodiment of the application, wherein V _b corresponds to the horizontal speed, θ corresponds to the terrain slope, and V _comp corresponds to the initial speed compensation information, and the following formula can be used to calculate:

V _comp =V _b *tan(θ)

In an optional embodiment, the step of determining the initial speed compensation information of the UAV in the vertical direction according to the horizontal speed and the terrain slope may further include:

Obtain the confidence level corresponding to the terrain gradient; determine the initial speed compensation information of the UAV in the vertical direction according to the horizontal speed, the terrain gradient, and the confidence degree.

For each terrain slope, a confidence level corresponding to the terrain slope can be obtained, and the confidence level can be used to characterize the reliability of the terrain slope.

After obtaining the horizontal speed, terrain slope, and confidence, it can be calculated according to the horizontal speed, terrain slope, and confidence, and then the initial speed compensation information of the UAV in the vertical direction can be determined.

As shown in Figure 3, V _b corresponds to the horizontal speed, θ corresponds to the terrain slope, Wright corresponds to the confidence level, and V _comp corresponds to the initial speed compensation information, which can be calculated by the following formula:

V _comp =V _b *tan(θ)*Wright

13. Perform secondary compensation on the initial speed compensation information according to the ground height to obtain vertical speed compensation information of the UAV in the vertical direction.

After the initial speed compensation information is determined, a secondary compensation gain can be performed on the initial speed compensation information according to the ground height information between the UAV and the work object, and then the vertical speed compensation information of the UAV in the vertical direction can be obtained. .

14. Adjust the vertical speed of the UAV according to the vertical speed compensation information.

According to the vertical speed compensation information, the vertical speed of the UAV is adjusted, and the secondary compensation control of the UAV in the vertical direction is realized. The UAV can adjust the vertical speed according to the terrain slope and ground height, so that there is no The man-machine can adjust the height of the ground relative to the ground or the working object in time, which greatly improves the ability of the UAV to fly in a complex environment with large fluctuations in the terrain.

And/or, 204, according to the terrain slope, adjust the vertical speed limit range of the UAV.

The vertical speed of the drone needs to be adjusted within the vertical speed limit.

Referring to FIG. 4, a schematic diagram of a drone operation provided by an embodiment of the present application is shown. Wherein, the dotted line can be the actual flight trajectory of the UAV, and the solid line can be the terrain curve. In the process of imitating the ground of the UAV, when the ground altitude drops greatly, the UAV also needs to lower the altitude accordingly. If the vertical speed limit is small, even if the drone sets the vertical speed to the maximum value, the vertical speed of the descent can be adapted to the slope of the terrain.

In the embodiment of the present application, when the terrain slope is large, the vertical speed of the UAV needs to be increased. If the vertical speed limit range is small, the UAV cannot be adjusted to the required vertical speed. When the terrain slope is small, it means that the altitude of the UAV operation changes slowly, and the appropriate vertical speed can be maintained without adjusting the vertical speed limit range.

In this embodiment of the present application, the 204 may include:

21. When the terrain gradient satisfies the preset steepness judgment condition, increase the vertical speed limit range of the UAV.

Specifically, when the terrain gradient is greater than the preset gradient threshold, it can be considered that the terrain gradient meets the preset steepness judgment condition. By increasing the vertical speed limit range, the combination of the vertical speed and the horizontal speed can be made when the UAV is operating at high speed. The speed can be kept parallel to the direction of height change, so that the UAV can keep up with the rapid change of height and adjust the height of the ground relative to the ground or the work object in time to ensure the effect of imitating the ground.

And/or, 205, adjust the vertical speed control gain of the UAV according to the terrain flatness and/or the variance of the height above the ground.

Terrain smoothness can describe the degree of terrain relief. The larger the terrain flatness, the larger the terrain undulation; the smaller the terrain flatness, the smaller the terrain undulation. The variance of the height above the ground can describe the variation of environmental height and the degree of terrain fluctuation. The larger the variance of the ground height, the greater the terrain fluctuation; the smaller the variance of the ground height, the smaller the terrain fluctuation.

The vertical speed control gain can be used to control how fast the vertical speed changes. The greater the vertical speed control gain, the faster the vertical speed changes. The shorter the response time required for the actual flight height to reach the preset height, the faster the drone can As soon as the preset altitude is reached, the drone fits the terrain better, but the altitude stability of the drone is lower. The smaller the vertical speed control gain, the slower the vertical speed change, the longer the response time required for the actual flight altitude to reach the preset altitude, and the higher the altitude stability of the drone, but the more the drone fits the terrain. Low.

FIG. 5 is a schematic diagram of another unmanned aerial vehicle operation provided by the embodiment of the present application. Wherein, the dotted line can be the actual flight trajectory of the UAV, and the solid line can be the terrain curve. During the ground imitation operation of the UAV, when the terrain is uneven and the terrain fluctuates greatly, if the vertical speed control gain is small, the UAV will have a low degree of conformity to the terrain, and the imitation effect will be poor.

In this embodiment of the present application, the 204 may include:

31. Increase the vertical speed control gain of the UAV when the terrain flatness and/or the variance of the height above the ground satisfy a preset rough terrain judgment condition.

Specifically, when the terrain flatness is greater than a preset first smoothness threshold, and/or when the variance of the height above the ground is greater than a preset first variance threshold of the ground height, it may be considered that the predetermined rough terrain judgment condition is satisfied , By increasing the vertical speed control gain of the UAV, the time required for the actual flight height to reach the preset height can be shortened, and the degree of conformity of the UAV to the terrain can be improved, but the altitude stability will be reduced.

32. Decrease the vertical speed control gain of the UAV when the terrain flatness and/or the variance of the height above the ground satisfy a preset judging condition for flat terrain.

Specifically, when the terrain flatness is less than a preset second flatness threshold, and/or when the variance of the height above the ground is less than a predetermined second variance threshold of the height above the ground, it may be considered that the predetermined flat terrain judgment is satisfied. Condition, by reducing the vertical speed control gain of the UAV, the time required for the actual flight height to reach the preset height can be increased, and the altitude stability of the UAV can be improved, but the degree of conformity of the UAV to the terrain will be reduced. . The preset first smoothness threshold may be greater than or equal to the preset second smoothness threshold, and the first ground height variance threshold may be greater than or equal to the predetermined second ground height variance threshold.

In the embodiment of the present application, the terrain information corresponding to the flight mission area of the unmanned aerial vehicle can be obtained, the current ground height information of the unmanned aerial vehicle can be obtained, and the vertical speed of the unmanned aerial vehicle can be adjusted according to the terrain slope and the ground height; And/or, adjusting the vertical speed limit range of the UAV according to the terrain slope; and/or adjusting the vertical speed control gain of the UAV according to the terrain flatness and/or the variance of the height above the ground. It can enable the UAV to adjust the height of the UAV relative to the ground or the work object in time, ensure the effect of imitating the ground, avoid the risks caused by the control lag of the UAV in the vertical direction, and improve the safety and efficiency of the UAV operation.

Referring to FIG. 6 , a flowchart of another flight control method provided by an embodiment of the present application is shown, which may specifically include:

601. Obtain terrain information corresponding to the flight mission area of the UAV.

602. Acquire the current height information of the drone over the ground.

603. When the terrain information indicates that the terrain is rugged, increase the vertical speed control gain of the unmanned aerial vehicle according to the ground height information.

The terrain information can characterize the terrain as rough or flat. For example, the terrain information includes terrain flatness and/or variance in height above the ground. If the smoothness of the terrain is greater than the preset first smoothness threshold, and/or the variance of the height above the ground is greater than the predetermined first variance threshold of the height above the ground, the terrain may be considered to be rugged. If the terrain flatness is smaller than the preset second flatness threshold, and/or the variance of the height above the ground is smaller than the second preset height variance threshold, the terrain may be considered to be flat.

When the terrain information represents rough terrain, by increasing the vertical speed control gain of the UAV, the time required for the actual flight height to reach the preset height can be shortened, and the degree of conformity of the UAV to the terrain can be improved, but the altitude stability will be reduced. .

604. When the terrain information indicates that the terrain is flat, reduce the vertical speed control gain of the UAV according to the ground height information.

When the terrain information indicates that the terrain is flat, by reducing the vertical speed control gain of the UAV, the time required for the actual flight height to reach the preset height can be increased, and the altitude stability of the UAV can be improved, but it will reduce the unmanned aerial vehicle. Machine-to-terrain fit.

As shown in FIG. 7, a schematic diagram of another unmanned aerial vehicle operation provided by the embodiment of the present application is shown. Wherein, the dotted line can be the actual flight trajectory of the UAV, and the solid line can be the terrain curve. In the rugged terrain in section A of the terrain curve, the vertical speed control gain of the UAV can be increased, so that the UAV can quickly adjust the height to the ground. In section B of the terrain curve, the terrain changes from rough terrain to flat terrain. At this time, the vertical speed control gain of the UAV can be reduced to make the UAV's height above the ground more stable.

In this embodiment of the present application, the terrain information corresponding to the flight mission area of the UAV can be obtained, and the current ground height information of the UAV can be obtained; when the terrain information indicates that the terrain is rugged, the vertical height of the UAV can be increased according to the ground height information. The vertical speed control gain; when the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the ground height information. It enables the UAV to respond to terrain changes in a timely manner, ensures the stability of the height, ensures the effect of imitating the ground, avoids the risk caused by the control lag of the UAV in the vertical direction, and improves the safety and efficiency of the UAV operation.

In order to enable those skilled in the art to better understand the embodiments of the present application, the embodiments of the present application are described below with an example: FIG. 8 shows a schematic diagram of a flight control example provided by the embodiments of the present application. The drone may include a radar module and a flight control module.

The radar module can scan the spatial orientation information of the surrounding space points; remove the noise points from the original space points obtained by scanning, and then use the least squares method to fit the surrounding environment to obtain a plane equation; determine the terrain information and ground plane equations according to the plane equation Height information, the terrain information may include terrain slope, terrain flatness; the ground height information may include ground height, ground height variance.

The flight control module can receive the terrain information sent by the radar module according to the preset frequency. The preset frequency may be 20Hz-100Hz, and in one example, the preset frequency may be 50Hz.

After receiving the terrain information, the flight control module can adjust the vertical speed according to the terrain slope and height above the ground; generate the vertical speed adjustment command, and output the vertical speed adjustment command to the motor, so that the motor can adjust the vertical speed.

The flight control module can adjust the vertical speed limit range according to the terrain slope; generate the vertical speed limit range adjustment command, and output the vertical speed limit range adjustment command to the motor, so that the motor can adjust the vertical speed limit range.

The flight control module can adjust the vertical speed control gain according to the terrain flatness and ground height variance; generate the vertical speed control gain adjustment command, and output the vertical speed control gain adjustment command to the motor, so that the motor can adjust the vertical speed control gain.

It should be noted that, for the sake of simple description, the method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because According to the embodiments of the present application, certain steps may be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

Referring to FIG. 9 , a schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application is shown. The unmanned aerial vehicle includes a processor 910 and a memory 920. The memory 920 is used to store instructions, and the processor 910 calls The instructions stored in the memory 920 are used to perform the following operations:

Obtain the current ground height information of the UAV;

In the embodiment of the present application, the vertical speed control parameters include: at least one of vertical speed, vertical speed limit range, and vertical speed control gain

In the embodiment of the present application, the terrain information includes at least one of terrain slope and terrain flatness; the above-ground height information includes at least one of the above-ground height and the above-ground height variance.

In the embodiment of the present application, the processor is specifically configured to adjust the vertical speed control parameter of the UAV according to the terrain information and the ground height information, including at least one of the following operations:

Adjust the vertical speed of the UAV according to the terrain slope and the ground height;

Adjust the vertical speed limit range of the UAV according to the terrain slope;

The vertical speed control gain of the UAV is adjusted according to the terrain flatness and/or the ground height variance.

In the embodiment of the present application, the processor is specifically configured to adjust the vertical speed of the UAV according to the terrain slope and the ground height, including:

Obtain the horizontal speed control information of the UAV in the horizontal direction;

According to the horizontal speed control information and the terrain slope, determine the initial speed compensation information of the UAV in the vertical direction;

According to the ground height, secondary compensation is performed on the initial speed compensation information to obtain the vertical speed compensation information of the UAV in the vertical direction;

According to the vertical speed compensation information, the vertical speed of the UAV is adjusted.

In the embodiment of the present application, the processor is specifically configured to adjust the vertical speed limit range of the UAV according to the terrain slope, including:

When the terrain gradient satisfies the preset steepness judgment condition, the vertical speed limit range of the UAV is increased.

In the embodiment of the present application, the processor is specifically configured to increase the vertical speed limit range of the UAV when the terrain slope satisfies a preset steepness judgment condition, including:

When the terrain gradient is greater than a preset gradient threshold, the vertical speed limit range of the UAV is increased.

In the embodiment of the present application, the processor is specifically configured to adjust the vertical speed control gain of the UAV according to the terrain flatness and/or the variance of the height above the ground, including:

When the terrain flatness and/or the variance of the height above the ground meet the preset rough terrain judgment condition, increase the vertical speed control gain of the UAV;

When the terrain flatness and/or the variance of the height above the ground satisfy the preset flat terrain judgment condition, the vertical speed control gain of the UAV is reduced.

In the embodiment of the present application, the processor is specifically configured to increase the vertical speed control of the UAV when the terrain flatness and/or the variance of the height above the ground satisfy a preset rough terrain judgment condition Gains, including:

When the terrain smoothness is greater than a preset first smoothness threshold, and/or when the height variance above the ground is greater than a preset first ground height variance threshold, increase the vertical speed control of the UAV gain;

The processor is specifically configured to reduce the vertical speed control gain of the unmanned aerial vehicle when the terrain flatness and/or the variance of the height above the ground meet the preset flat terrain judgment condition, including:

When the terrain flatness is less than a preset second flatness threshold, and/or when the height variance is less than a preset second ground height variance threshold, the vertical speed control of the UAV is reduced gain.

In the embodiment of the present application, the terrain information is acquired by a sensor mounted on the UAV.

In the embodiment of the present application, the sensor includes: any one of an omnidirectional radar, an ultrasonic sensor, and a visual sensor.

In the embodiment of the present application, the processor is specifically configured to adjust the vertical speed control parameters of the UAV according to the terrain information and the ground height information, including:

When the terrain information represents rough terrain, the vertical speed control gain of the UAV is increased according to the ground height information.

When the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the ground height information.

In the embodiment of the present application, the UAV can obtain the terrain information corresponding to the flight mission area, and obtain the current ground height information of the UAV; according to the terrain information and the ground height information, adjust the vertical speed control parameters of the UAV , so that the UAV can adjust the height to the ground relative to the ground or the operating object in time, ensuring the effect of imitating the ground, avoiding the risk caused by the control lag of the UAV in the vertical direction, and improving the safety of the UAV operation. and efficiency.

An embodiment of the present application also provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the above flight control method is implemented .

An embodiment of the present application further provides a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are executed on a computer, the computer is made to execute the above-mentioned flight control method.

An embodiment of the present application also provides a computer program product containing instructions, when the instructions are executed on a computer, the computer causes the computer to execute the above-mentioned flight control method.

As for the apparatus embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for related parts.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other. Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present application. Also, please note that instances of the phrase "in one embodiment" herein are not necessarily all referring to the same embodiment. In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

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

Obtain the terrain information corresponding to the flight mission area of the UAV;

Obtain the current ground height information of the UAV;

Adjust the vertical speed control parameters of the UAV according to the terrain information and the ground height information.
The method according to claim 1, wherein the vertical speed control parameter comprises at least one of: vertical speed, vertical speed limit range, and vertical speed control gain.
The method according to claim 2, wherein the terrain information includes at least one of terrain slope and terrain flatness; the above-ground height information includes at least one of above-ground height and ground-height variance.
The method according to claim 3, wherein the adjusting the vertical speed control parameter of the UAV according to the terrain information and the ground height information comprises at least one of the following operations:

Adjust the vertical speed of the UAV according to the terrain slope and the ground height;

Adjust the vertical speed limit range of the UAV according to the terrain slope;

The vertical speed control gain of the UAV is adjusted according to the terrain flatness and/or the ground height variance.
The method according to claim 4, wherein the adjusting the vertical speed of the unmanned aerial vehicle according to the terrain slope and the ground height comprises:

Obtain the horizontal speed control information of the UAV in the horizontal direction;

Determine the initial speed compensation information of the UAV in the vertical direction according to the horizontal speed control information and the terrain slope;

According to the ground height, secondary compensation is performed on the initial speed compensation information to obtain the vertical speed compensation information of the UAV in the vertical direction;

According to the vertical speed compensation information, the vertical speed of the UAV is adjusted.
The method according to claim 4, wherein the adjusting the vertical speed limit range of the UAV according to the terrain slope comprises:

When the terrain gradient satisfies the preset steepness judgment condition, the vertical speed limit range of the UAV is increased.
The method according to claim 6, wherein, when the gradient satisfies a preset steepness judgment condition, increasing the vertical speed limit range of the UAV, comprising:

When the terrain gradient is greater than a preset gradient threshold, the vertical speed limit range of the UAV is increased.
The method according to claim 4, wherein, adjusting the vertical speed control gain of the UAV according to the terrain flatness and/or the variance of the height above the ground, comprising:

When the terrain flatness and/or the variance of the height above the ground meet the preset rough terrain judgment condition, increase the vertical speed control gain of the UAV;

When the terrain flatness and/or the variance of the height above the ground satisfy the preset flat terrain judgment condition, the vertical speed control gain of the UAV is reduced.
The method according to claim 8, wherein the vertical speed of the UAV is increased when the terrain flatness and/or the variance of the height above the ground satisfy a preset rough terrain judgment condition Control gains, including:

When the terrain smoothness is greater than a preset first smoothness threshold, and/or when the height variance above the ground is greater than a preset first ground height variance threshold, increase the vertical speed control of the UAV gain;

When the terrain flatness and/or the variance of the height above the ground meet the preset flat terrain judgment condition, reducing the vertical speed control gain of the UAV, including:

When the terrain flatness is smaller than a preset second flatness threshold, and/or when the height variance is smaller than a preset second ground height variance threshold, the vertical speed control of the UAV is reduced gain.
The method according to claim 1, wherein the terrain information is acquired by a sensor mounted on the UAV.
The method according to claim 10, wherein the sensor comprises: any one of an omnidirectional radar, an ultrasonic sensor, and a visual sensor.
The method according to claim 1, wherein the adjusting the vertical speed control parameters of the UAV according to the terrain information and the ground height information comprises:

When the terrain information represents rough terrain, the vertical speed control gain of the UAV is increased according to the ground height information.
The method according to claim 1 or 12, wherein the adjusting the vertical speed control parameter of the unmanned aerial vehicle according to the terrain information and the ground height information comprises:

When the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the ground height information.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises a processor and a memory, the memory is used for storing instructions, and the processor calls the instructions stored in the memory to perform the following operations:

Obtain the terrain information corresponding to the flight mission area of the UAV;

Obtain the current ground height information of the UAV;

Adjust the vertical speed control parameters of the UAV according to the terrain information and the ground height information.
The drone according to claim 14, wherein the vertical speed control parameters include at least one of vertical speed, vertical speed limit range, and vertical speed control gain
The unmanned aerial vehicle according to claim 15, wherein the terrain information includes at least one of terrain slope and terrain flatness; the above-ground height information includes at least one of the above-ground height and the above-ground height variance kind.
The unmanned aerial vehicle according to claim 16, wherein the processor is specifically configured to adjust the vertical speed control parameters of the unmanned aerial vehicle according to the terrain information and the ground height information, including the following: At least one action:

Adjust the vertical speed of the UAV according to the terrain slope and the ground height;

Adjust the vertical speed limit range of the UAV according to the terrain slope;

The vertical speed control gain of the UAV is adjusted according to the terrain flatness and/or the ground height variance.
The unmanned aerial vehicle according to claim 17, wherein the processor is specifically configured to adjust the vertical speed of the unmanned aerial vehicle according to the terrain slope and the ground height, comprising:

Obtain the horizontal speed control information of the UAV in the horizontal direction;

Determine the initial speed compensation information of the UAV in the vertical direction according to the horizontal speed control information and the terrain slope;

According to the ground height, secondary compensation is performed on the initial speed compensation information to obtain the vertical speed compensation information of the UAV in the vertical direction;

According to the vertical speed compensation information, the vertical speed of the UAV is adjusted.
The unmanned aerial vehicle according to claim 17, wherein the processor is specifically configured to adjust the vertical speed limit range of the unmanned aerial vehicle according to the terrain slope, comprising:

When the terrain gradient satisfies the preset steepness judgment condition, the vertical speed limit range of the UAV is increased.
The unmanned aerial vehicle according to claim 19, wherein the processor is specifically configured to increase the vertical speed limit range of the unmanned aerial vehicle when the terrain slope satisfies a preset steepness judgment condition, including :

When the terrain gradient is greater than a preset gradient threshold, the vertical speed limit range of the UAV is increased.
The unmanned aerial vehicle according to claim 17, wherein the processor is specifically configured to adjust the vertical speed control gain of the unmanned aerial vehicle according to the terrain flatness and/or the ground height variance ,include:

When the terrain flatness and/or the variance of the height above the ground meet the preset rough terrain judgment condition, increase the vertical speed control gain of the UAV;

When the terrain flatness and/or the variance of the height above the ground satisfy the preset flat terrain judgment condition, the vertical speed control gain of the UAV is reduced.
The unmanned aerial vehicle according to claim 21, wherein the processor is specifically configured to increase the said Vertical speed control gains for drones, including:

When the terrain smoothness is greater than a preset first smoothness threshold, and/or when the height variance above the ground is greater than a preset first ground height variance threshold, increase the vertical speed control of the UAV gain;

The processor is specifically configured to reduce the vertical speed control gain of the unmanned aerial vehicle when the terrain flatness and/or the variance of the height above the ground meet the preset flat terrain judgment condition, including:

When the terrain flatness is smaller than a preset second flatness threshold, and/or when the height variance is smaller than a preset second ground height variance threshold, the vertical speed control of the UAV is reduced gain.
The drone according to claim 14, wherein the terrain information is acquired by a sensor mounted on the drone.
The drone according to claim 23, wherein the sensor comprises: any one of omnidirectional radar, ultrasonic sensor, and visual sensor.
The unmanned aerial vehicle according to claim 14, wherein the processor is specifically configured to adjust the vertical speed control parameters of the unmanned aerial vehicle according to the terrain information and the ground height information, comprising:

When the terrain information represents rough terrain, the vertical speed control gain of the UAV is increased according to the ground height information.
The unmanned aerial vehicle according to claim 14 or 25, wherein the processor is specifically configured to adjust the vertical speed control parameter of the unmanned aerial vehicle according to the terrain information and the ground height information, include:

When the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the ground height information.
An electronic device, characterized by comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to achieve the method as claimed in claim 1 The flight control method described in any one of to 13.
A computer-readable storage medium, characterized in that, instructions are stored on the computer-readable storage medium, and when the instructions are executed on a computer, the computer is made to perform the execution of any one of claims 1 to 13. flight control method.
A computer program product comprising instructions, characterized in that, when the instructions are executed on a computer, the instructions cause the computer to execute the flight control method according to any one of claims 1 to 13.