WO2023141988A1

WO2023141988A1 - Control method for unmanned aerial vehicle, unmanned aerial vehicle, control apparatus, system, and storage medium

Info

Publication number: WO2023141988A1
Application number: PCT/CN2022/074790
Authority: WO
Inventors: 王璐; 闫光; 高翔; 李振初
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2023-08-03
Also published as: CN117651926A

Abstract

A control method for an unmanned aerial vehicle (100), an unmanned aerial vehicle (100), a control apparatus, an unmanned aerial vehicle system, and a storage medium. The unmanned aerial vehicle (100) can establish a communication connection with the control apparatus. The unmanned aerial vehicle comprises a material storage apparatus (10) and an output apparatus (20). The method comprises: controlling an unmanned aerial vehicle (100) to move to a first position in a nose direction, and controlling an output apparatus (20) to output a material in a material storage apparatus (10) to an external environment (S101); acquiring a transverse movement control instruction, which is sent by a control apparatus, wherein the transverse movement control instruction is generated on the basis of an operation of a user on the control apparatus (S102); and according to the transverse movement control instruction, controlling the unmanned aerial vehicle (100) to transversely move from the first position to a second position, and controlling the unmanned aerial vehicle (100) to turn the nose direction, such that the nose direction of the unmanned aerial vehicle (100) at the second position is opposite to the nose direction of the unmanned aerial vehicle at the first position, and the unmanned aerial vehicle flies from the second position in the turned nose direction (S103).

Description

Control method of unmanned aerial vehicle, unmanned aerial vehicle, control device, system and storage medium

technical field

The present application relates to the technical field of drones, and in particular to a control method for drones, a drone, a control device, a drone system, and a storage medium.

Background technique

When the plant protection UAV is applied, the user can control the UAV to perform lateral movement through the physical or virtual left and right lateral movement buttons. At this stage, when the plant protection drone moves sideways, the direction of the nose remains unchanged. Since the routine operation scene of the plant protection drone usually corresponds to the round-trip bow route, if the direction of the nose remains unchanged during the lateral movement, when the user continues to control the movement of the plant protection drone after the lateral movement, it may cause the plant protection drone to fall. Flying, causing the materials sprayed by the drone to float to the fuselage of the drone, causing corrosion or pollution to the fuselage of the drone, and blocking of the detection device (such as a visual sensor) set on the fuselage.

Contents of the invention

Based on this, the present application provides a method for controlling an unmanned aerial vehicle, an unmanned aerial vehicle, a control device, an unmanned aerial vehicle system, and a storage medium.

In a first aspect, the present application provides a method for controlling a drone, the drone can establish a communication connection with a control device, the drone includes a storage device and an output device, and the method includes:

controlling the UAV to move to the first position along the direction of the nose, and controlling the output device to output the materials in the storage device to the external environment;

Acquiring a traversing control instruction sent by the control device, where the traversing control instruction is generated based on a user's operation on the control device;

Control the drone to traverse from the first position to the second position according to the traverse control instruction, and control the drone to turn the direction of the nose so that the drone is at the second position The direction of the nose of the UAV at the first position is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the turned nose direction.

In a second aspect, the present application provides an unmanned aerial vehicle capable of establishing a communication connection with a control device, the unmanned aerial vehicle includes a storage device and an output device, and the unmanned aerial vehicle further includes: a memory and a processing device;

The memory is used to store computer programs;

The processor is configured to execute the computer program and when executing the computer program, implement the following steps:

In a third aspect, the present application provides a method for controlling a drone, the drone can establish a communication connection with a control device, the drone includes a storage device and an output device, and the method includes:

Sending a forward flight control command to the UAV, so that the UAV moves to the first position along the direction of the nose, and makes the output device output the materials in the storage device to the external environment;

Sending a lateral movement control command to the UAV, so that the UAV traverses from the first position to a second position, and reverses the direction of the nose so that the UAV is at the second position The direction of the nose of the UAV is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the direction of the nose after turning, wherein the transverse The shift control instruction is generated based on the user's operation on the control device.

In a fourth aspect, the present application provides a control device capable of establishing a communication connection with an unmanned aerial vehicle, the unmanned aerial vehicle includes a storage device and an output device, and the control device includes: a memory and a processor;

The memory is used to store computer programs;

The processor is used to execute the computer program and when executing the computer program, the following steps are realized:

In a fifth aspect, the present application provides an unmanned aerial vehicle system, including the unmanned aerial vehicle described in the second aspect above and the control device described in the fourth aspect above.

In the sixth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the first aspect and the third aspect above The control method of the unmanned aerial vehicle.

The embodiment of the present application can provide technical support for solving the problem that the materials output by the UAV drift to the fuselage of the UAV due to the influence of the wind field. The drone moves to the first position along the direction of the nose, and the flight direction of the drone is consistent with the direction of the nose, which can prevent the output materials from floating to the fuselage due to the influence of the wind field; the drone is at the second position The direction of the nose of the UAV is opposite to that of the UAV at the first position, and the direction of the UAV changes. Since the conventional operation scene usually corresponds to a round-trip bow route, the user can then move the UAV to the second position. When continuing to control the movement of the UAV, the UAV can fly from the second position along the direction of the turned nose, and the flight direction of the UAV is still consistent with the direction of the nose, avoiding the UAV from flying backwards, so that Continue to avoid the influence of the wind field that the materials output by the drone will float to the fuselage of the drone, avoid the pollution or corrosion of the material to the fuselage of the drone, and avoid the impact of the material on the detection device (such as a visual sensor) set on the fuselage. block.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is the structural representation of an embodiment of unmanned aerial vehicle;

FIG. 2 is a schematic diagram of a round-trip operation of an unmanned aerial vehicle in a conventional operation scene in a bow-shaped route in the related art;

Fig. 3 is a schematic diagram of the round-trip operation of the UAV in the bow-shaped route of the conventional operation scene in the control method of the UAV of the present application;

Fig. 4 is a schematic flow chart of an embodiment of the control method of the unmanned aerial vehicle of the present application;

Fig. 5 is a schematic flow chart of another embodiment of the control method of the unmanned aerial vehicle of the present application;

Fig. 6 is a schematic diagram of an embodiment of the route round-trip operation of the drone in the irregular operation scene in the control method of the drone of the present application;

Fig. 7 is a schematic diagram of another embodiment of the round-trip operation of the drone in the irregular operation scene in the control method of the drone of the present application;

Fig. 8 is a schematic diagram of an embodiment of the interactive interface of the control device in the control method of the unmanned aerial vehicle of the present application;

Fig. 9 is a schematic flow diagram of another embodiment of the control method of the drone of the present application;

Fig. 10 is a schematic diagram of an embodiment of the drone's round-trip operation on the route in the control method of the drone of the present application;

Fig. 11 is a schematic flow diagram of another embodiment of the control method of the unmanned aerial vehicle of the present application;

Fig. 12 is a schematic flow chart of another embodiment of the control method of the drone of the present application;

Fig. 13 is a schematic flow diagram of another embodiment of the control method of the drone of the present application;

Fig. 14 is a schematic structural diagram of an embodiment of the drone of the present application;

Fig. 15 is a schematic structural diagram of an embodiment of the control device of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

In the following, the technical content related to the embodiment of the present application and the technical problems existing in the related technology will be introduced first.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of an embodiment of a drone. The drone 100 includes a storage device 10 and an output device 20 . Wherein, the output device 20 can be a spraying device, and the spraying device can be arranged on the rear side of the drone 100, and the storage device 10 can store liquid materials (for example: liquid pesticides, liquid fertilizers, water, etc.), It is also possible to store powdered materials (for example: powdered fertilizers, pollen, etc.). Wherein, the output device 20 can also be a spreading device, the spreading device can be arranged on the belly of the drone 100, and the storage device 10 can store powdered materials (for example: powdered fertilizer, pollen, etc. ) or granular materials (eg seeds, granular fertilizers, etc.). A detection device (for example: visual sensor 30, radar, etc.) may also be provided on the front side of the UAV 100 .

Referring to Figure 2, UAVs usually operate back and forth in a bow-shaped route in a conventional operation scenario. The non-operation route segments of the operation (the horizontal route segments AB, CD, EF, etc. in the figure). In the working route segment, the UAV 100 outputs the materials stored in the storage device 10 to the external environment through the output device 20 while flying, and in the non-operating route segment, the UAV 100 will close the output device 20 . After the unmanned aerial vehicle 100 takes off under the control of the user, it flies along the nose direction of the route section OA while outputting the materials stored in the storage device 10 to the external environment through the output device 20. At this time, the flying direction of the unmanned aerial vehicle (Fig. Indicated by the thick arrow on the left side of OA) is consistent with the direction of the nose (shown by the thin arrow on OA in the figure). Move horizontally to position B, keep the nose direction unchanged, and then continue to control the UAV to operate in route section BC. Indicated by the thin arrow on BC) on the contrary, at this moment, the unmanned aerial vehicle 100 is flying upside down. Due to the influence of the wind field, the inverted flying of the unmanned aerial vehicle 100 will cause the materials output by the unmanned aerial vehicle 100 to float to the unmanned aerial vehicle 100 fuselage. Pollution or corrosion of the fuselage of the UAV 100 is caused, as well as occlusion of detection devices (such as the visual sensor 30 ) provided on the fuselage.

In the embodiment of the present application, the UAV can establish a communication connection with the control device. Under the control of the user operating the control device, the UAV moves to the first position along the direction of the nose, and outputs the materials in the storage device through the output device. To the external environment, the UAV controls the UAV to move laterally from the first position to the second position after receiving the lateral movement control command sent by the control device, and controls the UAV to turn the direction of the nose so that the UAV is in the second position. The nose direction at the position is opposite to the nose direction of the drone at the first position. In this way, it is convenient for the drone to fly from the second position along the direction of the turned nose.

3, the UAV 100 moves to position A along the direction of the nose, the flight direction of the UAV 100 (indicated by the thick arrow on the left of OA in the figure) and the direction of the nose (indicated by the thin arrow on OA in the figure) Keeping consistent can prevent the output material from floating to the fuselage due to the influence of the wind field; the UAV 100 traverses from position A to position B, and turns the direction of the nose, and the direction of the nose of the UAV 100 at position B The direction of the nose of the UAV 100 at position A is opposite to that of the UAV 100. When the UAV 100 traverses to the position B and the user continues to control the UAV 100 and continues to move along the bow-shaped route, the direction of the UAV 100 changes. Flying on route segment BC along the nose direction after turning from position B, the flight direction of UAV 100 (indicated by the thick arrow on the right side of BC in the figure) and the direction of the nose (indicated by the thin arrow on BC in the figure) ) is still consistent, the UAV 100 is not flying upside down, so that it can continue to avoid the material output by the UAV 100 from floating to the UAV 100 fuselage due to the influence of the wind field, and avoid the pollution of the materials to the UAV 100 fuselage Or corrosion, to avoid the material from blocking the detection device (such as the visual sensor 30) provided on the fuselage. Therefore, the embodiment of the present application can provide technical support for solving the problem that the materials output by the drone drift to the fuselage of the drone due to the influence of the wind field.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Referring to FIG. 4, FIG. 4 is a schematic flow chart of an embodiment of the control method of the drone of the present application. It should be noted that the method of this embodiment is a control method of the drone, and is suitable for the user to manually control the drone. mode (also called manual operation mode) is also applicable to the operation mode in which the user controls the UAV semi-manually (that is, the operation mode combining user operation and autonomous control of the UAV, which can also be called enhanced manual operation mode). operation mode, which may be referred to as the application scenario of M+ operation mode for short. Referring to FIG. 1 , the drone 100 can establish a communication connection with the control device, and the drone 100 includes a storage device 10 and an output device 20 .

In this embodiment, the control device includes a device that can send instructions to the drone to control the flight of the drone; the control device can include a remote control, a mobile phone, etc., or a combination of two or more remote controls, mobile phones, etc. ; Wherein the remote control includes a remote control with a screen.

Wherein, the output device 20 can be a spraying device, and the spraying device is arranged on the rear side of the drone 100, and the storage device 10 can store liquid materials (for example: liquid pesticides, liquid fertilizers, water, etc.), and also Powdered materials (eg: powdered fertilizers, pollen, etc.) can be stored. Wherein, the output device 20 can also be a spreading device, the spreading device is arranged on the belly of the drone 100, and the storage device 10 can store powdered materials (for example: powdered fertilizer, pollen, etc.) Or granular materials (eg: seeds, granular fertilizers, etc.). A detection device (for example: visual sensor 30, etc.) may also be provided on the front side of the UAV 100 .

The method includes: step S101, step S102 and step S103.

Step S101: Control the UAV to move to the first position along the direction of the nose, and control the output device to output the materials in the storage device to the external environment.

It should be noted that the nose direction referred to in the embodiment of the present application is the direction indicated by the nose of the UAV on the horizontal plane, which does not change with the pitch attitude of the UAV.

When the UAV moves to the first position along the direction of the nose, the output device outputs the materials in the storage device to the external environment. Since the UAV moves along the direction of the nose, the flight direction of the UAV and the machine The direction of the head is kept consistent, which can prevent the output material from floating to the fuselage due to the influence of the wind field, avoid the pollution or corrosion of the material to the drone fuselage, and avoid the blocking of the detection device (such as a visual sensor) set by the material on the fuselage .

In this embodiment, the process of the UAV moving to the first position along the direction of the nose can be completely controlled by the user, or it can be combined with the user’s control plus the autonomous control of the UAV according to preset parameters, or it can be completely controlled by the UAV. The man-machine is autonomously controlled according to the preset parameters.

Step S102: Obtain a lateral movement control instruction sent by the control device, where the lateral movement control instruction is generated based on a user's operation on the control device.

After the drone moves to the first position, the user can operate the control device. The control device generates a lateral movement control command according to the user's operation, and sends the lateral movement control command to the drone. The drone obtains the lateral movement control command sent by the control device. instruction.

In one embodiment, the traverse control command includes a traverse direction, such as left traverse or right traverse.

In an embodiment, the traversing control command may also include a traversing distance, which may also be preset and stored in the UAV.

Step S103: Control the UAV to move laterally from the first position to the second position according to the traversing control instruction, and control the UAV to turn the direction of the nose so that the UAV is in the The direction of the nose at the second position is opposite to the direction of the nose of the drone at the first position, so that the drone flies from the second position along the turned nose direction.

After receiving the traverse control instruction, the UAV traverses from the first position to the second position, and controls the UAV to turn the direction of the nose, so that the direction of the nose of the UAV at the second position is the same as that of the UAV at the second position. The direction of the nose of the UAV at the first position is opposite, so that the UAV can fly from the second position along the direction of the turned nose.

In an embodiment, the method further includes: during the traverse movement of the drone from the first position to the second position, the output device is in a closed state. In this example, the output device is closed when the UAV traverses, and the material will not be output to the external environment.

In an embodiment, the method further includes: if it is detected that the UAV has a speed along the direction of the nose, turning on the output device.

The drone has a speed along the direction of the nose, which can include two situations: the first is that the flight direction of the drone is consistent with the direction of the nose, and the second is that the flight direction of the drone is in the same direction as the nose. Acute angle, that is, the UAV flies obliquely forward, at this time, the UAV has a velocity component along the direction of the nose. Therefore, in this embodiment, the UAV can output materials to the external environment through the output device, so as to meet the actual demand.

It should be noted that the UAV can detect whether the UAV has a speed along the direction of the nose based on the control instructions received from the control device, or based on the sensors set by the UAV (such as speedometer, or inertial measurement unit) Detect whether the drone has a speed along the direction of the nose.

In an embodiment, the method further includes: if it is detected that the UAV has a speed deviated from the direction of the nose, turning off the output device.

The drone has a speed away from the direction of the nose, that is, the drone flies upside down, which can include two situations: the first is that the flying direction of the drone is consistent with the direction away from the nose, and the second is that no one is flying. The flight direction of the UAV is at an acute angle with the direction away from the nose, that is, the UAV flies obliquely backward, and at this time the UAV has a velocity component along the direction away from the nose. Therefore, in this embodiment, when the UAV flies directly behind or obliquely behind, the output device is closed, and the materials will not be output to the external environment, which can prevent the materials output by the UAV from floating to the outside environment due to the influence of the wind field. The fuselage of the drone avoids contamination or corrosion of the drone fuselage by materials, and prevents the material from blocking the detection device (such as a visual sensor) installed on the fuselage.

It should be noted that the UAV can detect whether the UAV has a speed that deviates from the direction of the nose based on the control instructions received from the control device, or based on the sensors set by the UAV (such as speedometer, or inertial measurement unit) Detect whether the drone has a speed that deviates from the direction of the nose.

In an embodiment, the method further includes: if it is detected that the UAV has a speed deviated from the direction of the nose, outputting prompt information to prompt the user to turn the direction of the nose.

The drone has a speed that deviates from the direction of the nose, and at this time, prompt information is output to prompt the user to turn the direction of the nose. Wherein the mode of outputting prompt information comprises: UAV itself outputs prompt information, for example UAV sends alarm sound; Also can be that UAV sends prompt information to control device, and control device displays corresponding alarm after receiving prompt information or An alarm tone sounds.

In an embodiment, the "one-key U-turn" function can also be realized according to the user's manipulation. That is, the method may further include: step S104 and step S105, as shown in FIG. 5 .

Step S104: Acquiring the nose turning control command sent by the control device, the nose turning control command is generated based on the user's operation on the control device.

Step S105: Control the UAV to turn the direction of the nose according to the nose turning control instruction, so that the UAV flies along the turned nose direction.

In this embodiment, when the user wants the drone to turn around, the user can operate the control device to generate a nose turning control command, the control device sends the nose turning control command to the drone, and the drone obtains the nose turning control command Afterwards, the UAV can be controlled to turn the direction of the nose, so that it is convenient for the UAV to fly along the turned direction of the nose.

In practical applications, the operating areas of UAVs are often complex, diverse, irregular in shape, and different in size. In some areas, it is impossible to operate back and forth according to the bow-shaped route. At this time, if the drone moves laterally from the first position to the second position and controls the drone to turn the direction of the nose, the user continues to control the drone During movement, the UAV may be required to fly in the direction opposite to the direction of turning the nose. On the basis of this embodiment, the user can operate the control device, and the control device sends the nose turning control command to make the UAV fly according to the direction of the machine. The head turning control command controls the UAV to turn the direction of the nose, thereby avoiding the UAV from flying backwards and avoiding the output materials from floating to the fuselage due to the influence of the wind field.

As shown in Figure 6, the operating area of the UAV is not a regular shape, and there is a gap in the upper left corner of the operating area. When the UAV is operating in the operating area, a part of the operating area operates back and forth according to the bow-shaped route, from position O to position E, Using the method of the embodiment of the present application, the flight direction of the UAV in the operation route segments OA, BC, and DE (shown by the thick arrow on the left side of OA in the figure, the thick arrow on the left side of BC, and the thick arrow on the left side of DE) Consistent with the direction of the nose (indicated by the thin arrow on OA, the thin arrow on BC, and the thin arrow on DE in the figure), after moving laterally from position E to the right to position F, the UAV will turn around head direction, the nose direction becomes downward (indicated by the thin arrow on FG in the figure), but the user may need to operate the UAV to fly along the direction of the route segment FG (indicated by the thick arrow on the right of FG in the figure). When the UAV flies upside down, the output materials will float to the fuselage due to the influence of the wind field. Therefore, in order to prevent the drone from flying upside down, the user can control the control device to send the nose turning control command, so that the drone can control the drone to turn the direction of the nose according to the nose turning control command, as shown in Figure 7 As shown, after moving from position E to the right to position F, the UAV will automatically turn the direction of the nose, and the direction of the nose will become downward. At this time, the user can manipulate the control device to make the control device send the control command of the nose rotation. After the UAV receives the nose turning control command, it turns the direction of the nose, and the direction of the nose becomes upward (shown by the thin arrow on FG in the figure), and the user then operates the UAV to fly along the direction of the route segment FG (in the figure As shown by the thick arrow on the right of FG), the flight direction is consistent with the direction of the nose, which can prevent the materials output by the UAV from floating to the UAV body due to the influence of the wind field, and avoid the pollution or pollution of the materials to the UAV body. Corrosion, to avoid material blocking of detection devices (such as visual sensors) installed on the fuselage.

As shown in Figure 8, in one embodiment, the control device is provided with a machine head turning control 1, and the machine head turning control instruction is generated based on the user's operation on the machine head turning control 1, and the machine head Turn control 1 into a physical control or a virtual control. This can facilitate the user to operate the head turning control 1 on the control device to realize the "one-key U-turn" function.

In one embodiment, step S105, the controlling the UAV to turn the direction of the UAV according to the nose turning control instruction may include: if the flight state of the UAV satisfies the preset condition, then The nose turning control command controls the UAV to turn the direction of the nose.

In this embodiment, in order to avoid misoperation by the user or to ensure the safety of the UAV, the flight state of the UAV needs to meet the preset conditions to control the UAV transfer according to the nose transfer control instruction. nose direction.

In one embodiment, the preset conditions include one or more of the following conditions: the flying speed of the UAV is less than a preset speed threshold; the UAV is in a non-traversing state; the unmanned The machine is in the non-turning head state.

Controlling the UAV to turn the direction of the nose when the flying speed of the UAV is relatively high may bring safety risks to the UAV. The position is far away from the target position, etc., so it is usually difficult to turn around when the drone is flying at a large speed. When the UAV is in a lateral movement state, it usually has a relatively high speed and it is difficult to turn around. When the UAV is in the state of turning the nose and then performs a U-turn, the UAV will return to the original nose direction, which is a useless operation. In addition, it may cause the UAV to not know how to execute instructions and cause wrong instructions to be executed. Therefore, in this embodiment, one or more conditions are satisfied when the flying speed of the UAV is less than the preset speed threshold, the UAV is in a non-traversing state, and the UAV is in a non-turning state. , the UAV will be controlled to turn the direction of the nose according to the nose turn control instruction.

In one embodiment, in step S103, controlling the UAV to traverse from the first position to the second position according to the lateral movement control instruction may include: sub-step S1031 and sub-step S1032, as shown in the figure 9.

Sub-step S1031: Determine a traverse direction according to the traverse control instruction, and the traverse direction is a first traverse direction or a second traverse direction.

Sub-step S1032: Control the UAV to traverse a preset working distance from the first position to a second position according to the traverse direction.

This embodiment is applicable to the operation mode combining user operation and autonomous control of the drone, and the preset operation interval is preset by the user, so that user operations can be reduced. In addition, users can also pre-set other parameters according to actual operation needs, such as setting the flight speed, the height of the UAV from the operation target, whether to enable the course lock mode (that is, the lock mode) and so on. After the setting is completed, the UAV can fly based on the user's operation and these set parameters. For example, the control device is equipped with a joystick, and the user can operate the joystick to control the flight direction of the UAV, so that the UAV can fly according to the set parameters. The flight direction and the set flight speed, the height of the UAV from the operation target and other parameters fly.

In an embodiment, in the unlocking mode, the first traversing direction and the second traversing direction take the nose direction of the UAV as a reference, and in the locking mode, the first traversing direction The moving direction and the second traversing direction are the first traversing direction and the second traversing direction when the locking mode is triggered.

For example: in unlocked mode, take the X-axis and Y-axis of the horizontal plane as the reference coordinate system, the nose direction of the drone is the positive direction of the Y-axis, assuming that the first traverse direction is the left traverse direction, which is the X-axis The negative direction of the second traversing direction is the right traversing direction, which is the positive direction of the X axis; The left lateral movement direction is the positive direction of the X-axis, and the second lateral movement direction is the right lateral movement direction, which is the negative direction of the X-axis.

For example: in the lock mode, with the X-axis and Y-axis of the horizontal plane as the reference coordinate system, the nose direction of the UAV is the positive direction of the Y-axis, the first traverse direction is the negative direction of the X-axis, and the second traverse direction is the negative direction of the X-axis. The moving direction is the positive direction of the X-axis; when the direction of the nose of the UAV turns around to be the negative direction of the Y-axis, the first traversing direction is still the negative direction of the X-axis, and the second traversing direction is still The positive direction of the X axis.

That is to say, in the non-locking mode, "left" and "right" are defined by the direction of the nose. In this case, after the drone turns the nose, the absolute orientation of "left" and "right" will occur Variety. In the lock mode, "left" and "right" are respectively defined by "left" and "right" when the lock mode is triggered. " will not change the absolute orientation.

This embodiment provides two modes for defining the traversing direction, and the user can choose according to his own operating habits, which can make it easier for the flight of the drone to meet the user's expectations.

As shown in Figure 8, in one embodiment, the control device is provided with a first traverse control 2 and a second traverse control 3, and the first traverse control 2 is used to trigger generation and control of the drone A lateral movement control instruction for lateral movement in the first lateral movement direction, the second lateral movement control 3 is used to trigger and generate a lateral movement control instruction for controlling the UAV to lateral movement in the second lateral movement direction, the first The traverse control 2 and the second traverse control 3 are physical controls or virtual controls. In this way, it is convenient for the user to operate the first traversing control 2 or the second traversing control 3 on the control device, so as to achieve the purpose of the UAV moving laterally in the first traversing direction or in the second traversing direction.

As shown in FIG. 8, in one embodiment, the control device is provided with a user interface 4, and the user interface 4 can display the flight mark 5, the first traversing direction mark 6 and the corresponding flight mark 6 of the UAV. The second traversing direction mark 7, the flight mark 5 is used to indicate the real-time position and the nose direction of the drone, and the first traversing direction mark 6 is used to indicate the first traversing direction, so The second traversing direction mark 7 is used to indicate the second traversing direction. In this way, it is convenient for the user to understand the real-time position and nose direction of the drone through the flight mark 5 displayed on the user interface 4 in real time, and the first traversing direction mark 6 and the second traversing direction displayed on the user interface 4 The mark 7 knows the specific direction of the first traverse direction and the second traverse direction, which is convenient for the user to correctly operate the first traverse control 2 and the second traverse control 3 .

In one embodiment, the first traverse control 2 has the same characteristics as the first traverse direction mark 6, and the second traverse control 3 has the same characteristics as the second traverse direction mark 7. features, including color features, shape features, or texture features. In this way, user operation errors can be further avoided, and it is convenient for the user to correctly operate the first lateral movement control 2 or the second lateral movement control 3 to achieve the horizontal movement of the drone to the first lateral movement direction or to the second lateral movement The purpose of traversing the direction.

In an embodiment, the first traversing direction mark 6 and the second traversing direction mark 7 are respectively located on two sides of the flying mark 5 . In this way, it is convenient for the user to know the spatial relationship between the first traverse direction, the second traverse direction and the real-time position of the UAV and the direction of the nose in real time, so as to facilitate the user to operate the first traverse control 2 or the Second traverse control 3.

In one embodiment, in step S103, controlling the UAV to laterally move from the first position to the second position according to the traversing control instruction may also include: if the UAV is flying The state satisfies the preset condition, then the UAV is controlled to traverse from the first position to the second position according to the traverse control instruction.

In this embodiment, in order to avoid misoperation by the user or to ensure the safety of the drone, it is required that the flight state of the drone satisfies the preset The first position traverses to the second position.

As shown in FIG. 1 , in an embodiment, the drone 100 is provided with a visual sensor 30 , and the visual sensor 30 is provided on the front side of the drone 100 . In this way, it can be avoided that the materials output by the UAV 100 float to the fuselage of the UAV 100 due to the influence of the wind field, causing the materials to block the visual sensor 30 .

In an embodiment, in step S103, the controlling the UAV to turn the direction of the nose may include: controlling the UAV to turn the direction of the nose from the first position; or, controlling the The drone starts to turn the direction of the nose of the drone from the second position; or, controls the drone to turn the direction of the nose of the drone from a position between the first position and the second position.

In this embodiment, the UAV traverses from the first position to the second position, and the UAV reverses the position of the nose direction, which can be obtained from the first position (i.e. ) to start turning the direction of the nose, or starting to turn the direction of the nose from the second position (ie, the end position point of the traversing), or from a position between the first position and the second position ( That is, in the process of traversing between the starting position point and the end position point of the traversing) start to turn the direction of the nose. In this way, the position where the UAV turns the direction of the nose is more flexible.

Among them, the angle that needs to be turned when the UAV turns the direction of the nose can be turned at one time, or it can be done in multiple times. For example: the UAV can start to turn the direction of the nose at the first position, and directly turn 180°; or, the UAV can start to turn the direction of the nose at the second position, and turn 180° directly; or, the UAV can At any position between the first position and the second position, start turning the direction of the nose, you can first turn 90°, and then continue to turn 90° when traversing to the second position; and so on.

As shown in Figure 10, the UAV moves from position O to position A along the direction of the nose, obtains the lateral movement control command, and moves laterally from position A to position B. At the same time, the UAV can be at position A, position B, position Any position in M (any position between A and B) turns the direction of the nose. The UAV moves from position B to position C along the direction of the nose, obtains the lateral movement control command, and moves laterally from position C to position D. At the same time, the UAV can move between position C, position D, and position N (CD any position) to turn the direction of the machine head.

In one embodiment, the UAV starts to turn the direction of the nose of the drone from the first position (i.e. the initial position of the lateral movement), and the direction of the nose of the drone is turned at the second position, which can improve the efficiency of the nose turn .

In one embodiment, in step S101, the controlling the UAV to move to the first position along the nose direction may include: sub-step S1011 and sub-step S1012, as shown in FIG. 11 .

Sub-step S1011: Obtain the forward flight control instruction sent by the control device, the forward flight control instruction is generated based on the user's operation on the control device.

Sub-step S1012: Control the UAV to move to the first position along the nose direction according to the forward flight control instruction.

In this embodiment, there may be multiple implementation manners for generating the forward flight control instruction based on the user's operation on the control device. For example: the user can make the control device generate a forward flight control instruction by operating the physical control or virtual control on the control device. The physical control or virtual control can be specially set, or it can be a physical control or a virtual controls. When the user triggers the physical control or the virtual control, the forward flight control instruction can be directly generated.

Alternatively, the user can make the control device generate a forward flight control command by operating the joystick on the control device. There is a mapping relationship between the way the user operates the joystick and the forward flight control command. For example, when the user pushes the pitch joystick forward, the control device can directly move the joystick The amount is sent to the drone as a forward flight control command, or the command mapped to the joystick is sent to the drone as a forward flight control command.

In an embodiment, in step S103, after controlling the UAV to traverse from the first position to the second position, and controlling the UAV to turn the direction of the nose, it may further include: Step S106 And step S107, as shown in FIG. 12 .

Step S106: Obtain the forward flight control instruction sent by the control device, the forward flight control instruction is generated based on the user's operation on the control device.

Step S107: Control the UAV to fly from the second position along the direction of the turned nose according to the forward flight control instruction.

In this embodiment, after the UAV acquires the forward flight control instruction sent by the control device based on the user's operation on the control device, it flies from the second position along the direction of the turned nose, and the flight direction is the same as The direction of the nose is consistent, so that the materials output by the UAV can be prevented from floating to the UAV body due to the influence of the wind field.

Referring to Fig. 13, Fig. 13 is a schematic flowchart of another embodiment of the control method of the drone of the present application. It should be noted that the method of this embodiment is a method at the control device end, and the drone can establish communication with the control device connected, the drone includes a storage device and an output device. The detailed description of the relevant content of the method in this embodiment also has a corresponding description in the above-mentioned method on the drone side, and will not be repeated here.

The method includes: step S201 and step S202.

Step S201: Sending a forward flight control command to the UAV, so that the UAV moves to the first position along the direction of the nose, and makes the output device output the materials in the storage device to the external environment .

Step S202: Sending a lateral movement control command to the UAV, so that the UAV moves laterally from the first position to a second position, and turns the direction of the nose so that the UAV is at the second position. The direction of the nose at the second position is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the turned nose direction, wherein, The traverse control instruction is generated based on the user's operation on the control device.

The method of this embodiment can provide technical support for solving the problem that the materials output by the drone float to the fuselage of the drone due to the influence of the wind field.

Wherein, the method further includes: sending a nose turning control command to the UAV, so that the UAV turns the direction of the nose, so that the UAV flies in the direction of the nose after turning, wherein the The head turning control instruction is generated based on the user's operation on the control device.

Wherein, the control device is provided with a nose turning control, the nose turning control instruction is generated based on the user's operation on the nose turning control, and the nose turning control is a physical control or a virtual control.

Wherein, the control device is provided with a first traversing control and a second traversing control, and the first traversing control is used to trigger generation of a traversing control instruction for controlling the UAV to traversing in the first traversing direction , the second traversing control is used to trigger the generation of a traversing control instruction that controls the UAV to move laterally in the second traversing direction, and the first traversing control and the second traversing control are physical controls or virtual controls.

Wherein, in the unlocking mode, the first traversing direction and the second traversing direction take the nose direction of the drone as a reference; in the locking mode, the first traversing direction and the second traversing direction The second traverse direction is the first traverse direction and the second traverse direction when the locking mode is triggered.

Wherein, the control device is provided with a user interaction interface, and the user interaction interface can display the flight mark, the first traverse direction mark and the second traverse direction mark corresponding to the drone, and the flight mark is used to indicate The real-time position and nose direction of the UAV, the first traversing direction mark is used to indicate the first traversing direction, and the second traversing direction mark is used to indicate the second traversing direction .

Wherein, the first traversing control has the same features as the first traversing direction mark, the second traversing control has the same features as the second traversing direction mark, and the features include color features , shape features or texture features.

Wherein, the first traversing direction mark and the second traversing direction mark are respectively located on both sides of the flying mark.

Referring to FIG. 14, FIG. 14 is a schematic structural diagram of an embodiment of the drone of the present application, the drone can establish a communication connection with the control device, the drone 100 includes a storage device 10 and an output device 20, the The drone 100 also includes: a memory 101 and a processor 102; the storage device 10, the output device 20, and the memory 101 are respectively connected to the processor 102 through a bus. The processor 102 may be a microcontroller unit, a central processing unit, or a digital signal processor, among others. The memory 101 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, and the like. The UAV in this embodiment can execute the steps in the UAV control method at the UAV end. For the detailed description of relevant content, please refer to the relevant content of the above UAV control method, which will not be repeated here.

The memory is used to store a computer program; the processor is used to execute the computer program and when executing the computer program, implement the following steps:

Controlling the UAV to move to the first position along the direction of the nose, and controlling the output device to output the materials in the storage device to the external environment; obtaining the lateral movement control instruction sent by the control device, the The lateral movement control instruction is generated based on the user's operation on the control device; according to the lateral movement control instruction, the UAV is controlled to move laterally from the first position to the second position, and the UAV is controlled Turning the direction of the nose so that the direction of the nose of the UAV at the second position is opposite to the direction of the nose of the UAV at the first position, so that the UAV moves from the The second position flies along the nose direction after turning.

Wherein, when the processor executes the computer program, the following step is further implemented: during the process of the UAV moving laterally from the first position to the second position, the output device is in a closed state.

Wherein, when the processor executes the computer program, it also implements the following steps: if it is detected that the UAV has a speed along the direction of the nose, then turn on the output device.

Wherein, when the processor executes the computer program, it also implements the following step: if it is detected that the UAV has a speed that deviates from the direction of the nose, then close the output device.

Wherein, when the processor executes the computer program, it also implements the following steps: if it is detected that the UAV has a speed that deviates from the direction of the nose, then output prompt information to prompt the user to turn the direction of the nose.

Wherein, when the processor executes the computer program, it also implements the following steps: acquiring the head rotation control instruction sent by the control device, the head rotation control instruction is generated based on the user's operation on the control device and controlling the UAV to turn the direction of the nose according to the nose turning control instruction, so that the UAV flies along the turned nose direction.

Wherein, the controlling the UAV to turn the direction of the UAV according to the nose turning control instruction includes: if the flight state of the UAV satisfies the preset condition, then controlling the UAV according to the nose turning control instruction. The UAV turns the direction of the nose.

Wherein, the preset conditions include one or more of the following conditions: the flying speed of the UAV is less than a preset speed threshold; the UAV is in a non-traversing state; Aircraft status.

Wherein, controlling the UAV to traverse from the first position to the second position according to the traverse control instruction includes: determining a traverse direction according to the traverse control instruction, and the traverse direction is A first traversing direction or a second traversing direction; according to the traversing direction, the drone is controlled to traversing a preset working distance from the first position to a second position.

Wherein, controlling the UAV to move laterally from the first position to the second position according to the sway control instruction includes: if the flight state of the UAV satisfies a preset condition, then according to the The traverse control instruction controls the drone to traverse from the first position to the second position.

Wherein, the output device is a spraying device, and the spraying device is arranged on the rear side of the drone; or, the output device is a spreading device, and the spreading device is arranged on the belly of the drone.

Wherein, the drone is provided with a vision sensor, and the vision sensor is arranged on the front side of the drone.

Wherein, the controlling the UAV to turn the direction of the nose includes: controlling the UAV to turn the direction of the nose from the first position; or, controlling the UAV to turn the direction of the nose from the second position starting to turn the direction of the nose; or, controlling the UAV to start turning the direction of the nose from a position between the first position and the second position.

Wherein, the controlling the UAV to move to the first position along the direction of the nose includes: acquiring the forward flight control instruction sent by the control device, the forward flight control instruction is based on the user's operation on the control device Generated; controlling the UAV to move to the first position along the nose direction according to the forward flight control instruction.

Wherein, after controlling the UAV to traverse from the first position to the second position, and controlling the UAV to turn the direction of the nose, it also includes: obtaining the forward flight control instruction sent by the control device , the forward flight control instruction is generated based on the user's operation on the control device; according to the forward flight control instruction, the UAV is controlled to fly from the second position along the direction of the turned nose.

Referring to FIG. 15, FIG. 15 is a schematic structural diagram of an embodiment of the control device of the present application, the control device can establish a communication connection with the drone, the drone includes a storage device and an output device, and the control device 200 includes : the memory 201 and the processor 202; the memory 201 and the processor 202 are connected through a bus. Processor 202 may be a microcontroller unit, a central processing unit, or a digital signal processor, among others. The memory 201 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, and the like. The control device of this embodiment can execute the steps in the control method of the drone at the control device end above. For detailed description of related content, please refer to the relevant content of the control method of the drone at the control device end above, and will not repeat them here. .

Sending a forward flight control command to the UAV, so that the UAV moves to the first position along the direction of the nose, and makes the output device output the materials in the storage device to the external environment; The UAV sends a lateral movement control command, so that the UAV moves laterally from the first position to the second position, and turns the direction of the nose, so that the UAV is at the second position. The direction of the head is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the direction of the nose after turning, wherein the lateral movement control Instructions are generated based on user operations on the control device.

Wherein, when the processor executes the computer program, it also implements the following steps: sending a nose turning control command to the UAV, so that the UAV turns the direction of the nose so that the UAV moves along the Flying in the nose direction after turning, wherein the nose turning control instruction is generated based on the user's operation on the control device.

The present application also provides an unmanned aerial vehicle system, including any of the above-mentioned unmanned aerial vehicles and any of the above-mentioned control devices. For a detailed description of the relevant content, please refer to the above-mentioned relevant content, and details will not be repeated here.

The present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any of the wireless terminals described above. Man-machine control method. For a detailed description of the relevant content, please refer to the above-mentioned relevant content, and details will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the above-mentioned drone, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk provided, a smart memory card, a secure digital card, a flash memory card, and the like.

The present application also provides another computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any of the above wireless control devices. Man-machine control method. For a detailed description of the relevant content, please refer to the above-mentioned relevant content, and details will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the above-mentioned control device, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk provided, a smart memory card, a secure digital card, a flash memory card, and the like.

It should be understood that the terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A method for controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle can establish a communication connection with a control device, the unmanned aerial vehicle includes a storage device and an output device, and the method includes:

controlling the UAV to move to the first position along the direction of the nose, and controlling the output device to output the materials in the storage device to the external environment;

Acquiring a traversing control instruction sent by the control device, where the traversing control instruction is generated based on a user's operation on the control device;

Control the drone to traverse from the first position to the second position according to the traverse control instruction, and control the drone to turn the direction of the nose so that the drone is at the second position The direction of the nose of the UAV at the first position is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the turned nose direction.
The control method according to claim 1, wherein the method further comprises:

During the traverse movement of the drone from the first position to the second position, the output device is in a closed state.
The control method according to claim 1, wherein the method further comprises:

If it is detected that the drone has a speed along the direction of the nose, the output device is turned on.
The control method according to claim 1, wherein the method further comprises:

If it is detected that the UAV has a speed that deviates from the direction of the nose, then close the output device.
The control method according to claim 1 or 4, wherein the method further comprises:

If it is detected that the UAV has a speed that deviates from the direction of the nose, a prompt message is output to prompt the user to turn the direction of the nose.
The control method according to claim 1, wherein the method further comprises:

Acquiring the nose turning control instruction sent by the control device, the nose turning control instruction is generated based on the user's operation on the control device;

The UAV is controlled to turn its nose direction according to the nose turning control instruction, so that the UAV flies along the turned nose direction.
The control method according to claim 6, wherein the control device is provided with a nose turning control, the nose turning control instruction is generated based on the user's operation on the nose turning control, and the nose turning The flip control is a physical control or a virtual control.
The control method according to claim 6, wherein the controlling the UAV to turn the direction of the nose according to the nose turn control instruction includes:

If the flight state of the UAV satisfies a preset condition, the UAV is controlled to turn its nose direction according to the nose turning control instruction.
The control method according to claim 8, wherein the preset conditions include one or more of the following conditions:

The flight speed of the drone is less than a preset speed threshold;

The UAV is in a non-traversing state;

The unmanned aerial vehicle is in a non-turning head state.
The control method according to claim 1, wherein the controlling the UAV to traverse from the first position to the second position according to the traverse control instruction comprises:

determining a traversing direction according to the traversing control instruction, where the traversing direction is a first traversing direction or a second traversing direction;

Controlling the UAV to traverse a preset working distance from the first position to a second position according to the traverse direction.
The control method according to claim 10, characterized in that, in the unlocked mode, the first traversing direction and the second traversing direction take the nose direction of the UAV as a reference, and in the locking mode mode, the first traverse direction and the second traverse direction are the first traverse direction and the second traverse direction when the locking mode is triggered.
The control method according to claim 10, characterized in that, the control device is provided with a first traverse control and a second traverse control, and the first traverse control is used to trigger generation and control the orientation of the drone. A lateral movement control instruction for lateral movement in the first lateral movement direction, the second lateral movement control is used to trigger generation of a lateral movement control instruction for controlling the UAV to lateral movement in the second lateral movement direction, the first lateral movement The control and the second traverse control are physical controls or virtual controls.
The control method according to claim 12, wherein the control device is provided with a user interface, and the user interface can display the flight mark, the first traversing direction mark and the second direction mark corresponding to the UAV. A traversing direction mark, the flight mark is used to indicate the real-time position and nose direction of the drone, the first traversing direction mark is used to indicate the first traversing direction, the second traversing direction A direction marker is used to indicate the second traversing direction.
The control method according to claim 13, wherein the first traversing control has the same characteristics as the first traversing direction mark, and the second traversing control has the same characteristics as the second traversing direction Marks have the same characteristics, including color characteristics, shape characteristics or texture characteristics.
The control method according to claim 13, characterized in that, the first traversing direction mark and the second traversing direction mark are respectively located on two sides of the flying mark.
The control method according to claim 1, wherein the controlling the UAV to traverse from the first position to the second position according to the traverse control instruction comprises:

If the flying state of the UAV satisfies a preset condition, the UAV is controlled to move laterally from the first position to the second position according to the lateral movement control instruction.
The control method according to claim 16, wherein the preset conditions include one or more of the following conditions:

The flight speed of the drone is less than a preset speed threshold;

The UAV is in a non-traversing state;

The unmanned aerial vehicle is in a non-turning head state.
The control method according to claim 1, characterized in that,

The output device is a spraying device, and the spraying device is arranged on the rear side of the drone; or

The output device is a spreading device, and the spreading device is arranged on the abdomen of the drone.
The control method according to claim 1, wherein the drone is provided with a visual sensor, and the visual sensor is arranged on the front side of the drone.
The control method according to claim 1, wherein the controlling the UAV to turn the direction of the nose includes:

controlling the UAV to turn the direction of the nose from the first position; or

controlling the UAV to turn the direction of the nose from the second position; or

Controlling the UAV to start turning the direction of the nose from a position between the first position and the second position.
The control method according to claim 1, wherein the controlling the UAV to move to the first position along the nose direction comprises:

Acquire a forward flight control instruction sent by the control device, the forward flight control instruction is generated based on the user's operation on the control device;

Controlling the UAV to move to the first position along the direction of the nose according to the forward flight control instruction.
The control method according to claim 1, characterized in that, after controlling the UAV to traverse from the first position to the second position, and controlling the UAV to turn the direction of the nose, further comprising :

Acquire a forward flight control instruction sent by the control device, the forward flight control instruction is generated based on the user's operation on the control device;

The UAV is controlled to fly from the second position along the direction of the turned nose according to the forward flight control instruction.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle can establish a communication connection with a control device, the unmanned aerial vehicle includes a storage device and an output device, and the unmanned aerial vehicle further includes: a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and when executing the computer program, implement the following steps:

controlling the UAV to move to the first position along the direction of the nose, and controlling the output device to output the materials in the storage device to the external environment;

Acquiring a traversing control instruction sent by the control device, where the traversing control instruction is generated based on a user's operation on the control device;

Control the drone to traverse from the first position to the second position according to the traverse control instruction, and control the drone to turn the direction of the nose so that the drone is at the second position The direction of the nose of the UAV at the first position is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the turned nose direction.
The unmanned aerial vehicle according to claim 23, wherein the processor also implements the following steps when executing the computer program:

During the traverse movement of the drone from the first position to the second position, the output device is in a closed state.
The unmanned aerial vehicle according to claim 23, wherein the processor also implements the following steps when executing the computer program:

If it is detected that the drone has a speed along the direction of the nose, the output device is turned on.
The unmanned aerial vehicle according to claim 23, wherein the processor also implements the following steps when executing the computer program:

If it is detected that the UAV has a speed that deviates from the direction of the nose, then close the output device.
The unmanned aerial vehicle according to claim 23 or 26, wherein when the processor executes the computer program, it also implements the following steps:

If it is detected that the UAV has a speed that deviates from the direction of the nose, a prompt message is output to prompt the user to turn the direction of the nose.
The control drone according to claim 23, wherein the processor also implements the following steps when executing the computer program:

Acquiring the nose turning control instruction sent by the control device, the nose turning control instruction is generated based on the user's operation on the control device;

The UAV is controlled to turn its nose direction according to the nose turning control instruction, so that the UAV flies along the turned nose direction.
The unmanned aerial vehicle according to claim 28, wherein the control device is provided with a nose turning control, the nose turning control instruction is generated based on the user's operation on the nose turning control, and the machine Head turn controls are physical controls or virtual controls.
The unmanned aerial vehicle according to claim 28, wherein the control of the unmanned aerial vehicle to turn the direction of the nose according to the nose turning control instruction includes:

If the flight state of the UAV satisfies a preset condition, the UAV is controlled to turn its nose direction according to the nose turning control instruction.
The drone according to claim 30, wherein the preset conditions include one or more of the following conditions:

The flight speed of the drone is less than a preset speed threshold;

The UAV is in a non-traversing state;

The unmanned aerial vehicle is in a non-turning head state.
The unmanned aerial vehicle according to claim 23, wherein the controlling the unmanned aerial vehicle to traverse from the first position to the second position according to the lateral movement control instruction comprises:

determining a traversing direction according to the traversing control instruction, where the traversing direction is a first traversing direction or a second traversing direction;

Controlling the UAV to traverse a preset working distance from the first position to a second position according to the traverse direction.
The unmanned aerial vehicle according to claim 32, wherein, in the unlocked mode, the first traversing direction and the second traversing direction refer to the direction of the nose of the unmanned aerial vehicle. In the lock mode, the first traverse direction and the second traverse direction are the first traverse direction and the second traverse direction when the lock mode is triggered.
The unmanned aerial vehicle according to claim 32, wherein the control device is provided with a first traverse control and a second traverse control, and the first traverse control is used to trigger generation and control of the drone A lateral movement control instruction for lateral movement in the first lateral movement direction, the second lateral movement control is used to trigger generation of a lateral movement control instruction for controlling the UAV to lateral movement in the second lateral movement direction, the first lateral movement control instruction The shift control and the second traverse control are physical controls or virtual controls.
The unmanned aerial vehicle according to claim 34, wherein the control device is provided with a user interaction interface, and the user interaction interface can display the flight mark, the first traversing direction mark and the second movement direction mark corresponding to the unmanned aerial vehicle. Two traversing direction marks, the flight mark is used to indicate the real-time position and nose direction of the drone, the first traversing direction mark is used to indicate the first traversing direction, the second traversing direction A moving direction mark is used to indicate the second traversing direction.
The drone of claim 35, wherein the first traversing control has the same characteristics as the first traversing direction marker, and the second traversing control has the same characteristics as the second traversing control Direction markers have the same features, including color features, shape features, or texture features.
The unmanned aerial vehicle according to claim 35, wherein the first traversing direction mark and the second traversing direction mark are located on two sides of the flight mark respectively.
The unmanned aerial vehicle according to claim 23, wherein the controlling the unmanned aerial vehicle to traverse from the first position to the second position according to the lateral movement control instruction comprises:

If the flying state of the UAV satisfies a preset condition, the UAV is controlled to move laterally from the first position to the second position according to the lateral movement control instruction.
The drone according to claim 38, wherein the preset conditions include one or more of the following conditions:

The flight speed of the drone is less than a preset speed threshold;

The UAV is in a non-traversing state;

The unmanned aerial vehicle is in a non-turning head state.
The unmanned aerial vehicle according to claim 23, characterized in that,

The output device is a spraying device, and the spraying device is arranged on the rear side of the drone; or

The output device is a spreading device, and the spreading device is arranged on the abdomen of the drone.
The unmanned aerial vehicle according to claim 23, wherein the unmanned aerial vehicle is provided with a visual sensor, and the visual sensor is arranged on the front side of the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 23, wherein the controlling the unmanned aerial vehicle to turn the direction of the nose includes:

controlling the UAV to turn the direction of the nose from the first position; or

controlling the UAV to turn the direction of the nose from the second position; or

Controlling the UAV to start turning the direction of the nose from a position between the first position and the second position.
The unmanned aerial vehicle according to claim 23, wherein the controlling the unmanned aerial vehicle to move to the first position along the nose direction comprises:

Acquire a forward flight control instruction sent by the control device, the forward flight control instruction is generated based on the user's operation on the control device;

Controlling the UAV to move to the first position along the direction of the nose according to the forward flight control instruction.
The unmanned aerial vehicle according to claim 23, characterized in that, after controlling the unmanned aerial vehicle to traverse from the first position to the second position, and controlling the unmanned aerial vehicle to turn the direction of the nose, further include:

Acquire a forward flight control instruction sent by the control device, the forward flight control instruction is generated based on the user's operation on the control device;

The UAV is controlled to fly from the second position along the direction of the turned nose according to the forward flight control instruction.
A method for controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle can establish a communication connection with a control device, the unmanned aerial vehicle includes a storage device and an output device, and the method includes:

Sending a forward flight control command to the UAV, so that the UAV moves to the first position along the direction of the nose, and makes the output device output the materials in the storage device to the external environment;

Sending a lateral movement control command to the UAV, so that the UAV traverses from the first position to a second position, and reverses the direction of the nose so that the UAV is at the second position The direction of the nose of the UAV is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the direction of the nose after turning, wherein the transverse The shift control instruction is generated based on the user's operation on the control device.
The control method according to claim 45, wherein the method further comprises:

Sending a nose turning control instruction to the UAV so that the UAV turns the direction of the nose so that the UAV flies in the direction of the turned nose, wherein the nose turning control instruction is based on Generated by the user's operation on the control device.
The control method according to claim 46, wherein the control device is provided with a nose turning control, the nose turning control instruction is generated based on the user's operation on the nose turning control, and the nose turning The flip control is a physical control or a virtual control.
The control method according to claim 46, characterized in that, the control device is provided with a first traverse control and a second traverse control, and the first traverse control is used to trigger generation and control the orientation of the drone. A lateral movement control instruction for lateral movement in the first lateral movement direction, the second lateral movement control is used to trigger generation of a lateral movement control instruction for controlling the UAV to lateral movement in the second lateral movement direction, the first lateral movement The control and the second traverse control are physical controls or virtual controls.
The control method according to claim 48, characterized in that, in the unlocked mode, the first traversing direction and the second traversing direction take the nose direction of the UAV as a reference, and in the locking mode mode, the first traverse direction and the second traverse direction are the first traverse direction and the second traverse direction when the locking mode is triggered.
The control method according to claim 48, wherein the control device is provided with a user interface, and the user interface can display the flight mark, the first traversing direction mark and the second direction mark corresponding to the UAV. A traversing direction mark, the flight mark is used to indicate the real-time position and nose direction of the drone, the first traversing direction mark is used to indicate the first traversing direction, the second traversing direction A direction marker is used to indicate the second traversing direction.
The control method according to claim 50, wherein the first traversing control has the same characteristics as the first traversing direction mark, and the second traversing control has the same characteristics as the second traversing direction Marks have the same characteristics, including color characteristics, shape characteristics or texture characteristics.
The control method according to claim 50, wherein the first traversing direction mark and the second traversing direction mark are respectively located on two sides of the flight mark.
A control device, characterized in that the control device can establish a communication connection with an unmanned aerial vehicle, the unmanned aerial vehicle includes a storage device and an output device, and the control device includes: a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and when executing the computer program, implement the following steps:

Sending a forward flight control command to the UAV, so that the UAV moves to the first position along the direction of the nose, and makes the output device output the materials in the storage device to the external environment;

Sending a lateral movement control command to the UAV, so that the UAV traverses from the first position to a second position, and reverses the direction of the nose so that the UAV is at the second position The direction of the nose of the UAV is opposite to the direction of the nose of the UAV at the first position, so that the UAV flies from the second position along the direction of the nose after turning, wherein the transverse The shift control instruction is generated based on the user's operation on the control device.
The control device according to claim 53, wherein when the processor executes the computer program, it also implements the following steps:

Sending a nose turning control instruction to the UAV so that the UAV turns the direction of the nose so that the UAV flies in the direction of the turned nose, wherein the nose turning control instruction is based on Generated by the user's operation on the control device.
The control device according to claim 54, wherein the control device is provided with a nose turning control, the nose turning control instruction is generated based on the user's operation on the nose turning control, and the nose turning The flip control is a physical control or a virtual control.
The control device according to claim 54, characterized in that, the control device is provided with a first traverse control and a second traverse control, and the first traverse control is used to trigger generation and control the orientation of the drone. A lateral movement control instruction for lateral movement in the first lateral movement direction, the second lateral movement control is used to trigger generation of a lateral movement control instruction for controlling the UAV to lateral movement in the second lateral movement direction, the first lateral movement The control and the second traverse control are physical controls or virtual controls.
The control device according to claim 56, wherein in the unlocked mode, the first traverse direction and the second traverse direction refer to the direction of the nose of the UAV, and in the lock mode mode, the first traverse direction and the second traverse direction are the first traverse direction and the second traverse direction when the locking mode is triggered.
The control device according to claim 56, characterized in that, the control device is provided with a user interface, and the user interface can display the flight mark corresponding to the UAV, the first traversing direction mark and the second A traversing direction mark, the flight mark is used to indicate the real-time position and nose direction of the drone, the first traversing direction mark is used to indicate the first traversing direction, the second traversing direction A direction marker is used to indicate the second traversing direction.
The control apparatus of claim 58, wherein said first traverse control has the same characteristics as said first traverse direction marking, said second traverse control has the same characteristics as said second traverse direction Marks have the same characteristics, including color characteristics, shape characteristics or texture characteristics.
The control device according to claim 58, wherein the first traverse direction mark and the second traverse direction mark are respectively located on two sides of the flight mark.
An unmanned aerial vehicle system, characterized by comprising the unmanned aerial vehicle according to any one of claims 23-44 and the control device according to any one of claims 53-60.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements any of claims 1-22, 45-52. A control method of the unmanned aerial vehicle.