Flight control method and device

Abstract

A flight control method and device for an unmanned aerial vehicle, obtain the flight altitude of the unmanned aerial vehicle (S301), determine whether the flight altitude meets a first preset altitude condition (S302), if so, control the unmanned aerial vehicle to switch from a first control mode to a second control mode (S303), wherein, in response to the same motion control instruction of the remote controller, the first motion change amount of the unmanned aerial vehicle in the first control mode is greater than the second motion change amount in the second control mode, making it easier to adjust the flight attitude and reducing the number of times the aircraft crashes.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular, to a flight control method and device. Background Art

[0002] The unmanned flight system includes an unmanned aerial vehicle, a display device, and a remote controller. Among them, the remote controller is located at the ground end of the unmanned flight system and can communicate with the unmanned aerial vehicle wirelessly for remotely controlling the unmanned aerial vehicle.

[0003] The principle of a common remote controller for remotely controlling an unmanned aerial vehicle is as follows: The pilot inputs a control amount by manipulating the control stick or knob on the remote controller. The remote controller processes the control amount to generate a ground end control signal, transmits the ground end control signal to the unmanned aerial vehicle, and the unmanned aerial vehicle generates an electronic speed controller control signal according to the ground end control signal. The electronic speed controller control signal is used to control the electronic speed controller to drive the motor to achieve flight control of the unmanned aerial vehicle. That is to say, there is a mapping relationship between the magnitude of the control amount input by the pilot and the flight data of the unmanned aerial vehicle. The pilot can adjust the flight speed or attitude of the unmanned aerial vehicle by changing the magnitude of the input control amount.

[0004] However, when the pilot is a novice, it is easy to operate the control stick or knob too fast, resulting in too large a change in the input control amount, causing the aircraft to lose control and crash. Summary of the Invention

[0005] The embodiments of the present application provide a flight control method and device, aiming to solve the technical problem that when the control amount changes too much, it is easy to cause the aircraft to lose control.

[0006] In a first aspect, the present application provides a flight control method, and the method includes:

[0007] Obtain the flight altitude of the unmanned aerial vehicle, where the unmanned aerial vehicle controls the motion change amount in response to the motion control instruction of the remote controller;

[0008] Determine whether the flight altitude meets the first preset altitude condition;

[0009] If so, control the unmanned aerial vehicle to switch from the first control mode to the second control mode, where, in response to the same motion control instruction of the remote controller, the first motion change amount of the unmanned aerial vehicle in the first control mode is greater than the second motion change amount in the second control mode.

[0010] In a second aspect, the present application provides a flight control device, and the device includes:

[0011] An obtaining module, configured to obtain the flight altitude of the unmanned aerial vehicle, where the unmanned aerial vehicle controls the motion change amount in response to the motion control instruction of the remote controller;

[0012] A determination module, configured to determine whether the flight altitude meets a first preset altitude condition;

[0013] A control module, configured to, if so, control the drone to switch from a first control mode to a second control mode, wherein, in response to the same motion control instruction of the remote controller, a first motion change amount of the drone in the first control mode is greater than a second motion change amount of the drone in the second control mode.

[0014] In a third aspect, the present application provides a control device, including:

[0015] A memory, configured to store a program;

[0016] A processor, configured to execute the program stored in the memory, and when the program is executed, the processor is configured to execute the method involved in the first aspect.

[0017] In a fourth aspect, the present application provides a drone, including: a control device;

[0018] The control device includes a memory and a processor;

[0019] The memory is configured to store a program;

[0020] The processor is configured to execute the program stored in the memory, and when the program is executed, the processor is configured to execute the flight control method involved in the first aspect.

[0021] In a fifth aspect, the present application provides a computer-readable storage medium, including instructions, which when running on a computer, cause the computer to execute the flight control method involved in the first aspect.

[0022] In a sixth aspect, the present application provides a computer program product including instructions, which when running on a computer, cause the computer to execute the flight control method involved in the first aspect.

[0023] The embodiments of the present application provide a flight control method and device. By monitoring the flight altitude of the drone, when the flight altitude meets the first preset altitude condition, the control mode of the drone is switched from the first control mode to the second control mode, the sensitivity of the drone to respond to the control instruction of the remote controller is reduced, the motion change amount of the drone becomes smaller, it is easier to adjust the flight attitude, and the number of times of drone crashing is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0026] Figure 3Schematic flowchart of a flight control method provided by an embodiment of the present application;

[0027] Figure 4 Schematic flowchart of a flight control method provided by another embodiment of the present application;

[0028] Figure 5 Schematic flowchart of a flight control method provided by another embodiment of the present application;

[0029] Figure 6 Schematic flowchart of a flight control method provided by another embodiment of the present application;

[0030] Figure 7 Schematic structural diagram of an aircraft control device provided by an embodiment of the present application;

[0031] Figure 8 Schematic structural diagram of an aircraft control device provided by an embodiment of the present application;

[0032] Figure 9 Schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0034] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0036] Embodiments of the present application provide a control method and device for an aircraft. Among them, the embodiments of the present application can be applied to various types of unmanned aerial vehicles. For example, the unmanned aerial vehicle can be a small or large unmanned aerial vehicle. In some embodiments, the unmanned aerial vehicle can be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle pushed by multiple propulsion devices through the air. The embodiments of the present application are not limited to this. It will be obvious to those skilled in the art that other types of unmanned aerial vehicles can be used without limitation.

[0037] Figure 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. This embodiment will be described by taking a rotorcraft as an example.

[0038] The unmanned flight system 100 may include an unmanned aerial vehicle 110, a display device 130, and a remote controller 140. Among them, the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a gimbal 120 carried on the frame. The unmanned aerial vehicle 110 can communicate wirelessly with the remote controller 140 and the display device 130. Among them, the unmanned aerial vehicle 110 also includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150. The unmanned aerial vehicle 110 can be an agricultural unmanned aerial vehicle or an industrial application unmanned aerial vehicle, and has a need for cyclic operation. Correspondingly, the battery also has a need for cyclic operation.

[0039] The frame may include a fuselage and landing gears (also referred to as undercarriages). The fuselage may include a central frame and one or more arms connected to the central frame, and the one or more arms extend radially from the central frame. The landing gears are connected to the fuselage and are used to support the unmanned aerial vehicle 110 when it lands.

[0040] The power system 150 may include one or more electronic speed controllers (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153. Among them, the motor 152 is connected between the electronic speed controller 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arms of the unmanned aerial vehicle 110; the electronic speed controller 151 is used to receive the drive signal generated by the flight control system 160 and provide drive current to the motor 152 according to the drive signal to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the unmanned aerial vehicle 110, and this power enables the unmanned aerial vehicle 110 to achieve movement in one or more degrees of freedom. In some embodiments, the unmanned aerial vehicle 110 can rotate around one or more rotation axes. For example, the above rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 152 can be a DC motor or an AC motor. In addition, the motor 152 can be a brushless motor or a brushed motor.

[0041] The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and state information of the UAV 110 in space. For example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, etc. The sensing system 162 may include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a Global Navigation Satellite System, and a barometer. For example, the Global Navigation Satellite System may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the UAV 110. For example, it can control the flight of the UAV 110 according to the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 can control the UAV 110 according to pre-programmed instructions, or can control the UAV 110 by responding to one or more remote control signals from the remote controller 140.

[0042] The gimbal 120 may include a motor 122. The gimbal is used to carry a load, and the load may be, for example, a shooting device 123. The flight controller 161 can control the movement of the gimbal 120 through the motor 122. Optionally, as another embodiment, the gimbal 120 may further include a remote controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 can be independent of the UAV 110 or can be a part of the UAV 110. It should be understood that the motor 122 can be a DC motor or an AC motor. In addition, the motor 122 can be a brushless motor or a brushed motor. It should also be understood that the gimbal can be located on the top of the UAV or at the bottom of the UAV.

[0043] The shooting device 123 may be, for example, a camera or a video camera and other devices for capturing images. The shooting device 123 can communicate with the flight controller and perform shooting under the control of the flight controller. The shooting device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the UAV 110, so that the gimbal 120 can be omitted.

[0044] The display device 130 is located on the remote controller of the unmanned aerial vehicle (UAV) system 100, can communicate with the UAV 110 wirelessly, and can be used to display the attitude information of the UAV 110. Additionally, the image captured by the photographing device 123 can also be displayed on the display device 130. It should be understood that the display device 130 can be an independent device or integrated in the remote controller 140.

[0045] The remote controller 140 is located on the remote controller of the UAV system 100, can communicate with the UAV 110 wirelessly, and is used for remotely controlling the UAV 110.

[0046] It should be understood that the naming of each component of the UAV system above is only for the purpose of identification and should not be construed as a limitation on the embodiments of the present application.

[0047] The problems existing in the related technology are described below. The principle of a common remote controller for remotely controlling a UAV is as follows: The flyer inputs a control amount by manipulating the control stick or knob on the remote controller. The remote controller processes the control amount to generate a ground control signal and transmits the ground control signal to the UAV. The UAV generates an electronic speed controller (ESC) control signal according to the ground control signal. The ESC control signal is used to control the ESC to drive the motor to achieve UAV flight control. That is to say, there is a mapping relationship between the magnitude of the control amount input by the flyer and the flight data of the UAV. The flyer can adjust the flight speed or attitude of the UAV by changing the magnitude of the input control amount. Especially in competitive UAVs, such as racing quadcopters, in order to improve the flyer's operation experience, the flyer can adjust the attitude and speed of the UAV by adjusting the magnitude of the control stick amount. However, when the flyer is a novice flyer, it is easy to operate the control stick or knob too fast, resulting in too large a change in the control amount, which is likely to cause the aircraft to lose control and crash.

[0048] The present application provides a flight control method and device for a UAV, aiming to solve the above problems. The inventive concept of the present application is: Multiple control modes are provided inside the UAV, and the flight altitude of the UAV is monitored in real time. When the flight altitude exceeds the preset altitude or is lower than the preset value, it is easy for the flyer to over-control, that is, the stick movement amount is too large. At this time, the sensitivity of the UAV to respond to the control instruction input by the remote controller is reduced, that is, the movement change amount of the UAV becomes smaller, and the UAV is easy to maintain the flight attitude, which can avoid crashing.

[0049] Figure 2 FIG. is a schematic diagram of a flight control scenario provided for an embodiment of the present application, as Figure 2 shown Figure 2The drone 201 and the remote controller 202 of the drone are shown. The remote controller 202 of the drone 201 can be one or more of a remote controller, a smart phone, a desktop computer, a laptop computer, and wearable devices (watches, bracelets). The drone pilot sends control instructions to the drone through the remote controller. After receiving the control, the drone makes corresponding responses according to the control instructions. For example, after the drone pilot sends a motion change control instruction for adjusting the aircraft attitude or speed to the drone through the remote controller, the drone performs motion change amount control in response to the motion control instruction of the remote controller. In the embodiments of the present application, the remote controller 202 is taken as an example of the remote controller 2021 and the terminal device 2022 for illustrative purposes. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiments of the present application are not limited thereto. The embodiments of the present application can be applied to the drone flight control scenario.

[0050] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0051] As Figure 3 shown, the flight control method provided by an embodiment of the present application includes the following steps:

[0052] S301. Obtain the flight altitude of the drone.

[0053] Among them, the flight altitude of the drone is obtained in real time by using sensors such as the global navigation satellite system and the barometer in the sensing system of the drone. That is, by receiving the signals of the global positioning satellites and combining with the star map to measure its own position. The barometer can assist in the measurement of altitude.

[0054] S302. Determine whether the flight altitude meets the first preset altitude condition. If so, execute S303; otherwise, execute S304.

[0055] Among them, determining whether the flight altitude meets the first preset altitude condition specifically includes: whether the flight altitude is greater than the first highest threshold, and / or whether the flight altitude is less than the first lowest threshold.

[0056] Determining whether the flight altitude is greater than the first highest threshold is used to prevent the drone pilot from over-controlling when the flight altitude of the aircraft is too high, that is, the stick movement amount is too large, resulting in too large a motion change amount of the drone, which is not conducive to the drone adjusting its attitude, and then causing a crash.

[0057] Determining whether the flight altitude is less than the first lowest threshold is used to prevent the drone pilot from over-controlling when the flight altitude of the aircraft is too low, that is, the stick movement amount is too large, resulting in too large a motion change amount of the drone, and the aircraft directly colliding with the ground and then causing a crash.

[0058] S303. Control the drone to switch from the first control mode to the second control mode.

[0059] Among them, in response to the same motion control instruction of the remote controller, the first motion change amount of the drone in the first control mode is greater than the second motion change amount in the second control mode. That is, the sensitivity of the drone in response to the motion control instruction is reduced in the second control mode.

[0060] Taking the pilot's operation of the control stick as an example to illustrate the difference between the first control mode and the second control mode. The maximum channel amount of the control stick is 5000. In the first control mode, when the channel amount of the control stick changes in the range of 0 - 5000, the flight speed of the drone changes in the range of 0 - 50 km / h. In the second control mode, when the channel amount of the control stick changes in the range of 0 - 5000, the flight speed of the drone changes in the range of 0 - 10 km / h. That is, at the same stick amount, the flight speed in the first control mode is greater than that in the second flight control mode.

[0061] S304. Control the drone to remain in the first control mode.

[0062] Among them, when the flight height of the drone does not meet the first preset height condition, the probability of the pilot's over - control is reduced, and the drone is controlled to remain in the first control mode, that is, to maintain the sensitivity of the drone in response to the motion control instruction within a relatively high range, so that the pilot has a better flight experience.

[0063] In the flight control method provided in the embodiment of the present application, when the flight height meets the first preset height condition, the sensitivity of flight control is reduced, that is, the motion change amount of the drone in response to the motion control instruction of the remote controller becomes smaller, which is conducive to the drone to control its own attitude and reduces the number of times the drone crashes.

[0064] Another embodiment of the present application provides a flight control method, which includes the following steps:

[0065] S401. Obtain the flight height of the drone.

[0066] Among them, this step has been described in detail in S301 and will not be elaborated here.

[0067] S402. Determine whether the flight height meets the first preset height condition. If so, execute S403; otherwise, execute S404.

[0068] Among them, this step has been described in detail in S302 and will not be elaborated here.

[0069] S403. Control the drone to switch from the first control mode to the second control mode.

[0070] Among them, in response to the same motion control instruction of the remote controller, the first motion change amount of the drone in the first control mode is greater than the second motion change amount in the second control mode.

[0071] Among them, the motion change amount includes any one or a combination of a speed change amount, an acceleration change amount, a displacement change amount, and an attitude angle change amount. The attitude angle change amount includes any one of a roll angle (Roll) change amount, a yaw angle (Yaw) change amount, and a pitch angle (pitch) change amount.

[0072] When the motion change amount is the speed change amount, controlling the drone to switch from the first control mode to the second control mode specifically means that the maximum speed change amount of the drone in the first control mode is greater than the maximum speed change amount in the second control mode. When the drone responds to the same motion control instruction of the remote controller, the first speed change amount in the first control mode is greater than the second speed change amount in the second control mode.

[0073] When the motion change amount is the acceleration change amount, controlling the drone to switch from the first control mode to the second control mode specifically means that the maximum acceleration change amount of the drone in the first control mode is greater than the maximum acceleration change amount in the second control mode. When the drone responds to the same motion control instruction of the remote controller, the first acceleration change amount in the first control mode is greater than the second acceleration change amount in the second control mode.

[0074] When the motion change amount is the displacement change amount, the maximum displacement change amount of the drone in the first control mode is greater than the maximum displacement change amount in the second control mode. When the drone responds to the same motion control instruction of the remote controller, the first displacement change amount in the first control mode is greater than the second displacement change amount in the second control mode.

[0075] When the motion change amount is the attitude angle change amount, the maximum attitude angle change amount of the drone in the first control mode is greater than the maximum attitude angle change amount in the second control mode. When the drone responds to the same motion control instruction of the remote controller, the first attitude angle change amount in the first control mode is greater than the second attitude angle change amount in the second control mode.

[0076] When the motion change amount includes any combination of a speed change amount, an acceleration change amount, a displacement change amount, and an attitude angle change amount, the above control methods can be combined accordingly so that when the drone responds to the same motion control instruction of the remote controller, the first motion change amount in the first control mode is greater than the second motion change amount in the second control mode.

[0077] S404. Control the drone to remain in the first control mode.

[0078] Among them, this step has been described in detail in S304, and will not be elaborated here.

[0079] In the flight control method provided by the embodiment of the present application, by controlling the maximum motion change amount in the second mode to be less than the maximum motion change amount in the first mode, when the drone responds to the same motion control instruction, the second motion change amount is less than the first motion change amount, which is beneficial to the drone to control its own attitude and reduce the number of crashes of the drone.

[0080] As Figure 4 shown, another embodiment of the present application provides a flight control method including the following steps:

[0081] S501. Obtain the flight altitude of the drone.

[0082] Among them, this step has been described in detail in S301, and will not be elaborated here.

[0083] S502. Determine whether the flight altitude meets the first preset altitude condition. If so, execute S503 and S504 simultaneously; otherwise, execute S505.

[0084] Among them, this step has been described in detail in S302, and will not be elaborated here.

[0085] S503. Control the drone to switch from the first control mode to the second control mode.

[0086] Among them, this step has been described in detail in S303 and S403, and will not be elaborated here.

[0087] S504. Execute any one or more of the following operations.

[0088] Among them, the operations include: reducing the flight speed of the drone; adjusting the flight altitude of the drone so that the flight altitude of the drone does not meet the first preset altitude condition; adjusting the attitude angle of the drone so that the attitude angle of the drone meets the preset angle threshold.

[0089] When the flight altitude of the drone meets the first preset altitude condition, in addition to controlling the drone to switch from the first control mode to the second control mode, the flight speed of the drone can also be reduced simultaneously, which is beneficial to the drone to control its own attitude. Or adjust the flight altitude of the drone so that the flight altitude of the drone does not meet the first preset altitude condition, reducing the probability of over-control by the pilot. Or adjust the attitude angle of the drone so that the attitude angle of the drone meets the preset angle threshold, enabling the drone to enter the self-stabilization state. It can also be a combination of multiple of the above three additional control methods, reducing the probability of the drone getting out of control and effectively reducing the number of crashes.

[0090] S505. Control the drone to remain in the first control mode.

[0091] This step has been described in detail in S304 and will not be elaborated here.

[0092] In the flight control method provided by the embodiments of the present application, when the flight altitude of the UAV meets the first preset altitude condition, in addition to switching the control mode, speed reduction control, altitude reduction control, and attitude adjustment control are combined to reduce the probability of the UAV getting out of control and effectively reduce the number of crashes.

[0093] As Figure 5 shown, another embodiment of the present application provides a flight control method, which includes the following steps:

[0094] S601. Obtain the flight altitude of the UAV.

[0095] This step has been described in detail in S301 and will not be elaborated here.

[0096] S602. Determine whether the flight altitude meets the first preset altitude condition. If so, execute S603; otherwise, execute S607.

[0097] This step has been described in detail in S302 and will not be elaborated here.

[0098] S603. Determine whether the flight altitude meets the second preset altitude condition. If so, execute S605 and S606; otherwise, execute S604 and S605 simultaneously.

[0099] The second preset altitude condition is different from the first preset altitude condition. Determining whether the flight altitude meets the second preset altitude condition specifically includes: whether the flight altitude is greater than the second highest threshold, and / or whether the flight altitude is less than the second lowest threshold. The first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.

[0100] For example: The first preset altitude condition can be that the flight altitude h satisfies the following formula: h > 47m and / or h < 5m. The second preset altitude condition can be that the flight altitude h satisfies the following formula: h > 50m and / or h < 2m.

[0101] The second highest threshold is the limit height for flight control, and the first highest threshold is the warning height for flight control. When the flight height is higher than the first height threshold, that is, when it reaches the warning height, the drone is controlled to switch from the first control mode to the second control mode. In response to the same motion control instruction of the remote controller, the first motion change amount of the drone in the first control mode is greater than the second motion change amount in the second control mode. When the flight height is higher than the second height threshold, that is, higher than the limit height, the drone is controlled to switch from the second control mode to the third control mode. Among them, in response to the same motion control instruction of the remote controller, the third motion change amount of the drone in the third control mode is less than the second motion change amount.

[0102] It should be noted that there is no order of precedence between step S602 and step S603. Here, it is only illustrated by taking the determination of whether the flight height meets the second preset height condition after the determination of whether the flight height meets the first preset height condition as an example. It can also be that step S603 is before step S603, or step S602 and step S603 are executed in parallel. In addition, when it is determined that the flight height does not meet the second preset height condition, S604 and S605 can be executed simultaneously, or only S604 can be executed. There is no restriction here.

[0103] S604. Control the drone to switch from the first control mode to the second control mode.

[0104] Among them, this step has been described in detail in S303 and S403, and will not be elaborated here.

[0105] S605. Perform any one or more of the following operations.

[0106] S606. Control the drone to switch to the third control mode.

[0107] When the flight height is higher than the limit height, control the drone to switch to the third control mode, that is, in response to the same motion control instruction of the remote controller, the third motion change amount of the drone in the third control mode is less than the second motion change amount.

[0108] Among them, controlling the drone to switch to the third control mode can be controlling the drone to switch from the first control mode to the third control mode, or can be controlling the drone to switch from the second control mode to the third control mode. The explanation of the motion change amount and the method of controlling the drone to switch from the second control mode to the third control mode or from the first control mode to the third control mode can refer to the description in S403, and will not be elaborated here.

[0109] S607. Control the drone to stay in the first control mode.

[0110] In the flight control method provided by the embodiments of the present application, warning altitude conditions and limit altitude conditions are set. Before the drone meets the limit altitude conditions, it is switched to a low-sensitivity control mode in advance. When the drone meets the limit altitude conditions, it is further switched to an even lower-sensitivity control mode, reducing the probability of the drone getting out of control and effectively reducing the number of crashes.

[0111] As Figure 6 shown, another embodiment of the present application provides a flight control method, which includes the following steps:

[0112] S701. Obtain protection status data indicating whether the drone has enabled ground departure protection.

[0113] Among them, the protection status data is obtained. The protection status data is used to indicate whether the drone has enabled ground departure protection. Enabling ground departure protection means that when the flight altitude of the drone meets the altitude preset conditions, the control mode of the drone is switched. If the protection status data is the first status data, it means that ground departure protection has been enabled. If the protection status data is the second status data, it means that ground departure protection has not been enabled.

[0114] S702. Determine whether the protection status data is the first status data indicating that ground departure protection has been enabled. If so, execute S704; otherwise, execute S703.

[0115] Among them, according to the specific value of the protection status data, it is determined whether the drone has enabled the ground departure protection strategy. When the protection status data indicates that ground departure protection has been enabled, steps S704 to S710 are executed. When the protection status data indicates that ground departure protection has not been enabled, enter S703.

[0116] S703. Generate a prompt message for prompting to enable ground departure protection.

[0117] Among them, when ground departure protection is not enabled, a prompt message is generated to prompt the pilot to enable ground departure protection. The prompt message can be transmitted to the pilot in ways such as text or voice. For example: display the prompt message on the glasses end.

[0118] There are multiple lever channels on the remote controller, and the pilot can set different channel values corresponding to the enabling and disabling of ground departure protection. Taking the setting of the SA channel value as an example, setting the SA channel value between 900 - 1700 enables ground departure protection, and setting the SA channel value between 1700 - 2100 disables ground departure protection. After the prompt message is displayed on the glasses end, the pilot can turn on ground departure protection by moving the SA channel value to between 900 - 1700.

[0119] S704. Obtain the flight altitude of the drone.

[0120] S705. Determine whether the flight altitude meets the first preset altitude condition. If so, execute S706; otherwise, execute S707.

[0121] S706. Control the UAV to switch from the first control mode to the second control mode and proceed to S708.

[0122] S707. Control the UAV to remain in the first control mode.

[0123] S708. Determine whether a control instruction sent by the remote controller is received. If so, execute S709; if not, execute S710.

[0124] Among them, when the flight altitude of the UAV does not meet the first preset altitude condition, control the UAV to remain in the second control mode and monitor whether a control instruction sent by the remote controller can be received. If no control instruction is received within the preset time, the UAV enters the automatic control state.

[0125] S709. Control the UAV according to the control instruction.

[0126] Among them, after receiving the control instruction sent by the remote controller, control the UAV according to the control instruction. When the control instruction is used to control the UAV to return, control the UAV to return according to the control instruction. When the control instruction is used to control the UAV to land, control the UAV to land on the ground according to the control instruction.

[0127] S710. Control the UAV to land on the ground or control the UAV to return.

[0128] Among them, if no control instruction is received within the preset time, the UAV enters the automatic control state. It can automatically control the UAV to land on the ground or control the UAV to automatically return.

[0129] In the flight control method provided in the embodiment of the present application, when the flight altitude does not meet the altitude condition, that is, when the flight altitude is less than the first highest threshold or greater than the first lowest threshold, monitor whether the remote controller sends a control instruction. If no control instruction is received, increase the UAV protection measures.

[0130] Another embodiment of the present application provides a flight control method, which includes the following steps:

[0131] S801. Receive a threshold setting instruction sent by the remote controller.

[0132] Among them, the threshold setting instruction is used to set the altitude threshold. The flyer inputs the threshold given value through the remote controller. For example: set the first highest threshold to 47 and the second highest threshold to 50.

[0133] S802. Set the altitude threshold according to the threshold setting instruction.

[0134] Among them, the height threshold is one or more of the first highest threshold, the second highest threshold, the first lowest threshold, and the second lowest threshold. After receiving the threshold setting instruction, the corresponding height threshold is set according to the threshold setting instruction.

[0135] S803. Obtain the flight altitude of the drone.

[0136] S804. Determine whether the flight altitude meets the first preset altitude condition. If so, execute S805; otherwise, execute S806.

[0137] S805. Control the drone to switch from the first control mode to the second control mode.

[0138] S806. Control the drone to stay in the first control mode.

[0139] S807. Obtain the flight altitude of the drone again.

[0140] S808. Determine whether the flight altitude meets the first preset altitude condition. If so, execute S809; otherwise, execute S810.

[0141] S809. Control the drone to stay in the second control mode.

[0142] S810. Control the drone to switch to the fourth control mode.

[0143] Among them, in response to the same motion control instruction of the remote controller, the fourth motion change amount of the drone in the fourth control mode is greater than the second motion change amount. That is, when the flight altitude does not meet the first preset altitude condition, it switches to the fourth control mode with higher sensitivity in response to the motion control instruction.

[0144] Among them, controlling the drone to switch to the fourth control mode specifically means that the drone switches from the second control mode to the fourth control mode. Controlling the drone to switch to the fourth control mode can be switched by the flyer through the remote controller or automatically by the drone. The flyer switching the control mode through the remote controller specifically includes: receiving the mode switching instruction sent by the remote controller. According to the mode switching instruction, controlling the flight mode of the drone to switch from the second control mode to the fourth control mode.

[0145] In the flight control method provided by this application, the flyer can set the height threshold through the remote controller to adjust the ground clearance protection height. In addition, when the flight altitude does not meet the first preset altitude condition, the second control mode can be exited, and the drone can be controlled in a control mode with higher sensitivity.

[0146] As Figure 7 shown, an embodiment of this application provides a flight control device, and the device includes:

[0147] An acquisition module 901, configured to acquire the flight altitude of a drone, where the drone controls the amount of motion change in response to a motion control instruction of a remote controller;

[0148] A determination module 902, configured to determine whether the flight altitude meets a first preset altitude condition;

[0149] A control module 903, configured to, if so, control the drone to switch from a first control mode to a second control mode, where, in response to the same motion control instruction of the remote controller, a first amount of motion change of the drone in the first control mode is greater than a second amount of motion change of the drone in the second control mode.

[0150] Optionally, the determination module 902 is specifically configured to:

[0151] Whether the flight altitude is greater than a first highest threshold, and / or,

[0152] Whether the flight altitude is less than a first lowest threshold.

[0153] Optionally, the control module 903 is configured to, if the flight altitude meets the first preset altitude condition, perform any one or more of the following operations, where the operations include:

[0154] Reduce the flight speed of the drone;

[0155] Adjust the flight altitude of the drone so that the flight altitude of the drone does not meet the first preset altitude condition;

[0156] Adjust the attitude angle of the drone so that the attitude angle of the drone meets a preset angle threshold.

[0157] Optionally, the amount of motion change includes any one or more combinations of a speed change amount, an acceleration change amount, a displacement change amount, and an attitude angle change amount.

[0158] Optionally, the control module 903 is specifically configured to: perform any one or more of the following operations, where the operations include:

[0159] Control the maximum speed change amount of the drone in the first control mode to be greater than the maximum speed change amount of the drone in the second control mode;

[0160] Control the maximum acceleration change amount of the drone in the first control mode to be greater than the maximum acceleration change amount of the drone in the second control mode;

[0161] Control the maximum displacement change amount of the drone in the first control mode to be greater than the maximum displacement change amount of the drone in the second control mode;

[0162] Control the maximum attitude angle change amount of the drone in the first control mode to be greater than the maximum attitude angle change amount of the drone in the second control mode.

[0163] Optionally, the determination module 902 is further configured to determine whether the flight altitude meets a second preset altitude condition, where the second preset altitude condition is different from the first preset altitude condition;

[0164] The control module 903 is further configured to, if so, control the UAV to switch from the second control mode to the third control mode, where, in response to the same motion control instruction of the remote controller, the third motion change amount of the UAV in the third control mode is less than the second motion change amount.

[0165] Optionally, the determination module 902 is specifically configured to:

[0166] Whether the flight altitude is greater than a second highest threshold, and / or whether the flight altitude is less than a second lowest threshold;

[0167] Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.

[0168] Optionally, the control module 903 is specifically configured to keep the UAV flying in the second control mode if the flight altitude does not meet the first preset altitude condition.

[0169] Optionally, the determination module 902 is further configured to determine whether a control instruction sent by the remote controller is received;

[0170] The control module 903 is further configured to, if not, control the UAV to land on the ground or control the UAV to return.

[0171] Optionally, the control module 903 is further configured to, if so, control the UAV according to the control instruction.

[0172] Optionally, the control module 903 is specifically configured to:

[0173] Control the UAV to return according to the control instruction, or

[0174] Control the UAV to land on the ground according to the control instruction.

[0175] Optionally, the control module 903 is further configured to control the UAV to switch from the second control mode to the fourth control mode if the flight altitude does not meet the first preset altitude condition;

[0176] Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change amount of the UAV in the fourth control mode is greater than the second motion change amount.

[0177] Optionally, the control module 903 is specifically configured to:

[0178] Receive a mode switching instruction sent by the remote controller;

[0179] According to the mode switching instruction, control the flight mode of the drone to switch from the second control mode to the fourth control mode.

[0180] Optionally, the device further includes: a prompt module 904, and the prompt module 904 is specifically configured to:

[0181] Obtain protection status data for indicating whether the drone enables ground departure protection;

[0182] Determine whether the protection status data is the first status data indicating that the ground departure protection has been enabled;

[0183] If not, generate a prompt message for prompting to enable the ground departure protection.

[0184] Optionally, the device further includes a setting module 905, and the setting module 905 is specifically configured to:

[0185] Receive a threshold setting instruction sent by the remote controller;

[0186] Set a height threshold according to the threshold setting instruction;

[0187] Wherein, the height threshold is one or more of a first maximum threshold, a second maximum threshold, a first minimum threshold, and a second minimum threshold.

[0188] Figure 8 It is a schematic structural diagram of the control device shown in the embodiments of the present application. As shown in FIG. 15, the control device 1000 provided in this embodiment includes: a transmitter 1001, a receiver 1002, a memory 1003, and a processor 1004.

[0189] The transmitter 1001 is configured to send instructions and data;

[0190] The receiver 1002 is configured to receive instructions and data;

[0191] The memory 1003 is configured to store computer execution instructions;

[0192] The processor 1004 is configured to execute the computer execution instructions stored in the memory to implement each step performed by the flight control method in the above embodiments. Specifically, reference may be made to the relevant descriptions in the foregoing flight control method embodiments.

[0193] Optionally, the above-mentioned memory 1003 can be either independent or integrated with the processor 1004.

[0194] When the memory 1003 is independently provided, the processing device further includes a bus for connecting the memory 1003 and the processor 1004.

[0195] Figure 9 It is a schematic structural diagram of the drone provided in the embodiments of the present application. AsFigure 9 As shown in Figure 9 , the drone system 1100 of this embodiment includes: a flight control device.

[0196] Among them, the flight control device 1101 can adopt Figure 8 the structure of the embodiment shown in Figure 8 . Correspondingly, it can execute the technical solutions of the drones in the above method embodiments. The implementation principles and technical effects are similar, and will not be elaborated here.

[0197] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes: various media such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0198] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended 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 they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight control method, characterized in that the method Including: Obtaining the flight altitude of the aircraft, wherein the aircraft controls the motion change amount in response to the motion control instruction of the remote controller; and In response to determining that the flight altitude meets the first preset altitude condition, a) controlling the aircraft to switch from the first control mode to the second control mode, and b) performing any one or more of the following operations: Reducing the flight speed of the aircraft; Adjusting the flight altitude of the aircraft so that the flight altitude of the aircraft does not meet the first preset altitude condition; Adjusting the attitude angle of the aircraft so that the attitude angle of the aircraft meets the preset angle threshold; Wherein, in response to the same motion control instruction of the remote controller, the first motion change amount of the aircraft in the first control mode is greater than the second motion change amount in the second control mode; in the second control mode, in response to not receiving the motion control instruction of the remote controller within the preset time, controlling the aircraft to enter the automatic control state.

2. The method according to claim 1, wherein Determining that the flight altitude meets the first preset altitude condition specifically includes: The flight altitude is greater than the first highest threshold, and / or The flight altitude is less than the first lowest threshold.

3. The method according to any one of claims 1 to 2, characterized in that The motion change amount includes any one or a combination of speed change amount, acceleration change amount, displacement change amount, and attitude angle change amount.

4. The method according to claim 3, wherein Controlling the aircraft to switch from the first control mode to the second control mode specifically includes: Performing any one or more of the following operations: Controlling the maximum speed change amount of the aircraft in the first control mode to be greater than the maximum speed change amount in the second control mode; Controlling the maximum acceleration change amount of the aircraft in the first control mode to be greater than the maximum acceleration change amount in the second control mode; Controlling the maximum displacement change amount of the aircraft in the first control mode to be greater than the maximum displacement change amount in the second control mode; Controlling the maximum attitude angle change amount of the aircraft in the first control mode to be greater than the maximum attitude angle change amount in the second control mode.

5. The method according to any one of claims 1 to 2, characterized in that, The method further includes: In response to determining that the flight altitude meets the second preset altitude condition, wherein the second preset altitude condition is different from the first preset altitude condition; Controlling the aircraft to switch to the third control mode, wherein in response to the same motion control instruction of the remote controller, the third motion change amount of the aircraft in the third control mode is less than the second motion change amount.

6. The method according to claim 5, wherein Determining whether the flight altitude meets the second preset altitude condition specifically includes: In response to determining that the flight altitude is greater than the second highest threshold, and / or the flight altitude is less than the second lowest threshold; Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.

7. The method according to any one of claims 1 to 2, characterized in that After responding to determining that the flight altitude meets the first preset altitude condition, the method further includes: In response to determining that the flight altitude does not meet the first preset altitude condition, keeping the aircraft flying in the second control mode.

8. The method according to claim 7, wherein After keeping the aircraft flying in the second control mode, the method further includes: In response to determining that the control instruction sent by the remote controller is not received; Control the aircraft to land on the ground or control the aircraft to return.

9. The method according to claim 8, wherein The method further includes: In response to determining that the control instruction sent by the remote controller is received, control the aircraft according to the control instruction.

10. The method according to claim 9, wherein Controlling the aircraft according to the control instruction specifically includes: Controlling the aircraft to return according to the control instruction, or Controlling the aircraft to land on the ground according to the control instruction.

11. The method according to any one of claims 1 to 2, characterized in that After determining that the flight altitude meets the first preset altitude condition, the method further includes: In response to determining that the flight altitude does not meet the first preset altitude condition, control the aircraft to switch to the fourth control mode; Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change amount of the aircraft in the fourth control mode is greater than the second motion change amount.

12. The method according to claim 11, wherein Controlling the aircraft to switch from the second control mode to the fourth control mode specifically includes: Receive the mode switching instruction sent by the remote controller; According to the mode switching instruction, control the aircraft to switch to the fourth control mode.

13. The method according to any one of claims 1 to 2, characterized in that, Before obtaining the flight altitude of the aircraft, the method further includes: Obtain protection status data indicating whether the aircraft has activated ground departure protection; In response to determining that the protection status data is the first status data indicating that the ground departure protection is not activated; Generate a prompt message for prompting to activate the ground departure protection.

14. The method according to any one of claims 1 to 2, characterized in that, Before obtaining the flight altitude of the aircraft, the method further includes: Receive the threshold setting instruction sent by the remote controller; Set the altitude threshold according to the threshold setting instruction; Wherein, the altitude threshold is one or more of a first maximum threshold, a second maximum threshold, a first minimum threshold, and a second minimum threshold.

15. A flight control device, characterized in that, The device includes: An acquisition module for acquiring the flight altitude of the aircraft, wherein the aircraft controls the motion change amount in response to the motion control instruction of the remote controller; A determination module for responding to determining that the flight altitude meets the first preset altitude condition; A control module for: a) Control the aircraft to switch from the first control mode to the second control mode, and b) Perform any one or more of the following operations: Reduce the flight speed of the aircraft; Adjust the flight altitude of the aircraft so that the flight altitude of the aircraft does not meet the first preset altitude condition; Adjust the attitude angle of the aircraft so that the attitude angle of the aircraft meets the preset angle threshold; Wherein, in response to the same motion control instruction of the remote controller, the first motion change amount of the aircraft in the first control mode is greater than the second motion change amount in the second control mode; In the second control mode, in response to not receiving the motion control instruction of the remote controller within the preset time, control the aircraft to enter the automatic control state.

16. The device according to claim 15, characterized in that, The determination module is specifically used for: The flight altitude is greater than the first maximum threshold, and / or, The flight altitude is less than the first minimum threshold.

17. The device according to any one of claims 15 to 16, characterized in that, The motion change amount includes any one or more combinations of a speed change amount, an acceleration change amount, a displacement change amount, and an attitude angle change amount.

18. The device according to claim 17, characterized in that, The control module is specifically used for: Perform any one or more of the following operations: Control the maximum speed change of the aircraft in the first control mode to be greater than the maximum speed change in the second control mode; Control the maximum acceleration change of the aircraft in the first control mode to be greater than the maximum acceleration change in the second control mode; Control the maximum displacement change of the aircraft in the first control mode to be greater than the maximum displacement change in the second control mode; Control the maximum attitude angle change of the aircraft in the first control mode to be greater than the maximum attitude angle change in the second control mode.

19. The device according to any one of claims 15 to 16, wherein The determination module is further configured to respond to determining that the flight altitude satisfies a second preset altitude condition, where the second preset altitude condition is different from the first preset altitude condition; The control module is further configured to control the aircraft to switch from the second control mode to the third control mode, where, in response to the same motion control instruction of the remote controller, the third motion change of the aircraft in the third control mode is less than the second motion change.

20. The device according to claim 19, characterized in that, The determination module is specifically configured to: Respond to determining that the flight altitude is greater than a second highest threshold, and / or, the flight altitude is less than a second lowest threshold; Wherein, the first highest threshold is less than the second highest threshold, and the first lowest threshold is greater than the second lowest threshold.

21. The device according to any one of claims 15 to 16, characterized in that, The control module is specifically configured to, in response to determining that the flight altitude does not satisfy the first preset altitude condition, keep the aircraft flying in the second control mode.

22. The device according to claim 21, wherein The determination module is further configured to respond to determining that no control instruction sent by the remote controller is received; The control module is further configured to, if not, control the aircraft to land on the ground, or control the aircraft to return.

23. The device according to claim 22, characterized in that, The control module is further configured to, if so, control the aircraft according to the control instruction.

24. The device according to claim 23, wherein The control module is specifically configured to: Control the aircraft to return according to the control instruction, or Control the aircraft to land on the ground according to the control instruction.

25. The device according to any one of claims 15 to 16, wherein The control module is further configured to, in response to determining that the flight altitude does not satisfy the first preset altitude condition, control the aircraft to switch to the fourth control mode; Wherein, in response to the same motion control instruction of the remote controller, the fourth motion change of the aircraft in the fourth control mode is greater than the second motion change.

26. The device according to claim 25, wherein, The control module is specifically configured to: Receive a mode switching instruction sent by the remote controller; According to the mode switching instruction, control the aircraft to switch to the fourth control mode.

27. The device according to any one of claims 15 to 16, characterized in that The device further includes: a prompt module, and the prompt module is specifically configured to: Obtain protection status data indicating whether the aircraft has activated ground clearance protection; Respond to determining that the protection status data is first status data indicating that ground clearance protection is not activated; Generate a prompt message for prompting to activate ground clearance protection.

28. The device according to any one of claims 15 to 16, characterized in that The device further includes a setting module, and the setting module is specifically configured to: Receive a threshold setting instruction sent by the remote controller; Set a height threshold according to the threshold setting instruction; Wherein, the height threshold is one or more of a first maximum threshold, a second maximum threshold, a first minimum threshold, and a second minimum threshold.

29. A control device, characterized in that, Comprising: A memory for storing programs; A processor for executing the program stored in the memory, and when the program is executed, the processor is used to execute the flight control method according to any one of claims 1 to 14.

30. An aircraft, characterized in that, Comprising: A control device; The control device includes a memory and a processor; The memory is used for storing programs; The processor is used to execute the program stored in the memory, and when the program is executed, the processor is used to execute the flight control method according to any one of claims 1 to 14.

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