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

Abstract

A flight control method, a drone, an electronic device, and a medium. The method comprises: obtaining terrain information (101) corresponding to a flight mission area of ​​the drone; obtaining current ground altitude information of the drone (102); and adjusting a vertical speed control parameter (103) of the drone based on the terrain information and the ground altitude information. The drone is able to adjust its ground altitude relative to the ground or an operating object in a timely manner, thereby ensuring a ground-simulating effect, avoiding risks caused by vertical control lag of the drone, and improving the safety and efficiency of drone operations.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to flight control methods, drones, electronic equipment, and media. Background Art

[0002] With the development of drone technology, drones are increasingly being used in various operational scenarios. In some scenarios, drones need to simulate terrain. When performing such operations in complex environments, such as mountains, hills, and terraced fields, the height difference between the drone and the target changes constantly due to the undulating terrain. Existing technologies are slow to adapt to this situation, resulting in the risk of collision. Summary of the Invention

[0003] The embodiments of the present application provide a flight control method, a drone, an electronic device, and a medium.

[0004] In a first aspect, an embodiment of the present application provides a flight control method, the method comprising:

[0005] Obtain terrain information corresponding to the UAV's flight mission area;

[0006] Obtaining the current altitude information of the UAV;

[0007] The vertical speed control parameters of the UAV are adjusted according to the terrain information and the height above the ground information.

[0008] In a second aspect, an embodiment of the present application provides a drone, comprising a processor and a memory, wherein the memory is configured to store instructions, and the processor invokes the instructions stored in the memory to perform the following operations:

[0009] Obtain terrain information corresponding to the UAV's flight mission area;

[0010] Obtaining the current altitude information of the UAV;

[0011] The vertical speed control parameters of the UAV are adjusted according to the terrain information and the height above the ground information.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the flight control method as described above when executed by the processor.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the flight control method as described above.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the flight control method as described above.

[0015] In an embodiment of the present application, the drone can obtain terrain information corresponding to the flight mission area and obtain the drone's current height above the ground information; according to the terrain information and the height above the ground information, the vertical speed control parameters of the drone are adjusted, so that the drone can adjust its height above the ground relative to the ground or the work object in a timely manner, ensure the terrain simulation effect, avoid the risks caused by the control lag of the drone in the vertical direction, and improve the safety and efficiency of the drone operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a flight control method provided by one embodiment of the present application;

[0017] Figure 2 is a flow chart of another flight control method provided by an embodiment of the present application;

[0018] Figure 3 This is a schematic diagram of a primary compensation in the vertical direction provided by an embodiment of the present application;

[0019] Figure 4 This is a flow chart of another UAV flight control method provided by one embodiment of the present application;

[0020] Figure 5 This is a schematic diagram of a drone operation provided by an embodiment of the present application;

[0021] Figure 6 is a flow chart of another flight control method provided by an embodiment of the present application;

[0022] Figure 7 is a schematic diagram of another drone operation provided by an embodiment of the present application;

[0023] Figure 8 is a schematic diagram of a flight control example provided by an embodiment of the present application;

[0024] Figure 9 Schematic diagram of a drone provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] The present application will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0026] As drone applications become more widespread, their use cases are becoming increasingly diverse, with complex scenarios gradually becoming more common. For example, in drone-based crop protection operations, to achieve better results, such as ensuring a more even distribution of pesticides on leaves, the drone can be controlled to perform ground-following flight, maintaining a constant altitude above the target. Ground-following flight involves maintaining a constant altitude above the target based on the fluctuations of the surrounding environment.

[0027] When a drone is operating in a complex environment with large terrain fluctuations, such as mountains, hills, and terraces, the height above the ground between the drone and the operating object will change constantly with the fluctuations of the terrain. If the vertical speed control parameters are not adjusted, there is a high possibility that the drone will not be able to respond to the changes in the terrain in time, causing the drone to collide with the obstacle in front or fall, which greatly threatens the safety of the drone operation.

[0028] Reference Figure 1 , shows a flow chart of a flight control method provided by an embodiment of the present application, which may specifically include:

[0029] 101, obtaining terrain information corresponding to the flight mission area of ​​the UAV.

[0030] In an embodiment of the present application, the drone can perform flight missions in the flight mission area, and the flight missions may include but are not limited to drone terrain simulation flight, drone movement missions, drone shooting device shooting missions, drone gimbal attitude adjustment missions, drone audio playback device control missions, drone spraying device spraying pesticides, drone surveying and mapping, drone line patrol, etc.

[0031] The terrain information can be all-round terrain information, which can include not only terrain information within the range along the nose direction, but also terrain information within the range of both sides of the fuselage, thereby enabling 360-degree all-round terrain-simulating flight through all-round terrain information.

[0032] Terrain information can be acquired using sensors onboard drones. These sensors can include omnidirectional radar, ultrasonic sensors, and visual sensors. For example, omnidirectional radar can be installed on drones. Examples of omnidirectional radars include millimeter-wave radars and lidars.

[0033] Terrain information can also be obtained through other means, which are not limited in this application. For example, terrain information can be collected and stored in advance, and then retrieved from it during flight control. In another example, the drone can obtain pre-measured terrain information from a server. In another example, the drone can request terrain information from a remote control, and the remote control can obtain the terrain information from the server and send it to the drone.

[0034] In an embodiment of the present application, the terrain information may include at least one of the terrain slope and the terrain flatness. The following example describes how to obtain terrain information. The omnidirectional radar can scan the spatial orientation information (x, y, z) of the surrounding spatial points. The scanning of the surrounding spatial points can also be replaced by a sensor module with ranging and angle measurement, such as a laser radar and an ultrasonic module. The perception of the spatial orientation information of the surrounding environment can also be achieved by obtaining a two-dimensional image through a visual sensor, and then extracting a three-dimensional spatial point cloud from the two-dimensional image. The noise points can be removed from the original spatial points obtained by scanning, and then the least squares method can be used to fit the surrounding environment to obtain the plane equation: Ax+By+Cz+D=0, where the parameters A, B, C, and D can be calculated based on the spatial orientation information of multiple spatial points.

[0035] Based on the plane equation, the terrain slope can be extracted:

[0036] According to the plane equation, the terrain flatness can be extracted: Wherein N is a positive integer, and N≥1.

[0037] In this example, the geodetic coordinate system that can be used is the ENU (East-North-UP) coordinate system. Therefore, x represents the distance of the target object due north relative to the coordinate origin, y represents the distance of the target object due east relative to the coordinate origin, and z represents the distance of the target object perpendicular to the coordinate origin. Of course, those skilled in the art can use other coordinate systems for calculations by simply transforming the coordinate points, for example, by multiplying the coordinate points by the corresponding rotation matrix.

[0038] 102. Obtain the current altitude information of the UAV.

[0039] During the operation of the UAV, due to changes in the terrain, the UAV's altitude information also changes. The altitude information may include at least one of the altitude and the variance of the altitude.

[0040] After calculating the plane equation based on the spatial orientation information of multiple spatial points, the height above the ground can be extracted based on the plane equation: Among them, x i 、y i 、z i is the coordinate of the drone body. The ground altitude is the height of the aircraft relative to the environment. For example, it can be the height of the aircraft relative to the ground or the height of the aircraft relative to the operating object.

[0041] Calculate the ground height variance of multiple frames: s 2=var(h), the multi-frame ground height variance can be used to describe the degree of ground undulation.

[0042] 103. Adjust the vertical speed control parameters of the UAV according to the terrain information and the height above the ground information.

[0043] The vertical speed control parameter is used to control the vertical flight of the drone. When flying in a simulated terrain, the drone must maintain a stable altitude relative to the ground or the target. As the terrain changes, the drone must quickly adjust its altitude to the preset altitude. By adjusting the vertical speed control parameter, you can adjust the time it takes for the drone to reach the preset altitude, the altitude it can reach, and its stability.

[0044] In an embodiment of the present application, the drone can obtain terrain information corresponding to the flight mission area and obtain the drone's current height above the ground information; according to the terrain information and the height above the ground information, the vertical speed control parameters of the drone are adjusted, so that the drone can adjust its height above the ground relative to the ground or the work object in a timely manner, ensure the terrain simulation effect, avoid the risks caused by the control lag of the drone in the vertical direction, and improve the safety and efficiency of the drone operation.

[0045] Reference Figure 2 , shows a flow chart of another flight control method provided by an embodiment of the present application, which may specifically include:

[0046] 201, obtaining terrain information corresponding to the flight mission area of ​​the UAV.

[0047] 202. Obtain the current altitude information of the UAV.

[0048] In this embodiment of the present application, the vertical speed control parameters may include vertical speed, vertical speed limit range, and vertical speed control gain. Any of operations 203-205 may be performed to adjust at least one of the vertical speed, vertical speed limit range, and vertical speed control gain of the UAV.

[0049] 203. Adjust the vertical speed of the UAV according to the terrain slope and the height above the ground.

[0050] The steeper the terrain slope, the faster the drone's altitude changes above the ground. In order for the drone to keep up with the altitude change, the vertical speed of the drone needs to be increased.

[0051] When the terrain slope is small, it means that the height of the UAV above the ground changes slowly, and the appropriate vertical speed can be maintained without adjusting the vertical speed, so that the UAV can perform terrain simulation operations more stably.

[0052] In the embodiment of the present application, the 203 may include:

[0053] 11. Obtain horizontal speed control information of the UAV in the horizontal direction.

[0054] The horizontal direction may be a horizontal direction in the earth's axis system, and the horizontal speed control information may include a horizontal speed, which may be a speed modulus in the horizontal direction.

[0055] 12. Determine initial speed compensation information of the UAV in the vertical direction based on the horizontal speed control information and the terrain slope.

[0056] The calculation can be performed based on the horizontal speed control information and the terrain slope, and then the initial speed compensation information of the UAV in the vertical direction, that is, the initial speed component for speed compensation in the vertical direction, can be determined.

[0057] Reference Figure 3 A schematic diagram of a primary compensation in the vertical direction provided by an embodiment of the present application, wherein V b corresponds to the horizontal velocity, θ corresponds to the terrain slope, V comp Corresponding to the initial speed compensation information, the following formula can be used for calculation:

[0058] V comp =V b *tan(θ)

[0059] In an optional embodiment, the step of determining the initial velocity compensation information of the UAV in the vertical direction based on the horizontal velocity and the terrain slope may further include:

[0060] Obtaining a confidence level corresponding to the terrain slope; and determining initial velocity compensation information of the UAV in the vertical direction based on the horizontal velocity, the terrain slope, and the confidence level.

[0061] For each terrain slope, a confidence level corresponding to the terrain slope may be obtained, and the confidence level may be used to characterize the credibility of the terrain slope.

[0062] After obtaining the horizontal speed, terrain slope, and confidence, calculations can be performed based on the horizontal speed, terrain slope, and confidence to determine the initial speed compensation information of the UAV in the vertical direction.

[0063] like Figure 3 , V b corresponds to horizontal velocity, θ corresponds to terrain slope, Wright corresponds to confidence, V comp Corresponding to the initial speed compensation information, the following formula can be used for calculation:

[0064] Vcomp =V b *tan(θ)*Wright

[0065] 13. Perform secondary compensation on the initial velocity compensation information according to the height above the ground to obtain vertical velocity compensation information of the UAV in the vertical direction.

[0066] After determining the initial speed compensation information, a secondary compensation gain can be performed on the initial speed compensation information according to the height above the ground between the UAV and the work object, thereby obtaining the vertical speed compensation information of the UAV in the vertical direction.

[0067] 14. Adjust the vertical speed of the UAV according to the vertical speed compensation information.

[0068] According to the vertical speed compensation information, the vertical speed of the UAV is adjusted, realizing secondary compensation control of the UAV in the vertical direction. The UAV can adjust the vertical speed according to the terrain slope and height above the ground, so that the UAV can adjust its height above the ground relative to the ground or the working object in time, greatly improving the UAV's ability to simulate terrain flight in complex environments with large terrain undulations.

[0069] And / or, 204, adjusting the vertical speed limit range of the UAV according to the terrain slope.

[0070] The vertical speed of the drone needs to be adjusted within the vertical speed limit.

[0071] Reference Figure 4 The figure shows a schematic diagram of a drone operation according to an embodiment of the present application. The dashed line represents the actual flight trajectory of the drone, and the solid line represents the terrain curve. During terrain-simulating flight, if the drone encounters a significant drop in altitude, it will need to lower its altitude accordingly. If the vertical speed limit is small, even if the drone sets its vertical speed to the maximum, the decreasing vertical speed will still adapt to the slope of the terrain.

[0072] In the present embodiment, when the terrain slope is steep, the drone's vertical speed needs to be increased. If the vertical speed limit is narrow, the drone will not be able to adjust to the required vertical speed. When the terrain slope is gentle, the drone's height relative to the ground changes slowly, and an appropriate vertical speed can be maintained, without adjusting the vertical speed limit.

[0073] In the embodiment of the present application, the 204 may include:

[0074] 21. When the terrain slope meets the preset steepness judgment condition, increase the vertical speed limit range of the UAV.

[0075] Specifically, when the terrain slope is greater than the preset slope threshold, it can be considered that the terrain slope meets the preset steepness judgment condition. By increasing the vertical speed limit range, the combined speed of the vertical speed and the horizontal speed can be kept parallel to the direction of altitude change when the drone is operating at high speed, so that the drone can keep up with the rapid change in altitude and adjust its height relative to the ground or the operating object in time, ensuring the terrain simulation effect.

[0076] And / or, 205, adjusting the vertical speed control gain of the UAV according to the terrain flatness and / or the height above ground variance.

[0077] Terrain smoothness describes the degree of terrain undulation. A greater degree of terrain smoothness indicates greater terrain undulation; a smaller degree of terrain smoothness indicates lesser terrain undulation. Ground height variance describes the variation in ambient altitude and the degree of terrain undulation. A greater ground height variance indicates greater terrain undulation; a smaller ground height variance indicates lesser terrain undulation.

[0078] The vertical speed control gain controls the speed of vertical speed changes. A larger vertical speed control gain results in faster vertical speed changes, a shorter response time required for the actual flight altitude to reach the preset altitude, and a faster reach. This results in a higher degree of terrain conformance, but also lower altitude stability. A smaller vertical speed control gain results in slower vertical speed changes, a longer response time required for the actual flight altitude to reach the preset altitude, and higher altitude stability, but also lower terrain conformance.

[0079] like Figure 5 Figure 2 shows another schematic diagram of a drone operation according to an embodiment of the present application. The dashed line represents the actual flight path of the drone, and the solid line represents the terrain curve. During a drone's terrain-mimicking operation, if the terrain is uneven and undulating, a low vertical velocity control gain will result in poor terrain conformity and poor terrain-mimicking performance.

[0080] In the embodiment of the present application, the 204 may include:

[0081] 31. When the terrain flatness and / or the height-to-ground variance meet a preset terrain roughness judgment condition, increase the vertical speed control gain of the UAV.

[0082] Specifically, when the terrain flatness is greater than a preset first flatness threshold, and / or the height above the ground variance is greater than a preset first height above the ground variance threshold, it can be considered that the preset terrain roughness judgment condition is met. By increasing the vertical speed control gain of the UAV, the time required for the actual flight altitude to reach the preset altitude can be shortened, thereby improving the UAV's conformity to the terrain, but this will reduce altitude stability.

[0083] 32. When the terrain flatness and / or the height-to-ground variance meet a preset terrain flatness judgment condition, reduce the vertical speed control gain of the UAV.

[0084] Specifically, when the terrain flatness is less than a preset second flatness threshold, and / or the height-over-ground variance is less than a preset second height-over-ground variance threshold, the preset flat terrain determination condition can be considered satisfied. By reducing the vertical velocity control gain of the drone, the time required for the actual flight altitude to reach the preset altitude can be increased, thereby improving the drone's altitude stability. However, this can reduce the drone's degree of terrain conformance. The preset first flatness threshold can be greater than or equal to the preset second flatness threshold, and the first height-over-ground variance threshold can be greater than or equal to the preset second height-over-ground variance threshold.

[0085] In embodiments of the present application, terrain information corresponding to the drone's flight mission area and the drone's current altitude above the ground can be obtained, and the drone's vertical speed can be adjusted based on the terrain slope and the altitude above the ground; and / or the drone's vertical speed limit can be adjusted based on the terrain slope; and / or the drone's vertical speed control gain can be adjusted based on the terrain flatness and / or altitude above the ground variance. This allows the drone to promptly adjust its altitude above the ground relative to the ground or the work object, ensuring effective terrain simulation, avoiding risks caused by vertical control lag, and improving the safety and efficiency of drone operations.

[0086] Reference Figure 6 , shows a flow chart of another flight control method provided by an embodiment of the present application, which may specifically include:

[0087] 601, obtaining terrain information corresponding to the flight mission area of ​​the UAV.

[0088] 602. Obtain the current altitude information of the UAV.

[0089] 603. When the terrain information indicates that the terrain is rugged, increase the vertical speed control gain of the UAV according to the height above the ground information.

[0090] Terrain information can indicate whether the terrain is rugged or flat. For example, terrain information includes terrain flatness and / or height-to-ground variance. If the terrain flatness is greater than a preset first flatness threshold, and / or the height-to-ground variance is greater than a preset first height-to-ground variance threshold, the terrain can be considered rugged. If the terrain flatness is less than a preset second flatness threshold, and / or the height-to-ground variance is less than a preset second height-to-ground variance threshold, the terrain can be considered flat.

[0091] When the terrain information indicates that the terrain is rugged, increasing the vertical speed control gain of the UAV can shorten the time required for the actual flight altitude to reach the preset altitude, thereby improving the UAV's conformity to the terrain, but at the same time reducing altitude stability.

[0092] 604. When the terrain information indicates that the terrain is flat, reduce the vertical speed control gain of the UAV according to the height above the ground information.

[0093] When the terrain information indicates that the terrain is flat, by reducing the vertical speed control gain of the UAV, the time required to reach the preset altitude can be increased, which improves the altitude stability of the UAV, but reduces the UAV's conformity to the terrain.

[0094] like Figure 7 The figure shows another schematic diagram of a drone operation according to an embodiment of the present application. The dashed line represents the actual flight path of the drone, and the solid line represents the terrain curve. In section A of the terrain curve, where the terrain is rugged, the drone's vertical velocity control gain can be increased to enable the drone to quickly adjust its altitude above the ground. In section B of the terrain curve, where the terrain changes from rugged to flat, the drone's vertical velocity control gain can be reduced to achieve a more stable altitude above the ground.

[0095] The present embodiment can obtain terrain information corresponding to the drone's flight mission area and the drone's current altitude information. When the terrain information indicates rugged terrain, the drone's vertical speed control gain is increased based on the altitude information; when the terrain information indicates flat terrain, the drone's vertical speed control gain is reduced based on the altitude information. This allows the drone to respond promptly to terrain changes, ensuring high stability and terrain-simulating effects, avoiding risks caused by vertical control lag, and improving the safety and efficiency of drone operations.

[0096] In order to enable those skilled in the art to better understand the embodiments of the present application, the embodiments of the present application are described below by using an example: Figure 8 FIG2 is a schematic diagram of a flight control example provided by an embodiment of the present application. The drone may include a radar module and a flight control module.

[0097] The radar module can scan the spatial orientation information of surrounding spatial points; remove the noise points from the original spatial points obtained by scanning, and then use the least squares method to fit the surrounding environment to obtain the plane equation; determine the terrain information and ground height information based on the plane equation, the terrain information may include terrain slope and terrain flatness; the ground height information may include ground height and ground height variance.

[0098] The flight control module may receive terrain information sent by the radar module at a preset frequency, which may be 20 Hz to 100 Hz. In one example, the preset frequency may be 50 Hz.

[0099] After receiving the terrain information, the flight control module can adjust the vertical speed according to the terrain slope and the height above the ground; generate a vertical speed adjustment instruction, and output the vertical speed adjustment instruction to the motor so that the motor adjusts the vertical speed.

[0100] The flight control module can adjust the vertical speed limit range according to the terrain slope; generate a vertical speed limit range adjustment instruction, and output the vertical speed limit range adjustment instruction to the motor so that the motor adjusts the vertical speed limit range.

[0101] The flight control module can adjust the vertical speed control gain according to the terrain flatness and the ground height variance; generate a vertical speed control gain adjustment instruction, and output the vertical speed control gain adjustment instruction to the motor so that the motor adjusts the vertical speed control gain.

[0102] It should be noted that for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the order of the actions described, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0103] Reference Figure 9 , shows a schematic diagram of a drone provided by an embodiment of the present application, the drone includes a processor 910 and a memory 920, the memory 920 is used to store instructions, and the processor 910 calls the instructions stored in the memory 920 to perform the following operations:

[0104] Obtain terrain information corresponding to the UAV's flight mission area;

[0105] Obtaining the current altitude information of the UAV;

[0106] The vertical speed control parameters of the UAV are adjusted according to the terrain information and the height above the ground information.

[0107] In the embodiment of the present application, the vertical speed control parameters include at least one of the vertical speed, the vertical speed limit range, and the vertical speed control gain.

[0108] In an embodiment of the present application, the terrain information includes at least one of terrain slope and terrain flatness; the height above the ground information includes at least one of height above the ground and height above the ground variance.

[0109] In an embodiment of the present application, the processor is specifically configured to adjust the vertical speed control parameters of the UAV according to the terrain information and the height above the ground information, including at least one of the following operations:

[0110] adjusting the vertical speed of the UAV according to the terrain slope and the height above the ground;

[0111] adjusting the vertical speed limit range of the UAV according to the terrain slope;

[0112] The vertical speed control gain of the UAV is adjusted according to the terrain flatness and / or the height above ground variance.

[0113] In an embodiment of the present application, the processor is specifically configured to adjust the vertical speed of the drone according to the terrain slope and the height above the ground, including:

[0114] Obtaining horizontal speed control information of the UAV in the horizontal direction;

[0115] determining initial speed compensation information of the UAV in the vertical direction according to the horizontal speed control information and the terrain slope;

[0116] Performing secondary compensation on the initial velocity compensation information according to the height above the ground to obtain vertical velocity compensation information of the UAV in the vertical direction;

[0117] The vertical speed of the UAV is adjusted according to the vertical speed compensation information.

[0118] In an embodiment of the present application, the processor is specifically configured to adjust the vertical speed limit range of the drone according to the terrain slope, including:

[0119] When the terrain slope meets a preset steepness judgment condition, the vertical speed limit range of the UAV is increased.

[0120] In an embodiment of the present application, the processor is specifically configured to increase the vertical speed limit range of the drone when the terrain slope meets a preset steepness judgment condition, including:

[0121] When the terrain slope is greater than a preset slope threshold, the vertical speed limit range of the UAV is increased.

[0122] In an embodiment of the present application, the processor is specifically configured to adjust the vertical speed control gain of the UAV according to the terrain flatness and / or the height above ground variance, including:

[0123] When the terrain flatness and / or the height-to-ground variance meet a preset terrain roughness judgment condition, increasing the vertical speed control gain of the UAV;

[0124] When the terrain flatness and / or the height-to-ground variance meet a preset terrain flatness judgment condition, the vertical speed control gain of the UAV is reduced.

[0125] In an embodiment of the present application, the processor is specifically configured to increase the vertical speed control gain of the UAV when the terrain flatness and / or the height above ground variance meets a preset terrain roughness judgment condition, including:

[0126] When the terrain flatness is greater than a preset first flatness threshold, and / or the height above ground variance is greater than a preset first height above ground variance threshold, increasing the vertical speed control gain of the UAV;

[0127] The processor is specifically configured to reduce the vertical speed control gain of the UAV when the terrain flatness and / or the height above ground variance meets a preset terrain flatness judgment condition, including:

[0128] When the terrain flatness is less than a preset second flatness threshold, and / or the height above ground variance is less than a preset second height above ground variance threshold, the vertical speed control gain of the UAV is reduced.

[0129] In an embodiment of the present application, the terrain information is obtained through sensors carried by the drone.

[0130] In the embodiment of the present application, the sensor includes: any one of an omnidirectional radar, an ultrasonic sensor, and a visual sensor.

[0131] In an embodiment of the present application, the processor is specifically configured to adjust the vertical speed control parameters of the UAV according to the terrain information and the height above the ground information, including:

[0132] When the terrain information indicates that the terrain is rugged, the vertical speed control gain of the UAV is increased according to the height above the ground information.

[0133] In an embodiment of the present application, the processor is specifically configured to adjust the vertical speed control parameters of the UAV according to the terrain information and the height above the ground information, including:

[0134] When the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the height above the ground information.

[0135] In an embodiment of the present application, the drone can obtain terrain information corresponding to the flight mission area and obtain the drone's current height above the ground information; according to the terrain information and the height above the ground information, the vertical speed control parameters of the drone are adjusted, so that the drone can adjust its height above the ground relative to the ground or the work object in a timely manner, ensuring the terrain simulation effect, avoiding the risks caused by the control lag of the drone in the vertical direction, and improving the safety and efficiency of the drone operation.

[0136] An embodiment of the present application also provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the flight control method described above is implemented.

[0137] An embodiment of the present application further provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer is enabled to execute the flight control method as described above.

[0138] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the flight control method described above.

[0139] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0140] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from the other embodiments. References to the same or similar parts between the various embodiments are made to each other. References herein to "one embodiment," "an embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Please note that instances of the phrase "in one embodiment" do not necessarily refer to the same embodiment. The description provided herein describes numerous specific details. However, it is understood that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not described in detail to avoid obscuring the understanding of the present description. In the claims, any reference signs placed between parentheses should not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions 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 comprises: Obtain terrain information corresponding to the UAV's flight mission area; Obtaining the current altitude information of the UAV; adjusting a vertical speed control parameter of the UAV based on the terrain information and the height above the ground information, the vertical speed control parameter comprising at least one of a vertical speed limit range and a vertical speed control gain, wherein a greater vertical speed control gain indicates a faster change in vertical speed; The adjusting the vertical speed control parameters of the UAV according to the terrain information and the height above the ground information includes: When the terrain information indicates that the terrain is rugged, increasing the vertical speed control gain of the UAV according to the height above the ground information; When the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the height above the ground information.

2. The method according to claim 1, characterized in that The vertical speed control parameter also includes: vertical speed.

3. The method according to claim 2, characterized in that The terrain information includes at least one of terrain slope and terrain flatness; the height above the ground information includes at least one of height above the ground and height above the ground variance.

4. The method according to claim 3, characterized in that The adjusting the vertical speed control parameter of the UAV according to the terrain information and the height above the ground information includes at least one of the following operations: adjusting the vertical speed of the UAV according to the terrain slope and the height above the ground; adjusting the vertical speed limit range of the UAV according to the terrain slope; The vertical speed control gain of the UAV is adjusted according to the terrain flatness and / or the height above ground variance.

5. The method according to claim 4, characterized in that The adjusting the vertical speed of the UAV according to the terrain slope and the height above the ground includes: Obtaining horizontal speed control information of the UAV in the horizontal direction; determining initial speed compensation information of the UAV in the vertical direction according to the horizontal speed control information and the terrain slope; Performing secondary compensation on the initial velocity compensation information according to the height above the ground to obtain vertical velocity compensation information of the UAV in the vertical direction; The vertical speed of the UAV is adjusted according to the vertical speed compensation information.

6. The method according to claim 4, characterized in that The adjusting the vertical speed limit range of the UAV according to the terrain slope includes: When the terrain slope meets a preset steepness judgment condition, the vertical speed limit range of the UAV is increased.

7. The method according to claim 6, characterized in that When the slope satisfies a preset steepness judgment condition, increasing the vertical speed limit range of the UAV includes: When the terrain slope is greater than a preset slope threshold, the vertical speed limit range of the UAV is increased.

8. The method according to claim 4, characterized in that The adjusting the vertical speed control gain of the UAV according to the terrain flatness and / or the height above ground variance includes: When the terrain flatness and / or the height-to-ground variance meet a preset terrain roughness judgment condition, increasing the vertical speed control gain of the UAV; When the terrain flatness and / or the height-to-ground variance meet a preset terrain flatness judgment condition, the vertical speed control gain of the UAV is reduced.

9. The method according to claim 8, characterized in that When the terrain flatness and / or the height-to-ground variance satisfies a preset terrain roughness judgment condition, increasing the vertical speed control gain of the UAV includes: When the terrain flatness is greater than a preset first flatness threshold, and / or the height above ground variance is greater than a preset first height above ground variance threshold, increasing the vertical speed control gain of the UAV; When the terrain flatness and / or the height-to-ground variance satisfies a preset terrain flatness judgment condition, reducing the vertical speed control gain of the UAV includes: When the terrain flatness is less than a preset second flatness threshold, and / or the height above ground variance is less than a preset second height above ground variance threshold, the vertical speed control gain of the UAV is reduced.

10. The method according to claim 1, characterized in that The terrain information is obtained through sensors carried by the UAV.

11. The method according to claim 10, characterized in that The sensor includes any one of an omnidirectional radar, an ultrasonic sensor, and a visual sensor.

12. A drone, characterized in that: The drone includes a processor and a memory, wherein the memory is used to store instructions, and the processor calls the instructions stored in the memory to perform the following operations: Obtain terrain information corresponding to the UAV's flight mission area; Obtaining the current altitude information of the UAV; adjusting a vertical speed control parameter of the UAV based on the terrain information and the height above the ground information, the vertical speed control parameter comprising at least one of a vertical speed limit range and a vertical speed control gain, wherein a greater vertical speed control gain indicates a faster change in vertical speed; The processor is specifically configured to adjust a vertical speed control parameter of the UAV according to the terrain information and the height above the ground information, including: When the terrain information indicates that the terrain is rugged, increasing the vertical speed control gain of the UAV according to the height above the ground information; When the terrain information indicates that the terrain is flat, the vertical speed control gain of the UAV is reduced according to the height above the ground information.

13. The drone according to claim 12, characterized in that: The vertical speed control parameter also includes: vertical speed.

14. The drone according to claim 13, characterized in that: The terrain information includes at least one of terrain slope and terrain flatness; the height above the ground information includes at least one of height above the ground and height above the ground variance.

15. The drone according to claim 14, characterized in that: The processor is specifically configured to adjust a vertical speed control parameter of the UAV according to the terrain information and the height above the ground information, including at least one of the following operations: adjusting the vertical speed of the UAV according to the terrain slope and the height above the ground; adjusting the vertical speed limit range of the UAV according to the terrain slope; The vertical speed control gain of the UAV is adjusted according to the terrain flatness and / or the height above ground variance.

16. The drone according to claim 15, characterized in that: The processor is specifically configured to adjust the vertical speed of the UAV according to the terrain slope and the height above the ground, including: Obtaining horizontal speed control information of the UAV in the horizontal direction; determining initial speed compensation information of the UAV in the vertical direction according to the horizontal speed control information and the terrain slope; Performing secondary compensation on the initial velocity compensation information according to the height above the ground to obtain vertical velocity compensation information of the UAV in the vertical direction; The vertical speed of the UAV is adjusted according to the vertical speed compensation information.

17. The drone according to claim 15, characterized in that The processor is specifically configured to adjust a vertical speed limit range of the UAV according to the terrain slope, including: When the terrain slope meets a preset steepness judgment condition, the vertical speed limit range of the UAV is increased.

18. The drone according to claim 17, characterized in that: The processor is specifically configured to increase the vertical speed limit range of the UAV when the terrain slope meets a preset steepness judgment condition, including: When the terrain slope is greater than a preset slope threshold, the vertical speed limit range of the UAV is increased.

19. The drone according to claim 15, wherein: The processor is specifically configured to adjust the vertical speed control gain of the UAV according to the terrain flatness and / or the height above ground variance, including: When the terrain flatness and / or the height-to-ground variance meet a preset terrain roughness judgment condition, increasing the vertical speed control gain of the UAV; When the terrain flatness and / or the height-to-ground variance meet a preset terrain flatness judgment condition, the vertical speed control gain of the UAV is reduced.

20. The drone according to claim 19, characterized in that The processor is specifically configured to increase the vertical speed control gain of the UAV when the terrain flatness and / or the height-to-ground variance meets a preset terrain roughness judgment condition, including: When the terrain flatness is greater than a preset first flatness threshold, and / or the height above ground variance is greater than a preset first height above ground variance threshold, increasing the vertical speed control gain of the UAV; The processor is specifically configured to reduce the vertical speed control gain of the UAV when the terrain flatness and / or the height above ground variance meets a preset terrain flatness judgment condition, including: When the terrain flatness is less than a preset second flatness threshold, and / or the height above ground variance is less than a preset second height above ground variance threshold, the vertical speed control gain of the UAV is reduced.

21. The drone according to claim 12, wherein: The terrain information is obtained through sensors carried by the UAV.

22. The drone according to claim 21, characterized in that The sensor includes any one of an omnidirectional radar, an ultrasonic sensor, and a visual sensor.

23. An electronic device, characterized in that: The invention comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the flight control method according to any one of claims 1 to 11 is implemented.

24. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the flight control method according to any one of claims 1 to 11.

25. A computer program product comprising instructions, characterized in that When the instructions are executed on a computer, the computer is caused to execute the flight control method according to any one of claims 1 to 11.

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