UAV control method, device, UAV and computer readable storage medium

Abstract

The present application provides a drone control method, device, drone and computer-readable storage medium. The drone control method includes: obtaining the current operating mode of the drone; obtaining the steering parameters corresponding to the current operating mode; determining the anti-wind control parameters of the drone according to the current operating mode and the steering parameters; and adjusting the nose of the drone to face the incoming wind direction according to the anti-wind control parameters. It can be seen that the scheme in the present application obtains corresponding steering parameters for different current operating modes, so the corresponding anti-wind control parameters can be calculated for each operating mode, and the drone can be controlled to turn in a targeted manner throughout the flight process to improve the wind resistance performance. Therefore, there is no need to increase the weight and power consumption of the aircraft power system, which can reduce the operating cost of the drone.

Description

Technical Field

[0001] The present application relates to the field of drones, and in particular to a drone control method, a drone device, a drone, and a computer-readable storage medium. Background Art

[0002] Compound wing UAVs, also known as vertical take-off and landing (VTOL) fixed-wing UAVs, have the advantages of multi-rotor vertical take-off and landing, which means they can take off and land without a runway, and at the same time have the advantages of fixed-wing UAVs such as long endurance, low noise, and glide, and are suitable for many industries such as public security and detection. However, compound wing UAVs will be affected by crosswinds during vertical take-off and landing, hovering, or cruising, so it is necessary to improve the wind resistance of compound wing UAVs to enhance their flight stability.

[0003] Current drone control technology uses the method of increasing thrust-to-weight ratio to improve the drone's wind resistance. However, this method will increase the weight of the aircraft power system, such as the tail thrust, and thus increase the power consumption of the drone in fixed-wing operation mode, thus increasing the operating cost of the drone. Summary of the invention

[0004] The present application provides a drone control method, device, drone and computer-readable storage medium, aiming to solve the problem that the existing drone control method is limited by the flight stage of the drone and cannot enhance the drone's wind resistance during the entire flight stage, thus having poor wind resistance effect.

[0005] In a first aspect, the present application provides a method for controlling a drone, the method comprising:

[0006] Get the current operating mode of the drone;

[0007] Obtaining a steering parameter corresponding to the current operating mode;

[0008] Determining a wind resistance control parameter of the UAV according to the current operating mode and the steering parameter;

[0009] According to the wind resistance control parameter, the nose of the UAV is adjusted to face the incoming wind direction.

[0010] In a possible implementation of the embodiment of the present application, the current operating mode is at least one of a fixed-wing operating mode, a wing conversion mode, and a rotor operating mode.

[0011] The obtaining of the steering parameter corresponding to the current operation mode includes:

[0012] If the current operating mode is the fixed-wing operating mode or the wing conversion mode, the flight speed and current attitude angle of the UAV are obtained as steering parameters;

[0013] If the current operating mode is the rotor operating mode, the current attitude angle of the UAV is obtained as a steering parameter.

[0014] In a possible implementation of the embodiment of the present application, determining the wind resistance control parameter of the UAV according to the current operating mode and the steering parameter includes:

[0015] If the current operation mode is the fixed-wing operation mode or the wing conversion mode, the centripetal acceleration of the UAV is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is calculated according to the centripetal acceleration and the flight speed, and the steering angular velocity is used as the wind resistance control parameter;

[0016] If the current operating mode is the rotor operating mode, the steering angular velocity is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is used as the anti-wind control parameter.

[0017] In a possible implementation of the embodiment of the present application, adjusting the nose of the drone to face the incoming wind direction according to the wind resistance control parameter includes:

[0018] Obtaining the acceleration of the drone;

[0019] Calculating a throttle parameter of the UAV according to the acceleration;

[0020] According to the anti-wind control parameter and the throttle parameter, the nose of the UAV is adjusted to face the incoming wind direction.

[0021] In a possible implementation of the embodiment of the present application, calculating the throttle parameter of the drone according to the acceleration includes:

[0022] Calculating a body roll coefficient according to a current attitude angle in the steering parameter and the anti-wind control parameter corresponding to the current attitude angle;

[0023] A throttle parameter of the UAV is calculated according to the body roll coefficient and the acceleration.

[0024] In a possible implementation of the embodiment of the present application, after adjusting the nose of the drone to face the incoming wind direction according to the wind resistance control parameter, the method further includes:

[0025] Obtain the current wind direction, the current altitude of the drone and the current nose direction of the drone;

[0026] Calculating a first shortest time for the drone to reach a preset hovering height according to the current height and the acceleration of the drone;

[0027] The second shortest time for the drone to turn to the incoming wind direction is calculated according to the turning angular velocity of the drone, the current wind direction and the current nose direction;

[0028] If the second shortest time is greater than the first shortest time, the steering angular velocity in the anti-wind control parameter is increased according to the time difference between the second shortest time and the first shortest time.

[0029] In a possible implementation of the embodiment of the present application, before obtaining the current operating mode of the drone, the method further includes:

[0030] Obtain the initial navigation route and at least two positioning points of the drone;

[0031] Obtaining the standard points corresponding to the positioning points on the initial navigation route;

[0032] Determining whether the UAV deviates from the initial navigation route according to the positioning information of each positioning point and the positioning information of each standard point;

[0033] If the UAV deviates from the initial navigation route, the step of obtaining the current operating mode of the UAV is performed.

[0034] In a second aspect, the present application provides a drone control device, the drone control device comprising:

[0035] A mode acquisition unit, used to obtain the current operating mode of the drone;

[0036] A parameter acquisition unit, used to acquire a steering parameter corresponding to the current operating mode;

[0037] a parameter determination unit, configured to determine a wind resistance control parameter of the UAV according to the current operation mode and the steering parameter;

[0038] The adjustment unit is used to adjust the nose of the UAV to face the incoming wind direction according to the wind resistance control parameter.

[0039] In a possible implementation manner of the embodiment of the present application, the current operating mode is at least one of a fixed-wing operating mode, a wing conversion mode, and a rotor operating mode, and the parameter acquisition unit is further used to:

[0040] If the current operating mode is the fixed-wing operating mode or the wing conversion mode, the flight speed and current attitude angle of the UAV are obtained as steering parameters;

[0041] If the current operating mode is the rotor operating mode, the current attitude angle of the UAV is obtained as a steering parameter.

[0042] In a possible implementation of the embodiment of the present application, the parameter acquisition unit is further used to:

[0043] If the current operation mode is the fixed-wing operation mode or the wing conversion mode, the centripetal acceleration of the UAV is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is calculated according to the centripetal acceleration and the flight speed, and the steering angular velocity is used as the wind resistance control parameter;

[0044] If the current operating mode is the rotor operating mode, the steering angular velocity is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is used as the anti-wind control parameter.

[0045] In a possible implementation of the embodiment of the present application, the adjustment unit is further configured to:

[0046] Obtaining the acceleration of the drone;

[0047] Calculating a throttle parameter of the UAV according to the acceleration;

[0048] According to the anti-wind control parameter and the throttle parameter, the nose of the UAV is adjusted to face the incoming wind direction.

[0049] In a possible implementation of the embodiment of the present application, the adjustment unit is further configured to:

[0050] Calculating a body roll coefficient according to a current attitude angle in the steering parameter and the anti-wind control parameter corresponding to the current attitude angle;

[0051] A throttle parameter of the UAV is calculated according to the body roll coefficient and the acceleration.

[0052] In a possible implementation manner of the embodiment of the present application, the drone control device further includes an angular velocity increasing unit, and the angular velocity increasing unit is used to:

[0053] Obtain the current wind direction, the current altitude of the drone and the current nose direction of the drone;

[0054] Calculating a first shortest time for the drone to reach a preset hovering height according to the current height and the acceleration of the drone;

[0055] The second shortest time for the drone to turn to the incoming wind direction is calculated according to the turning angular velocity of the drone, the current wind direction and the current nose direction;

[0056] If the second shortest time is greater than the first shortest time, the steering angular velocity in the anti-wind control parameter is increased according to the time difference between the second shortest time and the first shortest time.

[0057] In a possible implementation manner of the embodiment of the present application, the drone control device further includes a deviation detection unit, and the deviation detection unit is used to:

[0058] Obtain the initial navigation route and at least two positioning points of the drone;

[0059] Obtaining the standard points corresponding to the positioning points on the initial navigation route;

[0060] Determining whether the UAV deviates from the initial navigation route according to the positioning information of each positioning point and the positioning information of each standard point;

[0061] If the UAV deviates from the initial navigation route, the step of obtaining the current operating mode of the UAV is performed.

[0062] In a third aspect, the present application also provides a drone, comprising a processor and a memory, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the processor executes the steps of any drone control method provided in the present application.

[0063] In a fourth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer program is loaded by a processor to execute the steps in the drone control method.

[0064] In summary, the present application includes: obtaining the current operating mode of the drone; obtaining the steering parameters corresponding to the current operating mode; determining the anti-wind control parameters of the drone according to the current operating mode and the steering parameters; and adjusting the nose of the drone to face the incoming wind direction according to the anti-wind control parameters. It can be seen that the scheme in the present application obtains the corresponding steering parameters for different current operating modes, so the corresponding anti-wind control parameters can be calculated for each operating mode, and the drone can be controlled to turn in a targeted manner throughout the flight process to improve the wind resistance performance. Therefore, there is no need to increase the weight and power consumption of the aircraft power system, which can reduce the operating cost of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0066] Figure 1 is a schematic diagram of a body coordinate system provided in an embodiment of the present application;

[0067] Figure 2 It is a schematic diagram of an application scenario of the drone control method provided in an embodiment of the present application;

[0068] Figure 3 It is a flow chart of a drone control method provided in an embodiment of the present application;

[0069] Figure 4 This is another flowchart of the drone control method provided in the embodiment of the present application.

[0070] Figure 5 This is a schematic diagram of a process for increasing the steering angular velocity provided in an embodiment of the present application;

[0071] Figure 6 This is a schematic diagram of a process for determining whether a drone has deviated provided in an embodiment of the present application;

[0072] Figure 7 is a schematic diagram of the structure of an embodiment of a drone control device provided in an embodiment of the present application;

[0073] Figure 8 It is a schematic diagram of the structure of an embodiment of a drone provided in the embodiments of the present application. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0075] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0076] In order to enable any technician in the field to implement and use the application, the following description is given. In the following description, details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the application can also be implemented without using these specific details. In other examples, the known process will not be elaborated in detail to avoid unnecessary details that make the description of the embodiment of the application obscure. Therefore, the application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in accordance with the embodiments of the application.

[0077] The embodiments of the present application provide a drone control method, device, drone, and computer-readable storage medium. The drone control device can be integrated into a drone, and the drone can be a manually controlled drone or an automatically controlled drone.

[0078] First of all, before introducing the embodiments of the present application, the relevant content about the application background of the embodiments of the present application is introduced.

[0079] A compound wing UAV is a type of UAV that has both rotors and fixed wings. Therefore, it can achieve functions such as hovering and vertical take-off and landing through the rotors, and cruise through the fixed wings.

[0080] For compound wing UAVs, the body coordinate system is usually used to describe the attitude information of compound wing UAVs. Figure 1 In the body coordinate system, the Ox axis is located in the reference plane of the drone, parallel to the fuselage axis and pointing to the front of the drone, the Oy axis is perpendicular to the reference plane of the drone and points to the right of the aircraft, and the Oz axis (not shown in the figure) is perpendicular to the xOy plane in the reference plane and points to the bottom of the drone.

[0081] For the sake of convenience in the following description, "right" is understood as the right-hand side when observing from the tail to the nose of the drone, "left" is understood as the left-hand side when observing from the tail to the nose, and angular velocity is understood as the angular velocity component in the horizontal plane. When the drone is not specified, it is understood to be a compound wing drone.

[0082] The executor of the drone control method of the embodiment of the present application may be the drone control device provided in the embodiment of the present application, or different types of drones such as a server device, a physical host or a user equipment (UE) that integrates the drone control device. The drone control device may be implemented in hardware or software, and the UE may specifically be a terminal device such as a smart phone, a tablet computer, a laptop computer, a PDA, a desktop computer or a personal digital assistant (PDA).

[0083] See also Figure 2 , Figure 2 2 is a schematic diagram of a drone control system provided in an embodiment of the present application. The drone control system may include a drone 200, in which a drone control device is integrated.

[0084] In addition, if Figure 2 As shown, the drone control system may further include a memory 201 for storing data, such as text data.

[0085] It should be noted that Figure 2 The scene diagram of the drone control system shown is only an example. The drone control system and scene described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can know that with the evolution of drone control systems and the emergence of new business scenarios, the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems.

[0086] Next, the drone control method provided in the embodiment of the present application is introduced. In the embodiment of the present application, the drone is used as the execution subject. For the sake of simplicity and ease of description, the execution subject will be omitted in the subsequent method embodiments.

[0087] Reference Figure 3 , Figure 3 301 to 304, wherein:

[0088] 301. Get the current operating mode of the drone.

[0089] Among them, the current operating mode refers to the current flight mode of the drone. Exemplarily, the current operating mode can be the mode of the wing when the drone is currently flying. For example, the current operating mode can be one of the rotor operating mode, the fixed-wing operating mode and the wing conversion mode. For a composite wing drone, it is equipped with a rotor and a fixed wing at the same time. In the hovering, vertical take-off and vertical landing stages, the drone usually works with the rotor, that is, the rotor operating mode. In the cruising stage, the drone usually works with the fixed wing, that is, the fixed-wing operating mode. When the drone switches from the rotor operating mode to the fixed-wing operating mode, or from the fixed-wing operating mode to the rotor operating mode, the drone is in the wing conversion mode. It should be noted that the examples of the above current operating modes are only for the convenience of explanation, and the limitations of the embodiments of the present application cannot be understood. For example, the drone may also include other modes in addition to the rotor operating mode, the fixed-wing operating mode and the wing conversion mode, or include modes with the same principles as the rotor operating mode, the fixed-wing operating mode and the wing conversion mode but with different names, etc.

[0090] In addition, the current operating mode can also refer to the functional mode of the drone. For some drones, different functional modes are pre-set in their operating logic. For example, for a security drone, it may be set with a fixed-point observation mode in which it hovers in the air to observe the environmental conditions, and a cruise observation mode in which it observes the environmental conditions while moving in the air. When the drone is in fixed-point observation mode, since it needs to hover in the air, only the rotor is in working condition. Therefore, when the drone is in fixed-point observation mode, it can be compared to the drone being in rotor operation mode. On the other hand, when the drone is in cruise observation mode, since it needs to move in the air, only the fixed wing is in working condition. Therefore, when the drone is in cruise observation mode, it can be compared to the drone being in fixed-wing operation mode. It should be noted that the functional modes in the embodiments of the present application are also only for illustrative purposes, and the drone may also include other different functional modes.

[0091] The drone can obtain the current operating mode by reading the currently running code or querying the working status of the wings. For example, the drone can query the working status of the wings to obtain the current operating mode. When only the rotor of the drone is in working state, and the fixed wing is not in working state, it means that the drone is in the rotor operation mode. When only the fixed wing is in working state, it means that the drone is in the fixed wing operation mode. When both the rotor and the fixed wing are in working state, it means that the drone is in the wing conversion mode.

[0092] In addition, the drone can also read the currently running code and determine the current operating mode based on the tag carried in the code. For example, the drone can read the code of the current functional mode. If the functional mode corresponding to the code is the fixed-point observation mode, then the current operating mode is the fixed-point observation mode.

[0093] 302. Obtain a steering parameter corresponding to the current operating mode.

[0094] Among them, the steering parameter refers to the data used to calculate the control parameter when controlling the drone to turn its nose to face. Exemplarily, the steering parameter may include parameters that characterize the degree to which the drone is affected by the wind, and may also include parameters that characterize the motion status of the drone. For example, the steering parameter may be the current attitude angle of the drone. When the drone is affected by the crosswind, the crosswind will exert uneven force on the fuselage of the drone, so the fuselage of the drone close to the crosswind direction will sink, and the fuselage away from the crosswind direction will rise, causing the Oz axis of the drone body coordinate system to deviate, that is, to generate a roll angle. When the angle between the nose direction and the wind direction is 90°, the roll angle is the largest, and when the nose direction faces the wind direction, the roll angle is the smallest. Therefore, through the size of the roll angle, the drone can determine the relationship between the current nose direction and the wind direction, and then calculate the control parameters for controlling the steering of the drone according to the roll angle. For another example, the steering parameter may also include the current attitude angle and the current flight speed of the drone. When the drone turns its nose during cruising, it can be regarded as any point on the fuselage performing circular motion with the flight speed in the horizontal plane as the linear speed. Therefore, in order for the drone to perform circular motion smoothly without losing balance, it needs to provide a centripetal acceleration related to the roll angle. Therefore, through the flight speed and roll angle, the drone can calculate the control parameters for controlling the drone's steering.

[0095] Specifically, the UAV can obtain the steering parameters through the following steps:

[0096] (1A) If the current operating mode is one of the fixed-wing operating mode and the wing conversion mode, the flight speed and current attitude angle of the UAV are obtained as steering parameters.

[0097] When the UAV is in fixed-wing operation mode or wing conversion mode, for example, the UAV is cruising steadily, or has reached the predetermined take-off position and is converting from rotor mode to fixed-wing mode, the power generated by the wing is no longer only the force in the vertical horizontal plane direction, that is, the UAV has a flight speed component in the horizontal plane direction, and it is necessary to consider the impact of flight speed on stability during steering. Therefore, both flight speed and current attitude angle are used as steering parameters to calculate control parameters.

[0098] (2A) If the current operating mode is the rotor operating mode, the current attitude angle of the UAV is obtained as a steering parameter.

[0099] In contrast to (1A), when the UAV is in rotor operation mode, such as when the UAV is hovering in the air or taking off and landing vertically, the power generated by the wing is only the force in the direction perpendicular to the horizontal plane, that is, the flight speed of the UAV on the horizontal plane is zero. It is only necessary to consider the impact of the crosswind on the UAV based on the current attitude angle. Therefore, the UAV only needs to use the current attitude angle as the steering parameter to calculate the control parameters.

[0100] It can be seen from the description that in different current operating modes, the steering parameters required by the drone to calculate the control parameters are different. Therefore, after the drone obtains the current operating mode, it may not obtain all the parameters, but obtain the steering parameters corresponding to the current operating mode. For example, when the current operating mode is a mode in which the flight speed in the horizontal direction is zero, such as a rotor operating mode, the attitude angle can be detected only by components such as a built-in gyroscope, or the attitude angle can be measured by a device connected to the drone for communication to obtain the steering parameters. When the current operating mode is a mode in which the flight speed in the horizontal direction is not zero, such as a fixed-wing operating mode, the attitude angle can be obtained by the above method, and the flight speed can be detected by components such as a speed detection module to obtain the steering parameters.

[0101] 303. Determine a wind resistance control parameter of the UAV according to the current operating mode and the steering parameter.

[0102] The wind resistance control parameter refers to a control parameter used to adjust the drone to enhance the drone's ability to resist crosswinds. For example, the drone can enhance its ability to resist crosswinds by rotating the drone's nose to face the incoming wind direction, so the wind resistance control parameter can be a control parameter when the drone rotates to change the direction of the nose. For example, the wind resistance control parameter can be the angular velocity of the drone when it rotates.

[0103] Specifically, the angular velocity can be determined by the following method:

[0104] (2A) If the current operating mode is one of the fixed-wing operating mode and the wing conversion mode, the centripetal acceleration of the UAV is calculated based on the current roll angle in the current attitude angle, and the steering angular velocity is calculated based on the centripetal acceleration and the flight speed, and the steering angular velocity is used as the anti-wind control parameter.

[0105] The centripetal acceleration refers to the centripetal acceleration calculated with the Oz axis of the body coordinate system of the drone as the central axis when the drone body is parallel to the horizontal plane. For example, the centripetal acceleration can be obtained by the calculation formula of formula (1):

[0106] a1=gtan(φ) Formula (1)

[0107] Among them, a1 is the centripetal acceleration, g is the gravitational acceleration, φ is the current roll angle, and a positive roll angle means that the drone is tilted to the right, and a negative roll angle means that the drone is tilted to the left.

[0108] Then, through formula (2), the UAV can calculate the steering angular velocity. The steering angular velocity refers to the angular velocity when adjusting the nose direction. When the angular velocity is positive, it means that the UAV nose rotates clockwise, and when the angular velocity is negative, it means that the UAV nose rotates counterclockwise.

[0109]

[0110] Among them, ω is the turning angular velocity, a1 is the centripetal acceleration, and V is the flight speed.

[0111] (2B) If the current operating mode is the rotor operating mode, a steering angular velocity is calculated based on the current roll angle in the current attitude angle, and the steering angular velocity is used as an anti-wind control parameter.

[0112] When the drone is in rotor operation mode, since the current roll angle can characterize the degree to which the drone is affected by the crosswind, the magnitude of the steering angular velocity can be directly associated with the current roll angle, that is, when the current roll angle is large, the nose of the drone is adjusted with a faster steering angular velocity, for example, when the current roll angle is greater than 45°, the nose of the drone is adjusted with a steering angular velocity of 2° / s. When the current roll angle is small, the nose of the drone is adjusted with a slower steering angular velocity, for example, when the current roll angle is less than or equal to 45°, the nose of the drone is adjusted with a steering angular velocity of 1° / s, so that the steering stops when the current roll angle reaches 0°, that is, when the nose is already facing the incoming wind flow direction.

[0113] In some embodiments, a fixed coefficient may be assigned to the current roll angle to calculate the real-time steering angular velocity. For example, the steering angular velocity may be calculated using the calculation formula (3):

[0114] ω=k1φ Formula (3)

[0115] Among them, ω is the steering angular velocity, k1 is the assigned coefficient, for example, it can take any value between [0.2, 2], and φ is the current roll angle. According to the calculation formula of formula (3), the calculated steering angular velocity is proportional to the current roll angle. The closer the current roll angle is to zero, the closer the steering angular velocity is to zero. Therefore, when the steering stops, the inertia of the drone will not be so large that the drone will be unbalanced. And when the current roll angle is zero, the calculated steering angular velocity is also zero.

[0116] Furthermore, k1 may also be a coefficient that changes with the current roll angle. For example, k1 may decrease with the decrease of the current roll angle to achieve the same purpose as formula (3).

[0117] After calculating the wind resistance control parameters through step (2A) or step (2B), the drone can also form a mapping relationship between the wind resistance control parameters, the current operating mode and the corresponding steering parameters, and store the mapping relationship in the storage space inside the drone, or in a cloud server wirelessly connected to the drone. The next time the drone turns, the corresponding wind resistance control parameters can be matched in the storage space or cloud server according to the real-time current operating mode and steering parameters to avoid multiple calculations.

[0118] 304. According to the wind resistance control parameter, adjust the nose of the UAV to face the incoming wind direction.

[0119] The wind flow direction refers to the direction from which the wind blows. The nose of the drone faces the wind flow direction, which means that the direction from which the wind blows is parallel to the fuselage direction of the drone, and the nose is facing the direction of the wind.

[0120] In summary, the embodiments of the present application include: obtaining the current operating mode of the drone; obtaining the steering parameters corresponding to the current operating mode; determining the anti-wind control parameters of the drone according to the current operating mode and the steering parameters; and adjusting the nose of the drone to face the incoming wind direction according to the anti-wind control parameters. It can be seen that the scheme in the embodiments of the present application obtains the corresponding steering parameters for different current operating modes, so the corresponding anti-wind control parameters can be calculated for each operating mode, and the drone can be controlled to turn in a targeted manner throughout the flight process to improve the wind resistance performance. Therefore, there is no need to increase the weight and power consumption of the aircraft power system, which can reduce the operating cost of the drone.

[0121] In addition to adjusting the orientation to resist the crosswind, the drone can also adjust the throttle to resist the forward or backward wind to reduce the impact of the forward wind on the drone when there is a pitch angle. Figure 4 At this time, adjusting the nose of the UAV to face the incoming wind direction according to the wind resistance control parameter may specifically include:

[0122] 401. Obtain the acceleration of the drone.

[0123] The acceleration of the drone refers to the acceleration in the Ox-axis direction of the drone body coordinate system. For example, the drone can obtain the acceleration by querying the parameters in the PID (Proportion Integral Differential) controller, which is the main control mechanism for controlling the operating parameters of the drone, such as the flight speed. In addition, when the acceleration in the Ox-axis direction cannot be directly obtained, for example, when only the acceleration in the horizontal plane can be obtained, the acceleration in the Ox-axis direction can be calculated based on the current attitude angle of the drone and the acceleration in the horizontal plane according to the principle of acceleration decomposition, which will not be described in detail.

[0124] 402. Calculate a throttle parameter of the UAV according to the acceleration.

[0125] Among them, the throttle parameter refers to the parameter for controlling the throttle of the drone. Exemplarily, the throttle parameter can be a parameter for controlling the speed of the tail thrust motor. When the throttle parameter is large, the motor speed is fast, so the thrust generated by the tail thrust is large. When the throttle parameter is small, the motor speed is slow, so the thrust generated by the tail thrust is small. It should be noted that in the embodiment of the present application, the thrust direction generated by the tail thrust can be understood as being opposite to or the same as the direction of the acceleration for the convenience of explanation, but the thrust direction generated by the tail thrust cannot be understood as a limitation to the embodiment of the present application.

[0126] The purpose of calculating the throttle parameter is to adjust the thrust of the drone to resist the forward or backward wind of the drone when there is a pitch angle, so as to avoid being blown over and away from the preset flight path. Specifically, the throttle parameter can be calculated by assigning a coefficient to the acceleration. For example, the drone can calculate the throttle parameter by the calculation formula of formula (4).

[0127] δ t =k2a2 Formula (4)

[0128] Among them, δ t is the throttle parameter, k2 is the coefficient used to calculate the throttle parameter, and a2 is the acceleration in the Ox-axis direction of the drone body coordinate system. k2 can be a fixed preset value or a value that changes with the acceleration. It can be seen that if the throttle parameter is calculated using formula (4), the calculated throttle parameter is proportional to the magnitude of the acceleration, and the acceleration is a negative value, that is, when the drone is in a deceleration state, the calculated throttle parameter is also a negative value, that is, the tail thrust of the drone is in a reverse thrust state, and the thrust generated is opposite to the flight speed of the drone, which meets the needs of the drone.

[0129] In addition, k2 in formula (4) can also be determined according to the relationship between the current attitude angle and the wind resistance control parameter. For the convenience of explanation, a specific method is given in this embodiment, and step 402 includes:

[0130] (1) The body roll coefficient is calculated based on the current attitude angle in the steering parameter and the anti-wind control parameter corresponding to the current attitude angle.

[0131] (2) Calculate the throttle parameters of the UAV according to the body roll coefficient and the acceleration.

[0132] The body roll coefficient is k2. For example, the current attitude angle and the wind resistance control parameter, or the ratio between the current attitude angle and the wind resistance control parameter after the change, can be used as the body roll coefficient. For example, when the wind resistance control parameter is calculated using equations (1) and (2), Right now As the body roll coefficient. When using formula (3) to calculate the wind resistance control parameters, k1 can be used as the collective roll coefficient. After obtaining the body roll coefficient, the drone can calculate the throttle parameter according to formula (4) or other calculation methods. Specifically, using The benefit of using the roll coefficient as a body is The larger the k2 is, the greater the flight speed is. The greater the air resistance, that is, the greater the wind force of the forward or backward wind, the greater the calculated body roll coefficient and throttle parameter. Therefore, the drone can adjust the throttle parameter in real time according to the size of the wind force. In addition, although the method of calculating the throttle parameter in steps (1)-step (2) can adjust the throttle parameter in real time according to the specific wind conditions, it has more calculation steps than the method of using the preset k2 described in steps 401-step 402, and there is a delay in adjusting the throttle and steering. Therefore, the specific solution needs to be determined according to the actual situation.

[0133] 403. According to the anti-wind control parameter and the throttle parameter, adjust the nose of the UAV to face the incoming wind direction.

[0134] After calculating the anti-wind control parameters and throttle parameters, the UAV can improve the UAV's ability to resist crosswinds according to the anti-wind control parameters, and at the same time improve the UAV's ability to resist forward wind / backward wind according to the throttle parameters. For example, the UAV can rotate the nose to face the incoming wind direction according to the calculated steering angular velocity, and at the same time adjust the speed of the tail thrust motor according to the calculated throttle parameters. The following is a specific example to illustrate the process of the UAV from the take-off stage to the landing stage. For the sake of convenience, the current operating mode only includes fixed-wing operating mode, wing conversion mode and rotor operating mode. In the fixed-wing operating mode and wing conversion mode, the steering parameters are considered to be the current roll angle and flight speed. In the rotor operating mode, the steering parameters are considered to be the current roll angle, and the anti-wind control parameters are considered to be the steering angular velocity:

[0135] (A) When the drone is turned on and receives a take-off command from the user, it first takes off vertically, that is, it works in rotor operation mode. During the vertical take-off process, the drone continuously detects the current roll angle. If the current roll angle is not zero, or the current roll angle is greater than a preset roll angle threshold, the steering angular velocity is calculated by the method such as formula (3), and the nose is turned according to the steering angular velocity. At the same time, the drone detects the acceleration in the Ox-axis direction, calculates the throttle parameter according to the acceleration by any method, and adjusts the speed of the tail thrust motor according to the throttle parameter.

[0136] (B) When the drone detects that the current altitude has reached the preset altitude, that is, the take-off process has been completed, it starts to switch from the rotor operation mode to the fixed-wing operation mode, that is, to work in the wing conversion mode. The drone can calculate the steering angular velocity by the method of formula (1)-formula (2), and turn the nose according to the steering angular velocity. At this time, the drone can adjust the throttle parameter to the maximum value that can be achieved to maintain the altitude of the drone.

[0137] (C) When the mode conversion of the UAV is completed, that is, when the UAV is cruising in the fixed-wing operation mode, the steering angular velocity can be calculated by the method of formula (1)-formula (2), and the nose of the aircraft can be turned according to the steering angular velocity. The throttle parameter can be calculated or not calculated in the cruising mode, and this is not limited in the embodiment of the present application.

[0138] (D) When the UAV receives the landing command, it first enters the wing conversion mode, converting from the fixed-wing operation mode to the rotor operation mode, and then gradually descends to the ground in the rotor operation mode. The steering process in this process can refer to the instructions of (A) and (B), and the details will not be repeated here.

[0139] When the drone takes off, the ideal situation is that the drone faces the direction of the wind when it reaches the take-off height. To achieve this goal, the drone can calculate the shortest time to reach the take-off height and the shortest time to turn to face the wind direction, and adjust the steering angular velocity in the wind resistance control parameters according to the calculated time. Figure 5 At this time, after adjusting the nose of the UAV to face the incoming wind direction according to the wind resistance control parameter, the method further includes:

[0140] 501. Obtain the current wind direction, the current altitude of the UAV, and the current nose direction of the UAV.

[0141] Among them, the current height refers to the shortest distance between the position of the drone and the ground. The ground can refer to the ground of the earth coordinate system or the ground where the drone is located when it takes off. For example, when the drone takes off from the 6th floor, the current height can refer to the shortest distance between the drone and the 6th floor, or the shortest distance between the drone and the 1st floor. It should be noted that no matter which calculation method is used for the current height, the same reference needs to be used when calculating or detecting other heights, such as the preset hovering height. Assuming that the current height refers to the shortest distance between the drone and the 6th floor, the preset hovering height refers to the shortest distance between the hovering point and the 6th floor.

[0142] The embodiment of the present application does not limit the method for obtaining the current height. For example, the drone can detect the current height from the ground through a built-in height detection device to obtain the current height.

[0143] The current wind direction refers to the direction of the wind. For example, if the current wind is blowing from the east, the current wind direction is the east. For example, if the current wind is blowing from 30° northeast, the current wind direction is 30° northeast.

[0144] The current nose direction refers to the direction the current drone's nose is pointing to. For example, if the current drone's nose is pointing to due north, the current nose direction is due north. For another example, if the current drone's nose is pointing to 30° northeast, the current nose direction is 30° northeast.

[0145] 502. Calculate a first shortest time for the drone to reach a preset hovering height according to the current height and the acceleration of the drone.

[0146] The first shortest time refers to the time required for the drone to rise from the current height to the preset hovering height with uniform acceleration. For example, the drone can calculate the first shortest time according to the preset maximum rising speed, current height, acceleration and preset hovering height through the calculation formula of uniform acceleration motion. Alternatively, the drone can detect the current rising speed, and then more accurately calculate the first shortest time according to the current rising speed, current height, acceleration and preset hovering height through the calculation formula of uniform acceleration motion.

[0147] 503. Calculate the second shortest time for the drone to turn to face the wind flow direction according to the turning angular velocity of the drone, the current wind direction, and the current nose direction.

[0148] The second shortest time refers to the time required for the drone to turn from the current nose direction to the current wind direction when the drone turns at a constant speed at the steering angular velocity. Assuming that the current nose direction is due north and the current wind direction is 30° northeast, it takes 60° to turn from the current nose direction to the current wind direction. Assuming the steering angular velocity is 1° / second, the second shortest time is 60 seconds.

[0149] 504. If the second shortest time is greater than the first shortest time, increasing the steering angular velocity in the anti-wind control parameter according to the time difference between the second shortest time and the first shortest time.

[0150] If the second shortest time is greater than the first shortest time, it means that when the drone reaches the preset hovering height, the nose cannot turn to face the wind flow direction, so it is necessary to further increase the turning speed based on the calculated turning angular velocity. For example, the drone can add a fixed value to the calculated turning angular velocity to increase the turning speed. For example, a fixed value can be added to formula (3) to form formula (5):

[0151] ω=k1φ+k3 Formula (5)

[0152] Wherein, k3 is the fixed value added above. When the current operation mode is the rotor operation mode, the UAV can calculate the steering angular velocity through formula (3).

[0153] Furthermore, the drone may continue to execute steps 501 to 504 until the calculated second shortest time is less than or equal to the first shortest time, and then the steering angular velocity may be recalculated in the same manner as before the increase.

[0154] In order to reduce the amount of calculation, the drone may execute steps 301 to 304 only when it detects that the current position has deviated from the preset position. Figure 6 , before obtaining the current operating mode of the drone, the following steps are also included:

[0155] 601. Obtain an initial navigation route and at least two positioning points of the UAV.

[0156] Among them, the positioning point is the location point determined by the drone through the built-in GPS module based on the information collected about itself. Exemplarily, the positioning point can be the location point formed by the drone collecting its own positioning position. For example, the drone collects its own longitude and latitude as (106.72, 26.57) at 9:10 through the GPS module, and its own longitude and latitude as (106.73, 26.51) at 9:11, then two location points carrying the positioning time can be determined based on the obtained longitude and latitude.

[0157] The initial navigation route refers to the cruise route pre-set for the drone. The initial navigation route contains multiple preset locations, and each preset location carries the estimated time point when the drone arrives at that location point. If the drone departs from the starting point of the initial navigation route at 9:00, the midpoint of the initial navigation route will estimate the estimated time point when the drone arrives at the midpoint based on the departure time and the distance between the midpoint and the starting point. For example, if it is estimated that the drone is expected to arrive at the destination at 9:30, then 9:30 is the estimated time point of the midpoint.

[0158] Furthermore, the initial navigation route can also be that after the user sets the route start point and route end point, the drone automatically calculates the shortest route between the route start point and the route end point. For example, after the user enters "Building A" as the route start point and "Building B" as the route end point, the drone can form multiple routes between the two points through the built-in processor or in the cloud server, and then extract the shortest route as the initial navigation route.

[0159] 602. Obtain the standard point corresponding to each positioning point on the initial navigation route.

[0160] The standard point refers to the preset position point corresponding to the positioning time of the positioning point on the initial navigation route. For example, if one of the positioning points is a position point with a positioning time of 9:10, then the standard point corresponding to the positioning point is the preset position point corresponding to 9:10 on the initial navigation route.

[0161] 603. Determine whether the UAV deviates from the initial navigation route according to the positioning information of each positioning point and the positioning information of each standard point.

[0162] There are many ways to determine whether the drone has deviated from the initial navigation route. Exemplarily, it is possible to determine whether the drone has deviated from the initial navigation route based on the distance difference between the positioning point and the standard point. For example, for each positioning point, the drone can calculate the distance between the positioning point and the standard point corresponding to the positioning point. If the distance calculated for each positioning point is greater than the preset distance threshold, it means that the drone has deviated from the initial navigation route. Or for each positioning point, the drone can first obtain the starting point of the initial navigation route and the connection line between the positioning point and the corresponding standard point, respectively, to obtain two displacements, and then calculate the angles between the two displacements and the preset direction respectively. If the angle difference between the two calculated angles is greater than the preset angle difference, it means that the drone has deviated from the initial navigation route. For example, due north can be used as the preset direction and 5° as the preset angle difference. Assuming that the two angles calculated by the drone are 30° and 22° respectively, it means that the drone has deviated from the initial navigation route.

[0163] 604. If the UAV deviates from the initial navigation route, execute the step of obtaining the current operating mode of the UAV.

[0164] When the UAV detects that it has deviated from the initial navigation route, it means that the wind may have an impact on the flight of the UAV, so steps 301 to 304 can be executed to enhance the wind resistance of the UAV.

[0165] In order to better implement the drone control method in the embodiment of the present application, based on the drone control method, the embodiment of the present application also provides a drone control device, such as Figure 7 FIG. 1 is a schematic diagram of the structure of an embodiment of a drone control device in an embodiment of the present application. The drone control device 700 includes:

[0166] The mode acquisition unit 701 is used to acquire the current operation mode of the UAV;

[0167] A parameter acquisition unit 702 is used to acquire a steering parameter corresponding to the current operation mode;

[0168] A parameter determination unit 703, configured to determine a wind resistance control parameter of the UAV according to the current operation mode and the steering parameter;

[0169] The adjustment unit 704 is used to adjust the nose of the UAV to face the incoming wind direction according to the wind resistance control parameter.

[0170] In a possible implementation of the embodiment of the present application, the current operating mode is at least one of a fixed-wing operating mode, a wing conversion mode, and a rotor operating mode, and the parameter acquisition unit 702 is further used to:

[0171] If the current operating mode is the fixed-wing operating mode or the wing conversion mode, the flight speed and current attitude angle of the UAV are obtained as steering parameters;

[0172] If the current operating mode is the rotor operating mode, the current attitude angle of the UAV is obtained as a steering parameter.

[0173] In a possible implementation of the embodiment of the present application, the parameter acquisition unit 702 is further configured to:

[0174] If the current operation mode is the fixed-wing operation mode or the wing conversion mode, the centripetal acceleration of the UAV is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is calculated according to the centripetal acceleration and the flight speed, and the steering angular velocity is used as the wind resistance control parameter;

[0175] If the current operating mode is the rotor operating mode, the steering angular velocity is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is used as the anti-wind control parameter.

[0176] In a possible implementation of the embodiment of the present application, the adjusting unit 704 is further configured to:

[0177] Obtaining the acceleration of the drone;

[0178] Calculating a throttle parameter of the UAV according to the acceleration;

[0179] According to the anti-wind control parameter and the throttle parameter, the nose of the UAV is adjusted to face the incoming wind direction.

[0180] In a possible implementation of the embodiment of the present application, the adjusting unit 704 is further configured to:

[0181] Calculating a body roll coefficient according to a current attitude angle in the steering parameter and the anti-wind control parameter corresponding to the current attitude angle;

[0182] A throttle parameter of the UAV is calculated according to the body roll coefficient and the acceleration.

[0183] In a possible implementation of the embodiment of the present application, the drone control device 700 further includes an angular velocity increasing unit 705, and the angular velocity increasing unit 705 is used to:

[0184] Obtain the current wind direction, the current altitude of the drone and the current nose direction of the drone;

[0185] Calculating a first shortest time for the drone to reach a preset hovering height according to the current height and the acceleration of the drone;

[0186] The second shortest time for the drone to turn to the incoming wind direction is calculated according to the turning angular velocity of the drone, the current wind direction and the current nose direction;

[0187] If the second shortest time is greater than the first shortest time, the steering angular velocity in the anti-wind control parameter is increased according to the time difference between the second shortest time and the first shortest time.

[0188] In a possible implementation of the embodiment of the present application, the drone control device 700 further includes a deviation detection unit 706, and the deviation detection unit 706 is used to:

[0189] Obtain the initial navigation route and at least two positioning points of the drone;

[0190] Obtaining the standard points corresponding to the positioning points on the initial navigation route;

[0191] Determining whether the UAV deviates from the initial navigation route according to the positioning information of each positioning point and the positioning information of each standard point;

[0192] If the UAV deviates from the initial navigation route, the step of obtaining the current operating mode of the UAV is performed.

[0193] In specific implementation, the above units can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above units can refer to the previous method embodiments, which will not be repeated here.

[0194] Since the drone control device can execute the steps in the drone control method in any embodiment of the present application, it can achieve the beneficial effects that can be achieved by the drone control method in any embodiment of the present application. Please refer to the previous description for details, which will not be repeated here.

[0195] In addition, in order to better implement the drone control method in the embodiment of the present application, based on the drone control method, the embodiment of the present application also provides a drone, referring to Figure 8 , Figure 8 A schematic diagram of the structure of a drone according to an embodiment of the present application is shown. Specifically, the drone provided in the embodiment of the present application includes a processor 801, and the processor 801 is used to implement each step of the drone control method in any embodiment when executing the computer program stored in the memory 802; or, the processor 801 is used to implement the following when executing the computer program stored in the memory 802. Figure 7 The functions of each unit in the corresponding embodiment.

[0196] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 802, and executed by the processor 801 to complete the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

[0197] The drone may include, but is not limited to, a processor 801 and a memory 802. Those skilled in the art will appreciate that the illustration is merely an example of a drone and does not constitute a limitation on the drone, and may include more or fewer components than shown in the illustration, or a combination of certain components, or different components, for example, an electronic device may also include an input / output device, a network access device, a bus, etc., and the processor 801, the memory 802, the input / output device, and the network access device are connected via a bus.

[0198] The processor 801 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the drone, and uses various interfaces and routes to connect various parts of the entire drone.

[0199] The memory 802 can be used to store computer programs and / or modules. The processor 801 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 802 and calling the data stored in the memory 802. The memory 802 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the drone (such as audio data, video data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0200] Technicians in the relevant field can clearly understand that, for the convenience and conciseness of description, the specific working process of the drone control device, drone and its corresponding units described above can refer to the description of the drone control method in any embodiment, and the details will not be repeated here.

[0201] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0202] To this end, an embodiment of the present application provides a computer-readable storage medium, in which multiple instructions are stored. The instructions can be loaded by a processor to execute the steps in the drone control method in any embodiment of the present application. The specific operations can refer to the description of the drone control method in any embodiment, and will not be repeated here.

[0203] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0204] Since the instructions stored in the computer-readable storage medium can execute the steps in the drone control method in any embodiment of the present application, the beneficial effects that can be achieved by the drone control method in any embodiment of the present application can be achieved. Please refer to the previous description for details and will not be repeated here.

[0205] The above is a detailed introduction to a drone control method, device, drone and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A drone control method, characterized in that: The method comprises: Get the current operating mode of the drone; Obtaining a steering parameter corresponding to the current operating mode; Determining a wind resistance control parameter of the UAV according to the current operating mode and the steering parameter; According to the wind resistance control parameter, adjusting the nose of the UAV to face the incoming wind flow direction; Obtain the current wind direction, the current altitude of the drone and the current nose direction of the drone; Calculating a first shortest time for the drone to reach a preset hovering height according to the current height and the acceleration of the drone; The second shortest time for the drone to turn to the incoming wind direction is calculated according to the turning angular velocity of the drone, the current wind direction and the current nose direction; If the second shortest time is greater than the first shortest time, the steering angular velocity in the anti-wind control parameter is increased according to the time difference between the second shortest time and the first shortest time.

2. The drone control method according to claim 1, characterized in that: The current operating mode is at least one of a fixed-wing operating mode, a wing conversion mode, and a rotor operating mode. The obtaining of the steering parameter corresponding to the current operation mode includes: If the current operating mode is the fixed-wing operating mode or the wing conversion mode, the flight speed and current attitude angle of the UAV are obtained as steering parameters; If the current operating mode is the rotor operating mode, the current attitude angle of the UAV is obtained as a steering parameter.

3. The drone control method according to claim 2, characterized in that: The step of determining the wind resistance control parameter of the UAV according to the current operation mode and the steering parameter includes: If the current operation mode is the fixed-wing operation mode or the wing conversion mode, the centripetal acceleration of the UAV is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is calculated according to the centripetal acceleration and the flight speed, and the steering angular velocity is used as the wind resistance control parameter; If the current operating mode is the rotor operating mode, the steering angular velocity is calculated according to the current roll angle in the current attitude angle, and the steering angular velocity is used as the anti-wind control parameter.

4. The drone control method according to claim 1, characterized in that: The step of adjusting the nose of the drone to face the incoming wind direction according to the wind resistance control parameter comprises: Obtaining the acceleration of the drone; Calculating a throttle parameter of the UAV according to the acceleration; According to the anti-wind control parameter and the throttle parameter, the nose of the UAV is adjusted to face the incoming wind direction.

5. The drone control method according to claim 4, characterized in that: The step of calculating the throttle parameter of the UAV according to the acceleration includes: Calculating a body roll coefficient according to a current attitude angle in the steering parameter and the anti-wind control parameter corresponding to the current attitude angle; A throttle parameter of the UAV is calculated according to the body roll coefficient and the acceleration.

6. The drone control method according to any one of claims 1 to 5, characterized in that: Before obtaining the current operating mode of the drone, the method further includes: Obtain the initial navigation route and at least two positioning points of the drone; Obtaining the standard points corresponding to the positioning points on the initial navigation route; Determining whether the UAV deviates from the initial navigation route according to the positioning information of each positioning point and the positioning information of each standard point; If the UAV deviates from the initial navigation route, the step of obtaining the current operating mode of the UAV is performed.

7. A method and device for controlling a drone, characterized in that: include: A mode acquisition unit, used to obtain the current operating mode of the drone; A parameter acquisition unit, used to acquire a steering parameter corresponding to the current operating mode; a parameter determination unit, configured to determine a wind resistance control parameter of the UAV according to the current operation mode and the steering parameter; An adjustment unit, used for adjusting the nose of the UAV to face the incoming wind direction according to the wind resistance control parameter; Obtain the current wind direction, the current altitude of the drone and the current nose direction of the drone; Calculating a first shortest time for the drone to reach a preset hovering height according to the current height and the acceleration of the drone; The second shortest time for the drone to turn to the incoming wind direction is calculated according to the turning angular velocity of the drone, the current wind direction and the current nose direction; If the second shortest time is greater than the first shortest time, the steering angular velocity in the anti-wind control parameter is increased according to the time difference between the second shortest time and the first shortest time.

8. A drone, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the method for controlling a drone as claimed in any one of claims 1 to 6 is executed.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the drone control method according to any one of claims 1 to 6.

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