Flight control method and device, electronic equipment and aircraft

Abstract

The application relates to the field of flight control and provides a flight control method and device, an electronic device and a flying vehicle. The method comprises the following steps: if the angle between the wind direction at the height of the flying vehicle and the target flight direction is less than a first threshold value, and the wind speed at the height of the flying vehicle is less than a second threshold value, the flight mode of the flying vehicle is set as a free floating mode; and if the angle between the wind direction at the height of the flying vehicle and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the flying vehicle is greater than or equal to the second threshold value, the flight mode of the flying vehicle is set as a propeller propulsion mode. The flight control method provided in the application can switch the flight mode according to the different wind fields where the flying vehicle actually stays, avoid continuously using the propeller to drive the flying vehicle to fly, adapt to different wind fields at a small energy cost, and thus enable the flying vehicle to realize long-term regional residence in the stratosphere.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight control, in particular to a flight control method and device, an electronic device and an aircraft. BACKGROUND

[0002] The stratosphere generally refers to the atmospheric layer near the height of 8 to 50 kilometers above the troposphere, where the airflow is relatively stable, the vertical convection is small, and the electromagnetic characteristics are good. It is an ideal operating layer for various aircrafts, and has a huge application prospect in the fields of earth observation, communication, scientific and technological verification, etc. At present, it is still a worldwide problem to realize long-time flight in a regional range at the stratosphere height. Various aircrafts including stratospheric airships and solar-powered unmanned aerial vehicles are still in the stage of technical research.

[0003] At present, the super-pressure balloon has the ability of long-time flight across months or even years, but due to the characteristics of lacking power and freely flying with the wind, it cannot realize long-term regional residence, which seriously restricts its application range. At the same time, the super-pressure balloon at the stratosphere height usually has a large volume and receives a large wind resistance. Even if a propeller is used to push the super-pressure balloon, due to the fact that the higher the height, the lower the atmospheric density, the smaller the thrust and efficiency of the propeller, it is difficult to realize long-time upwind flight by relying on the propeller thrust to resist the wind resistance of the balloon for a long time, and the energy demand is huge. SUMMARY

[0004] Embodiments of the present application provide a flight control method and device, an electronic device and an aircraft to solve the technical problem that the traditional aircraft consumes a large amount of energy and cannot realize long-term regional residence in the stratosphere.

[0005] In a first aspect, embodiments of the present application provide a flight control method, comprising:

[0006] If the angle between the wind direction at the height of the aircraft and the target flight direction is less than a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value, the flight mode of the aircraft is set to a free floating mode;

[0007] If the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value, the flight mode of the aircraft is set to a propeller propulsion mode.

[0008] In an embodiment, further comprising:

[0009] If the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is less than the second threshold value, the flight mode of the aircraft is set to a heading adjustment mode.

[0010] In one embodiment, if the angle between the wind direction at the height of the aircraft and the target flight direction is less than a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value, the flight mode of the aircraft is set to a free floating mode, including:

[0011] If the angle between the wind direction at the height of the overpressure balloon of the aircraft and the target flight direction is less than the first threshold value, and the wind speed at the height of the aerodynamic sail of the aircraft is less than the second threshold value, the aerodynamic sail is adjusted towards the overpressure balloon, the heading of the aerodynamic sail is adjusted, the propeller of the aircraft is turned off, and the aircraft is caused to fly along the target flight direction.

[0012] In one embodiment, if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to a first threshold value, and the wind speed at the height of the aircraft is greater than or equal to a second threshold value, the flight mode of the aircraft is set to a propeller propulsion mode, including:

[0013] If the angle between the wind direction at the height of the overpressure balloon of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aerodynamic sail of the aircraft is greater than or equal to the second threshold value, the height of the aerodynamic sail is adjusted within a preset time period, and the wind direction and wind speed at the height of the aerodynamic sail are monitored in real time.

[0014] If the angle between the aerodynamic force of the aerodynamic sail and the overpressure balloon and the target flight direction is always greater than or equal to a third threshold value within the preset time period, the aerodynamic sail is adjusted to a first height; the first height is the height at which the aerodynamic sail is located when the angle between the wind direction at the height of the aerodynamic sail and the target flight direction is the smallest within the preset time period.

[0015] If the angle between the wind direction at the first height and the target flight direction is greater than or equal to the third threshold value, the aerodynamic sail is adjusted to a second height; the second height is the height at which the aerodynamic sail is located when the wind speed at the height of the aerodynamic sail is the smallest within the preset time period.

[0016] The aerodynamic sail is adjusted to a windward state, and the propeller of the aircraft is turned on, so that the aircraft flies along the target flight direction.

[0017] In one embodiment, if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value, the flight mode of the aircraft is set to a heading adjustment mode, including:

[0018] if the angle between the wind direction at the height of the aerodynamic sail of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aerodynamic sail of the aircraft is less than the second threshold value, then the height of the aerodynamic sail is lowered;

[0019] if the angle between the resultant force direction of the aerodynamic force of the aerodynamic sail and the overpressure balloon ball and the target flight direction is less than the first threshold value, then the angle of attack and the heading of the aerodynamic sail are adjusted, and the propeller of the aircraft is closed, so that the aircraft flies along the target flight direction.

[0020] In one embodiment, after the aerodynamic sail is adjusted to the wind-attack state, the method comprises:

[0021] the direction of the aerodynamic sail is fine-tuned to keep the aerodynamic sail in the wind-attack state.

[0022] In one embodiment, after the propeller of the aircraft is started, the method comprises:

[0023] if the thrust of the propeller is insufficient, then the height of the propeller is lowered.

[0024] In a second aspect, embodiments of the present application provide a flight control device, comprising:

[0025] a free-flying mode setting module, configured to: if the angle between the wind direction at the height of the aircraft and the target flight direction is less than the first threshold value, and the wind speed at the height of the aircraft is less than the second threshold value, then set the flight mode of the aircraft to the free-flying mode;

[0026] a propeller propulsion mode setting module, configured to: if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value, then set the flight mode of the aircraft to the propeller propulsion mode.

[0027] In a third aspect, embodiments of the present application provide an electronic device, comprising a processor and a memory storing a computer program, wherein the processor implements the steps of the flight control method of the first aspect when executing the program.

[0028] In a fourth aspect, embodiments of the present application provide an aircraft, comprising an overpressure balloon ball, an aerodynamic sail and a propeller;

[0029] the overpressure balloon ball, the aerodynamic sail and the propeller are used to implement the steps of the flight control method of the first aspect.

[0030] The flight control method, device, electronic device and aircraft provided by the embodiments of the present application are as follows: if the angle between the wind direction at the height of the aircraft and the target flight direction is less than a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value, the flight mode of the aircraft is set to a free floating mode; if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value, the flight mode of the aircraft is set to a propeller propulsion mode. The flight mode of the aircraft is set to the free floating mode when the wind direction at the height of the aircraft is relatively close to the target flight direction and the wind speed is relatively small, and the flight mode of the aircraft is set to the propeller propulsion mode when the wind direction at the height of the aircraft is relatively far from the target flight direction and the wind speed is relatively large, so that the flight mode can be switched according to different wind fields in which the aircraft actually stays, the aircraft can fly in the target flight direction without affecting the flight of the aircraft, the propeller is prevented from being continuously used to drive the aircraft to fly, different wind fields can be adapted to with a small energy cost, and thus the aircraft can realize long-term regional residence in the stratosphere. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0032] Figure 1 is one of the flowcharts of the flight control method provided by the embodiments of the present application;

[0033] Figure 2 is a structural schematic diagram of an aircraft provided by the embodiments of the present application;

[0034] Figure 3 is another flowchart of the flight control method provided by the embodiments of the present application;

[0035] Figure 4 is a third flowchart of the flight control method provided by the embodiments of the present application;

[0036] Figure 5 is a structural schematic diagram of the flight control device provided by the embodiments of the present application;

[0037] Figure 6 is a structural schematic diagram of the electronic device provided by the embodiments of the present application.

[0038] Reference signs:

[0039] 1 - overpressure balloon sphere; 2 - aerodynamic sail; 21 - aerodynamic sail rudder; 3 - propeller; 4 - electric winch; 5 - rope; 6 - rotation control motor; 7 - first stage pod. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0041] Figure 1 is one of flowcharts of the flight control method provided by the embodiments of the present application. With reference to Figure 1 , the embodiments of the present application provide a flight control method, which can include:

[0042] 101 - setting a flight mode of the aircraft according to a wind field at an altitude where the aircraft is located and a target flight direction;

[0043] The wind field includes a wind direction and a wind speed;

[0044] 102 - if an included angle between the wind direction at the altitude where the aircraft is located and the target flight direction is less than a first threshold value, and the wind speed at the altitude where the aircraft is located is less than a second threshold value, setting the flight mode of the aircraft as a free floating mode;

[0045] 103 - if the included angle between the wind direction at the altitude where the aircraft is located and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the altitude where the aircraft is located is greater than or equal to the second threshold value, setting the flight mode of the aircraft as a propeller propulsion mode.

[0046] In step 102, the first threshold value can be 45 degrees, and the second threshold value can be 10 m / s, that is, if the included angle between the wind direction at the altitude where the aircraft is located and the target flight direction is less than 45 degrees, and the wind speed at the altitude where the aircraft is located is less than 10 m / s, it is considered that the aircraft is close to the target flight direction, and the wind speed has little effect on the heading of the aircraft, and the aircraft can freely float along the target flight direction under the wind speed, therefore, the flight mode of the aircraft can be set as the free floating mode, and no additional power is applied to the aircraft.

[0047] In step 103, if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to 45 degrees, and the wind speed at the height of the aircraft is greater than or equal to 10 m / s, it is considered that the aircraft is greatly different from the target flight direction, and the wind speed has a great influence on the heading of the aircraft, and general heading adjustment cannot offset the influence of the wind speed, so that the aircraft cannot fly along the target flight direction, therefore, the flight mode of the aircraft can be set as the propeller propulsion mode, and the aircraft is pushed to fly along the target flight direction by the greater power generated by the rotation of the propeller.

[0048] It should be noted that two left and right propellers can be provided, and the aircraft is pushed to fly along the target flight direction by differential control of the two left and right propellers.

[0049] The flight control method provided in this embodiment sets the flight mode of the aircraft as the free floating mode if the angle between the wind direction at the height of the aircraft and the target flight direction is less than the first threshold value, and the wind speed at the height of the aircraft is less than the second threshold value, and sets the flight mode of the aircraft as the propeller propulsion mode if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value. In this embodiment, the flight mode of the aircraft is set as the free floating mode when the wind direction at the height of the aircraft is relatively close to the target flight direction and the wind speed is relatively small, and the flight mode of the aircraft is set as the propeller propulsion mode when the wind direction at the height of the aircraft is greatly different from the target flight direction and the wind speed is relatively large, so that the flight mode can be switched according to different wind fields in which the aircraft actually stays, the aircraft can fly towards the target flight direction without affecting the aircraft, and the propeller is avoided from being continuously used to push the aircraft to fly, so that different wind fields can be adapted with smaller energy cost, and the aircraft can realize long-term regional residence in the stratosphere.

[0050] In one embodiment, the flight control method can further include:

[0051] If the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is less than the second threshold value, the flight mode of the aircraft is set as the heading adjustment mode.

[0052] That is, if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to 45 degrees, and the wind speed at the height of the aircraft is less than 10 m / s, it is considered that the aircraft is greatly different from the target flight direction, but the wind speed has a small influence on the heading of the aircraft, and the influence of the wind speed can be offset by general heading adjustment (without starting the propeller), so that the aircraft gradually flies towards the target flight direction.

[0053] The embodiment is used when the angle between the wind direction at the height of the aircraft and the target flight direction is large, and the wind speed at the height of the aircraft is small, and the general heading adjustment method is used to offset the influence of the wind speed, so that the aircraft flies along the target flight direction without starting the propeller, and the energy consumption can be reduced without affecting the flight of the aircraft along the target flight direction.

[0054] Figure 2 is a schematic diagram of the aircraft structure provided by the embodiment of the application. Referring to Figure 2 In one embodiment, if the angle between the wind direction at the height of the aircraft and the target flight direction is less than the first threshold value, and the wind speed at the height of the aircraft is less than the second threshold value, the flight mode of the aircraft is set to the free flight mode, which can include:

[0055] If the angle between the wind direction at the height of the superpressure balloon body 1 of the aircraft and the target flight direction is less than the first threshold value, and the wind speed at the height of the aerodynamic sail 2 of the aircraft is less than the second threshold value, the aerodynamic sail 2 is adjusted towards the superpressure balloon body 1, the heading of the aerodynamic sail 2 is adjusted, and the propeller 3 of the aircraft is closed, so that the aircraft flies along the target flight direction.

[0056] When the angle between the wind direction at the height of the superpressure balloon body 1 of the aircraft and the target flight direction is less than 45 degrees, and the wind speed at the height of the aerodynamic sail 2 of the aircraft is less than 10 m / s, the height of the aerodynamic sail 2 can be adjusted to a position close to the superpressure balloon body 1 by winding up the rope 5 through the electric winch 4, so that the aerodynamic force directions of the superpressure balloon body 1 and the aerodynamic sail 2 tend to be consistent, which helps the aircraft to freely fly along the target flight direction. At the same time, the heading of the aerodynamic sail 2 is finely adjusted by adjusting the deflection angle of the aerodynamic sail rudder 21, so that the flight direction of the aircraft is more accurate. At this time, the rotation direction of the aerodynamic sail 2 does not need to be changed greatly, so the rotation control motor 6 of the aircraft is closed. In addition, the aircraft does not need to be subjected to additional power, so the propeller 3 of the aircraft is closed.

[0057] The embodiment adjusts the height of the aerodynamic sail and closes the rotation control motor and the propeller, so as to realize the free flight of the aircraft, and reduce the energy consumption while the aircraft flies along the target flight direction.

[0058] Figure 3 is a second flowchart of the flight control method provided by the embodiment of the application. Referring to Figures 2-3 In one embodiment, if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value, the flight mode of the aircraft is set to the propeller propulsion mode, which can include:

[0059] 301、if the angle between the wind direction at the height of the aerodynamic sail and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aerodynamic sail is greater than or equal to the second threshold value, then the height of the aerodynamic sail is adjusted within a preset time period, and the wind direction and wind speed at the height of the aerodynamic sail are monitored in real time;

[0060] 302、if the angle between the aerodynamic force combined direction of the aerodynamic sail and the super-pressure balloon ball and the target flight direction is always greater than or equal to the third threshold value within the preset time period, then the aerodynamic sail is adjusted to the first height;

[0061] The first height is the height of the aerodynamic sail at which the angle between the wind direction and the target flight direction is the smallest within the preset time period;

[0062] 303、if the angle between the wind direction at the first height and the target flight direction is greater than or equal to the third threshold value, then the aerodynamic sail is adjusted to the second height;

[0063] The second height is the height of the aerodynamic sail at which the wind speed is the smallest within the preset time period;

[0064] 304、the aerodynamic sail is adjusted to a windward state, and the propeller of the aircraft is started to make the aircraft fly along the target flight direction.

[0065] In step 301, when the angle between the wind direction at the height of the super-pressure balloon ball 1 of the aircraft and the target flight direction is greater than or equal to 45 degrees, and the wind speed at the height of the aerodynamic sail 2 of the aircraft is greater than or equal to 10 meters / second, the height of the aerodynamic sail 2 can be adjusted by winding or unwinding the rope 5 through the electric winch 4, and the wind direction and wind speed at the height of the aerodynamic sail 2 can be monitored in real time through the wind speed sensor on the aerodynamic sail 2;

[0066] In step 302, the third threshold value can be 90 degrees, and the wind direction information and wind speed information at the height of the aerodynamic sail 2 are transmitted to the flight control unit in the first level pod 7 of the aircraft by the wind speed sensor, and the flight control unit calculates the aerodynamic force combined direction of the aerodynamic sail 2 and the super-pressure balloon ball 1 using the wind direction information and wind speed information. If the angle between the aerodynamic force combined direction of the aerodynamic sail 2 and the super-pressure balloon ball 1 and the target flight direction is always greater than or equal to 90 degrees within the preset time period, then the method of adjusting the aerodynamic force combined direction of the aerodynamic sail 2 and the super-pressure balloon ball 1 to make the aircraft fly along the target flight direction is invalid, so the aerodynamic sail 2 is adjusted to the first height, so that the angle between the wind direction at the height of the aerodynamic sail 2 and the target flight direction is the smallest, i.e., the wind direction at the height of the aerodynamic sail 2 is closest to the target flight direction;

[0067] In step 303, if the angle between the wind direction at the first height and the target flight direction is greater than or equal to 90 degrees, it means that the wind direction at the height of the aerodynamic sail 2 is closest to the target flight direction, but the wind direction at the height of the aerodynamic sail 2 still differs greatly from the target flight direction. Therefore, the aerodynamic sail 2 is adjusted to the second height, so that the wind speed at the height of the aerodynamic sail 2 is minimized, to weaken the influence of the wind speed on the subsequent power pushing.

[0068] In step 304, the aerodynamic sail 2 is adjusted to the windward state, and the propeller 3 of the aircraft is started. Since the angle between the aerodynamic force of the aerodynamic sail 2 and the superpressure balloon body 1 and the target flight direction is still large at this time, the influence of the wind speed can be offset by differential control of the left and right propellers 3, so that the aircraft flies along the target flight direction.

[0069] The embodiment continuously finds the wind direction and wind speed that is beneficial to the flight of the aircraft along the target flight direction by adjusting the height of the aerodynamic sail, and adjusts the height of the aerodynamic sail to the height at which the wind direction is closest to the target flight direction after the method of adjusting the aerodynamic force of the aerodynamic sail and the superpressure balloon body and adjusting the height of the aerodynamic sail fails. The aircraft is propelled along the target flight direction by the propeller, which can ensure that the aircraft flies along the target flight direction when the wind direction at the height of the aircraft differs greatly from the target flight direction and the wind speed is large.

[0070] Figure 4 FIG. 3 is a flowchart of a flight control method provided by an embodiment of the present application. Referring to FIG. 3, Figure 2 and Figure 4 In one embodiment, if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value, the flight mode of the aircraft is set to a heading adjustment mode, which can include:

[0071] 401, if the angle between the wind direction at the height of the superpressure balloon body of the aircraft and the target flight direction is greater than or equal to a first threshold value, and the wind speed at the height of the aerodynamic sail of the aircraft is less than a second threshold value, the height of the aerodynamic sail is lowered;

[0072] 402, if the angle between the aerodynamic force of the aerodynamic sail and the superpressure balloon body and the target flight direction is less than a first threshold value, the windward angle and the heading of the aerodynamic sail are adjusted, and the propeller of the aircraft is turned off, so that the aircraft flies along the target flight direction.

[0073] In step 401, when the angle between the wind direction at the height of the aerodynamic sail 2 and the target flight direction is greater than or equal to 45 degrees, and the wind speed at the height of the aerodynamic sail 2 is less than 10 m / s, the rope 5 can be released by the electric winch 4 to lower the height of the aerodynamic sail 2. During the descent of the aerodynamic sail 2, the wind direction and wind speed at the height of the aerodynamic sail 2 are monitored in real time by the wind speed sensor on the aerodynamic sail 2, and the wind direction information and wind speed information are transmitted to the flight control unit in the first pod 7 of the aircraft. The flight control unit calculates the direction of the combined force of the aerodynamic sail 2 and the superpressure balloon body 1 using the wind direction information and wind speed information.

[0074] It should be noted that, the closer the height of the aerodynamic sail 2 to the superpressure balloon body 1, the more consistent the directions of the aerodynamic forces of the two, and the more difficult it is to change the direction of the combined force. Therefore, by lowering the height of the aerodynamic sail 2, the direction of the combined force of the aerodynamic sail 2 and the superpressure balloon body 1 can be changed significantly, which helps to find a suitable direction of the combined force.

[0075] In step 402, if the angle between the direction of the combined force of the aerodynamic sail 2 and the superpressure balloon body 1 and the target flight direction is less than 45 degrees, the electric winch 4 is stopped from releasing the rope 5, the rotation direction of the aerodynamic sail 2 is controlled by the rotation control motor 6 to adjust the wind angle of the aerodynamic sail 2, thereby controlling the size and direction of the aerodynamic force of the aerodynamic sail 2. At the same time, the deflection angle of the aerodynamic sail rudder 21 is controlled in real time to fine-tune the heading of the aerodynamic sail 2, and the propeller 3 of the aircraft is closed to make the aircraft fly along the target flight direction.

[0076] The embodiment finds a suitable direction of the combined force of the aerodynamic sail and the superpressure balloon body by adjusting the height of the aerodynamic sail, and then adjusts the wind angle and heading of the aerodynamic sail to make the aircraft fly along the target flight direction. This can ensure the aircraft to fly along the target flight direction when the wind direction at the height of the aircraft is significantly different from the target flight direction but the wind speed is small, and does not need to start the propeller, reducing energy consumption.

[0077] Reference Figure 2 In one embodiment, after the aerodynamic sail is adjusted to the wind-approaching state, it can further include:

[0078] The direction of the aerodynamic sail 2 is fine-tuned to keep the aerodynamic sail 2 in the wind-approaching state.

[0079] The direction of the aerodynamic sail 2 can be fine-tuned by controlling the deflection angle of the aerodynamic sail rudder 21 to keep the aerodynamic sail 2 in the wind-approaching state.

[0080] The embodiment can fine-tune the direction of the aerodynamic sail by controlling the deflection angle of the tail rudder of the aerodynamic sail, so that the aerodynamic sail can be kept in the windward state to the maximum, which helps to accurately evaluate the direction of the aerodynamic force of the aerodynamic sail and the superpressure balloon body when the propeller propulsion aircraft is flying, so that the differential control of the propeller is more accurate.

[0081] With reference to Figure 2 In one embodiment, after starting the propeller of the aircraft, the method can further include:

[0082] If the thrust of the propeller 3 is insufficient, the height of the propeller 3 is lowered.

[0083] When the thrust of the propeller 3 is insufficient, the rope 5 can be released by the electric winch 4 to lower the working height of the propeller 3. The lower the height, the greater the atmospheric density, and the greater the thrust of the propeller 3 in the corresponding wind layer, so that the aircraft can always fly in the target flight direction.

[0084] The embodiment can increase the thrust of the propeller by lowering the height of the propeller to ensure that the thrust of the propeller can support the aircraft to fly in the target flight direction.

[0085] The flight control device provided by the embodiment of the application is described below. The flight control device described below can be correspondingly referred to the flight control method described above.

[0086] Figure 5 The structure diagram of the flight control device provided by the embodiment of the application is shown. With reference to Figure 5 The flight control device provided by the embodiment of the application can include:

[0087] The free flight mode setting module 501 is configured to set the flight mode of the aircraft as the free flight mode if the included angle between the wind direction at the height of the aircraft and the target flight direction is less than a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value.

[0088] The propeller propulsion mode setting module 502 is configured to set the flight mode of the aircraft as the propeller propulsion mode if the included angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value.

[0089] The flight control device provided by the embodiment sets the flight mode of the aircraft as the free floating mode if the angle between the wind direction at the height of the aircraft and the target flight direction is less than the first threshold value and the wind speed at the height of the aircraft is less than the second threshold value, and sets the flight mode of the aircraft as the propeller propulsion mode if the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value and the wind speed at the height of the aircraft is greater than or equal to the second threshold value. The flight mode of the aircraft is set as the free floating mode when the wind direction at the height of the aircraft is relatively close to the target flight direction and the wind speed is relatively small, and the flight mode of the aircraft is set as the propeller propulsion mode when the wind direction at the height of the aircraft is relatively far from the target flight direction and the wind speed is relatively large. The flight mode can be switched according to different wind fields in which the aircraft actually stays, the aircraft can fly towards the target flight direction without affecting the flight of the aircraft, the propeller is prevented from being continuously used to drive the aircraft to fly, different wind fields can be adapted to with a small energy cost, and thus the aircraft can realize long-term regional residence in the stratosphere.

[0090] In one embodiment, the heading adjustment mode setting module (not shown in the figure) is further included, and is configured to:

[0091] If the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value and the wind speed at the height of the aircraft is less than the second threshold value, the flight mode of the aircraft is set as the heading adjustment mode.

[0092] In one embodiment, the free floating mode setting module 501 is specifically configured to:

[0093] If the angle between the wind direction at the height of the superpressure balloon body of the aircraft and the target flight direction is less than the first threshold value and the wind speed at the height of the aerodynamic sail of the aircraft is less than the second threshold value, the aerodynamic sail is adjusted towards the direction close to the superpressure balloon body, the heading of the aerodynamic sail is adjusted, the propeller of the aircraft is closed, and the aircraft is caused to fly along the target flight direction.

[0094] In one embodiment, the propeller propulsion mode setting module 502 is specifically configured to:

[0095] If the angle between the wind direction at the height of the superpressure balloon body of the aircraft and the target flight direction is greater than or equal to the first threshold value and the wind speed at the height of the aerodynamic sail of the aircraft is greater than or equal to the second threshold value, the height of the aerodynamic sail is adjusted within a preset time length, and the wind direction and the wind speed at the height of the aerodynamic sail are monitored in real time.

[0096] if the included angle between the target flight direction and the wind direction at the height of the aerodynamic sail is greater than or equal to the third threshold value, the aerodynamic sail is adjusted to a second height; the second height is the height at which the wind speed is the smallest during the preset time period;

[0097] if the included angle between the target flight direction and the wind direction at the height of the aerodynamic sail is greater than or equal to the third threshold value, the aerodynamic sail is adjusted to a second height; the second height is the height at which the wind speed is the smallest during the preset time period;

[0098] The aerodynamic sail is adjusted to a wind-ward state, and the propeller of the aircraft is started to make the aircraft fly along the target flight direction.

[0099] In one embodiment, a heading adjustment mode setting module (not shown in the figure) is specifically used for:

[0100] if the included angle between the target flight direction and the wind direction at the height of the aerodynamic sail is greater than or equal to the third threshold value, the aerodynamic sail is adjusted to a second height; the second height is the height at which the wind speed is the smallest during the preset time period;

[0101] if the included angle between the target flight direction and the wind direction at the height of the aerodynamic sail is greater than or equal to the third threshold value, the aerodynamic sail is adjusted to a second height; the second height is the height at which the wind speed is the smallest during the preset time period;

[0102] In one embodiment, the aircraft further includes an aerodynamic sail fine adjustment module (not shown in the figure), which is used for:

[0103] The direction of the aerodynamic sail is fine adjusted to keep the aerodynamic sail in a wind-ward state.

[0104] In one embodiment, the aircraft further includes a propeller height adjustment module (not shown in the figure), which is used for:

[0105] if the thrust of the propeller is insufficient, the height of the propeller is lowered.

[0106] The aircraft provided by the embodiments of the present application is described below, and the aircraft described below can be correspondingly referred to the flight control method and device described above.

[0107] The aircraft provided by the embodiments of the present application is described below, and the aircraft described below can be correspondingly referred to the flight control method and device described above.

[0108] The overpressure balloon, the aerodynamic sail and the propeller are used to realize the aforementioned flight control method.

[0109] Figure 6 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 6 As shown, the electronic device can include a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 complete mutual communication through the communication bus 640. The processor 610 can invoke a computer program in the memory 630 to execute the steps of the flight control method, for example, including:

[0110] If the angle between the wind direction at the height of the aircraft and the target flight direction is less than a first threshold value, and the wind speed at the height of the aircraft is less than a second threshold value, the flight mode of the aircraft is set to a free floating mode;

[0111] If the angle between the wind direction at the height of the aircraft and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aircraft is greater than or equal to the second threshold value, the flight mode of the aircraft is set to a propeller propulsion mode.

[0112] In addition, the logical instructions in the memory 630 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium, includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0113] On the other hand, the embodiments of the present application also provide a computer program product, which includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the steps of the flight control method provided by the above-mentioned embodiments, for example, including:

[0114] if the angle between the wind direction at the height of the aerial vehicle and the target flight direction is less than the first threshold value, and the wind speed at the height of the aerial vehicle is less than the second threshold value, set the flight mode of the aerial vehicle as the free floating mode;

[0115] if the angle between the wind direction at the height of the aerial vehicle and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aerial vehicle is greater than or equal to the second threshold value, set the flight mode of the aerial vehicle as the propeller propulsion mode.

[0116] In another aspect, the embodiments of the present application also provide a processor readable storage medium, which stores a computer program for causing a processor to execute the steps of the method provided by the above-mentioned embodiments, for example, including:

[0117] if the angle between the wind direction at the height of the aerial vehicle and the target flight direction is less than the first threshold value, and the wind speed at the height of the aerial vehicle is less than the second threshold value, set the flight mode of the aerial vehicle as the free floating mode;

[0118] if the angle between the wind direction at the height of the aerial vehicle and the target flight direction is greater than or equal to the first threshold value, and the wind speed at the height of the aerial vehicle is greater than or equal to the second threshold value, set the flight mode of the aerial vehicle as the propeller propulsion mode.

[0119] The processor readable storage medium can be any available medium or data storage device that can be accessed by a processor, including but not limited to a magnetic memory (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0120] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art can understand and implement without creative labor.

[0121] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform from the above description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that contributes to the technical solutions can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the methods.

[0122] Finally, it should be noted that: the above examples 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 foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight control method, characterized in that, include: If the angle between the wind direction at the altitude of the aircraft and the target flight direction is less than a first threshold, and the wind speed at the altitude of the aircraft is less than a second threshold, then the flight mode of the aircraft is set to free-flying mode; the aircraft includes an overpressure balloon body, a pneumatic sail, and a propeller. If the angle between the wind direction at the aircraft's altitude and the target flight direction is greater than or equal to a first threshold, and the wind speed at the aircraft's altitude is greater than or equal to a second threshold, then the aircraft's flight mode is set to propeller propulsion mode, including: If the angle between the wind direction at the altitude of the overpressure balloon of the aircraft and the target flight direction is greater than or equal to the first threshold, and the wind speed at the altitude of the pneumatic sail of the aircraft is greater than or equal to the second threshold, then the altitude of the pneumatic sail is adjusted within a preset time period, and the wind direction and wind speed at the altitude of the pneumatic sail are monitored in real time. If, within the preset time period, the angle between the direction of the combined aerodynamic force of the pneumatic sail and the overpressure balloon and the target flight direction is always greater than or equal to a third threshold, then the pneumatic sail is adjusted to a first height; the first height is the height at which the pneumatic sail is located when the angle between the wind direction at the height of the pneumatic sail and the target flight direction is the smallest within the preset time period. If the angle between the wind direction at the first altitude and the target flight direction is greater than or equal to the third threshold, the pneumatic sail is adjusted to the second altitude; the second altitude is the altitude at which the pneumatic sail is located when the wind speed is the lowest within the preset time period. Adjust the pneumatic sail to face the wind and start the propeller of the aircraft so that the aircraft flies in the target flight direction.

2. The flight control method according to claim 1, characterized in that, Also includes: If the angle between the wind direction at the aircraft's altitude and the target flight direction is greater than or equal to a first threshold, and the wind speed at the aircraft's altitude is less than a second threshold, then the aircraft's flight mode is set to heading adjustment mode.

3. The flight control method according to claim 1, characterized in that, If the angle between the wind direction at the aircraft's altitude and the target flight direction is less than a first threshold, and the wind speed at the aircraft's altitude is less than a second threshold, then the aircraft's flight mode is set to free-flying mode, including: If the angle between the wind direction at the altitude of the overpressure balloon and the target flight direction is less than the first threshold, and the wind speed at the altitude of the aerosail is less than the second threshold, then the aerosail is adjusted towards the overpressure balloon, the aerosail's course is adjusted, and the propeller of the aircraft is turned off, so that the aircraft flies along the target flight direction.

4. The flight control method according to claim 2, characterized in that, If the angle between the wind direction at the aircraft's altitude and the target flight direction is greater than or equal to a first threshold, and the wind speed at the aircraft's altitude is less than a second threshold, then the aircraft's flight mode is set to heading adjustment mode, including: If the angle between the wind direction at the altitude of the overpressure balloon of the aircraft and the target flight direction is greater than or equal to the first threshold, and the wind speed at the altitude of the aerosail of the aircraft is less than the second threshold, then the altitude of the aerosail is reduced. If the angle between the resultant aerodynamic force of the pneumatic sail and the overpressure balloon and the target flight direction is less than the first threshold, then the windward angle and heading of the pneumatic sail are adjusted, and the propeller of the aircraft is turned off, so that the aircraft flies along the target flight direction.

5. The flight control method according to claim 1, characterized in that, After adjusting the pneumatic sail to a windward position, the following steps are included: The direction of the pneumatic sail is finely adjusted to keep it facing the wind.

6. The flight control method according to claim 1, characterized in that, After the propellers of the aircraft are turned on, the following steps are included: If the propeller's thrust is insufficient, the height of the propeller should be reduced.

7. A flight control device, characterized in that, For executing the flight control method of claim 1, comprising: The free-flying mode setting module is used to: set the flight mode of the aircraft to free-flying mode if the angle between the wind direction at the altitude of the aircraft and the target flight direction is less than a first threshold and the wind speed at the altitude of the aircraft is less than a second threshold. The propeller propulsion mode setting module is used to: set the flight mode of the aircraft to propeller propulsion mode if the angle between the wind direction at the altitude of the aircraft and the target flight direction is greater than or equal to a first threshold, and the wind speed at the altitude of the aircraft is greater than or equal to a second threshold.

8. An electronic device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the flight control method according to any one of claims 1 to 6.

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