Unmanned aerial vehicle control method in low-altitude wind shear environment

Abstract

The invention relates to an unmanned aerial vehicle control method and device in a low-altitude wind shear environment, computer equipment, a computer readable storage medium and a computer program product, and can be applied to the technical field of unmanned aerial vehicles. The method comprises the following steps: acquiring air flow data around the unmanned aerial vehicle and first inclination angle data of the unmanned aerial vehicle; according to the air flow data and the first inclination angle data, controlling a flight power system of the unmanned aerial vehicle to perform power deployment of the unmanned aerial vehicle, and obtaining second inclination angle data of the unmanned aerial vehicle after power deployment; under the condition that the second inclination angle data is larger than a preset inclination angle threshold value, a balancing weight driving device on the unmanned aerial vehicle is controlled to drive a balancing weight on the unmanned aerial vehicle to move, and third inclination angle data of the unmanned aerial vehicle after the balancing weight moves is obtained; and controlling the unmanned aerial vehicle to land under the condition that the third inclination angle data is smaller than or equal to the preset inclination angle threshold value. By adopting the method, the landing safety of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a method, device, computer equipment, computer-readable storage medium, and computer program product for controlling a UAV in a low-altitude wind shear environment. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in various fields. However, under complex weather conditions, drone flight control faces huge challenges. How to safely control the landing of drones has become an important research direction.

[0003] Traditional technology usually involves manual control of drone landing; however, due to the low autonomous flight capability of drones, they are easily affected by flight environments such as wind, causing overall instability of the drone and resulting in low safety of drone landing. Summary of the invention

[0004] Based on this, it is necessary to provide a drone control method, device, computer equipment, computer-readable storage medium and computer program product in a low-altitude wind shear environment that can improve the safety of drone landing in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for controlling a drone in a low-altitude wind shear environment. The method comprises:

[0006] Acquiring air flow data around the UAV and first inclination angle data of the UAV;

[0007] Controlling the flight power system of the UAV to adjust the power of the UAV according to the air flow data and the first inclination angle data, and obtaining the second inclination angle data of the UAV after the power adjustment;

[0008] When the second inclination angle data is greater than a preset inclination angle threshold, controlling the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and obtaining the third inclination angle data of the UAV after the counterweight block moves;

[0009] When the third inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

[0010] In one embodiment, the controlling the counterweight driving device on the drone to drive the counterweight on the drone to move includes:

[0011] Determining a movement parameter of the counterweight according to the second inclination angle data;

[0012] According to the movement parameters, the counterweight block driving device is controlled to drive the counterweight block to move, so as to adjust the posture of the UAV.

[0013] In one embodiment, the counterweight block driving device includes a first servo mechanism and a second servo mechanism; the counterweight block includes a first counterweight block and a second counterweight block;

[0014] The controlling the counterweight block driving device to drive the counterweight block to move comprises:

[0015] Controlling the first servo mechanism to drive the first counterweight to move along a first direction;

[0016] The second servo mechanism is controlled to drive the second counterweight to move along a second direction perpendicular to the first direction.

[0017] In one embodiment, after obtaining the second inclination angle data of the drone after power allocation, the method further includes:

[0018] Determining whether the second inclination angle data is greater than the preset inclination angle threshold;

[0019] When the second inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

[0020] In one embodiment, after obtaining the third inclination angle data of the drone after the counterweight block moves, the method further includes:

[0021] Determining whether the third inclination angle data is greater than the preset inclination angle threshold;

[0022] When the third inclination angle data is greater than the preset inclination angle threshold, jump to the step of controlling the counterweight block driving device on the drone to drive the counterweight block on the drone to move until the third inclination angle data is less than or equal to the preset inclination angle threshold.

[0023] In one embodiment, obtaining air flow data around the drone includes:

[0024] Acquiring wind speed data and wind direction data around the UAV;

[0025] Air flow data around the drone is determined based on the wind speed data and the wind direction data.

[0026] In a second aspect, the present application also provides a drone control device for a low-altitude wind shear environment. The device comprises:

[0027] A data acquisition module, used to acquire air flow data around the UAV and first inclination data of the UAV;

[0028] a first control module, configured to control a flight power system of the UAV to perform power allocation of the UAV according to the air flow data and the first inclination angle data, and obtain second inclination angle data of the UAV after the power allocation;

[0029] A second control module is used to control the counterweight driving device on the UAV to drive the counterweight on the UAV to move when the second inclination angle data is greater than a preset inclination angle threshold, and obtain third inclination angle data of the UAV after the counterweight moves;

[0030] The third control module is used to control the UAV to land when the third inclination angle data is less than or equal to the preset inclination angle threshold.

[0031] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0032] Acquiring air flow data around the UAV and first inclination angle data of the UAV;

[0033] Controlling the flight power system of the UAV to adjust the power of the UAV according to the air flow data and the first inclination angle data, and obtaining the second inclination angle data of the UAV after the power adjustment;

[0034] When the second inclination angle data is greater than a preset inclination angle threshold, controlling the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and obtaining the third inclination angle data of the UAV after the counterweight block moves;

[0035] When the third inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0037] Acquiring air flow data around the UAV and first inclination angle data of the UAV;

[0038] Controlling the flight power system of the UAV to adjust the power of the UAV according to the air flow data and the first inclination angle data, and obtaining the second inclination angle data of the UAV after the power adjustment;

[0039] When the second inclination angle data is greater than a preset inclination angle threshold, controlling the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and obtaining the third inclination angle data of the UAV after the counterweight block moves;

[0040] When the third inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

[0041] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0042] Acquiring air flow data around the UAV and first inclination angle data of the UAV;

[0043] Controlling the flight power system of the UAV to adjust the power of the UAV according to the air flow data and the first inclination angle data, and obtaining the second inclination angle data of the UAV after the power adjustment;

[0044] When the second inclination angle data is greater than a preset inclination angle threshold, controlling the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and obtaining the third inclination angle data of the UAV after the counterweight block moves;

[0045] When the third inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

[0046] The above-mentioned drone control method, device, computer equipment, computer-readable storage medium and computer program product in a low-altitude wind shear environment obtain air flow data around the drone and first tilt angle data of the drone; according to the air flow data and the first tilt angle data, control the flight power system of the drone to perform power allocation of the drone, and obtain the second tilt angle data of the drone after the power allocation; when the second tilt angle data is greater than the preset tilt angle threshold, control the counterweight block driving device on the drone to drive the counterweight block on the drone to move, and obtain the third tilt angle data of the drone after the counterweight block moves; when the third tilt angle data is less than or equal to the preset tilt angle threshold, control the drone to land. This solution adjusts the drone's attitude by acquiring air flow data and tilt angle data, combining power allocation and counterweight block movement, which is conducive to more accurately controlling the tilt angle of the drone in a low-altitude wind shear environment, thereby facilitating improving the stability and safety of the drone landing under complex meteorological conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 1 is a flow chart of a method for controlling a drone in a low-altitude wind shear environment according to an embodiment;

[0049] Figure 2 A schematic flow chart of the steps of controlling a counterweight driving device in one embodiment;

[0050] Figure 3 is a schematic diagram of the structure of a drone in one embodiment;

[0051] Figure 4 is a structural block diagram of a UAV control device in a low-altitude wind shear environment in one embodiment;

[0052] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations. The flight altitude and flight range of the drone comply with relevant regulations.

[0055] In an exemplary embodiment, Figure 1As shown, a method for controlling a drone in a low-altitude wind shear environment is provided. This embodiment uses the method applied to a drone control system as an example for illustration; it is understandable that the method can also be applied to a terminal or a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. Among them, the terminal can be but is not limited to various personal computers, laptops, smart phones, tablet computers, etc.; the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. In this embodiment, the method includes the following steps:

[0056] Step S101, obtaining air flow data around the drone and first inclination angle data of the drone.

[0057] Step S102, controlling the flight power system of the UAV to adjust the power of the UAV according to the air flow data and the first inclination angle data, and obtaining the second inclination angle data of the UAV after the power adjustment.

[0058] Step S103, when the second inclination angle data is greater than a preset inclination angle threshold, control the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and obtain the third inclination angle data of the UAV after the counterweight block moves.

[0059] Step S104: When the third inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

[0060] Among them, the low-altitude wind shear environment can be a meteorological condition in which the wind speed or wind direction suddenly changes when the drone is flying at low altitude. For example, the low-altitude wind shear environment can be a sharp change in wind speed or wind direction between different altitude layers encountered during the landing of the drone.

[0061] The air flow data may be information describing the state of air movement around the drone, for example, the air flow data may be wind speed and wind direction values ​​detected by a wind speed and wind direction sensor.

[0062] The first inclination data may be a numerical value describing the inclination degree of the current posture of the drone. For example, the first inclination data may be an angle between the bottom plane of the drone and the ground measured by an inclination detection sensor.

[0063] The flight power system may be a device that provides flight power for the UAV. For example, the flight power system may be a system consisting of four servos and propellers installed on the servo shafts.

[0064] Among them, power allocation can be an adjustment to the UAV flight power system. For example, power allocation can be controlling the rotation speed of four servos to keep the UAV stable.

[0065] The second inclination data may be the degree of inclination of the UAV after power deployment. For example, the second inclination data may be the angle between the bottom plane of the UAV and the ground measured again by the inclination detection sensor after power deployment.

[0066] The preset tilt angle threshold may be a preset limit value of the tilt degree of the drone, for example, the preset tilt angle threshold may be 20°.

[0067] The counterweight driving device may be a mechanism for moving the counterweight, for example, the counterweight driving device may be two servo mechanisms installed on the front and rear sides of the lower surface of the drone.

[0068] The counterweight block may be an object used to adjust the center of gravity of the drone, for example, the counterweight block may be two movable weights installed on the lower surface of the drone.

[0069] The third inclination data may be the degree of inclination of the UAV after the counterweight moves. For example, the third inclination data may be the angle between the bottom plane of the UAV and the ground measured again by the inclination detection sensor after the counterweight moves.

[0070] Optionally, the drone control system (which may also be a terminal) first obtains the air flow data around the drone through the wind speed and wind direction sensors, and obtains the first tilt angle data of the drone through the tilt detection sensor. The drone control system controls the flight power system of the drone to perform power allocation based on the acquired air flow data and the first tilt angle data, and specifically adjusts the rotation speed of the four servos to keep the drone stable. After the power allocation is completed, the drone control system obtains the second tilt angle data of the drone through the tilt detection sensor again. If the second tilt angle data is greater than the preset tilt angle threshold (for example, 20°), the drone control system controls the counterweight block driving device (i.e., two servo mechanisms) on the drone to drive the two counterweight blocks on the drone to move to adjust the center of gravity position of the drone. After the counterweight blocks move, the drone control system obtains the third tilt angle data of the drone through the tilt detection sensor again. If the third tilt angle data is less than or equal to the preset tilt angle threshold, the drone control system controls the drone to perform a landing operation.

[0071] In the above-mentioned drone control method in a low-altitude wind shear environment, the air flow data around the drone and the first tilt angle data of the drone are obtained; based on the air flow data and the first tilt angle data, the flight power system of the drone is controlled to perform power allocation of the drone, and the second tilt angle data of the drone after the power allocation is obtained; when the second tilt angle data is greater than the preset tilt angle threshold, the counterweight block driving device on the drone is controlled to drive the counterweight block on the drone to move, and the third tilt angle data of the drone after the counterweight block moves is obtained; when the third tilt angle data is less than or equal to the preset tilt angle threshold, the drone is controlled to land. This solution adjusts the attitude of the drone by obtaining air flow data and tilt angle data, combining power allocation and counterweight block movement, which is conducive to more accurate control of the tilt angle of the drone in a low-altitude wind shear environment, thereby facilitating the improvement of the stability and safety of the drone landing under complex meteorological conditions.

[0072] In an exemplary embodiment, referring to Figure 2 , control the counterweight driving device on the UAV to drive the counterweight on the UAV to move, specifically including the following contents:

[0073] Step S201, determining the movement parameters of the counterweight according to the second inclination angle data;

[0074] Step S202, according to the movement parameters, controlling the counterweight block driving device to drive the counterweight block to move, so as to adjust the posture of the UAV.

[0075] The movement parameter may be data describing the movement mode of the counterweight, for example, the movement parameter may be the movement direction and movement distance of the counterweight.

[0076] The attitude of the drone may be a state that describes the spatial position and direction of the drone in the air. For example, the attitude of the drone may include the tilt angle, pitch angle, and yaw angle of the drone.

[0077] Optionally, the drone control system determines the movement parameters of the counterweight block based on the acquired second inclination angle data. The drone control system analyzes the second inclination angle data, calculates the current inclination direction and degree of inclination of the drone, and then determines the direction and distance that the counterweight block needs to move based on this information as the movement parameters. After determining the movement parameters, the drone control system controls the counterweight block driving device (i.e., two servo mechanisms) to drive the counterweight block to move based on these parameters. The movement of the counterweight block changes the center of gravity distribution of the drone, thereby adjusting the posture of the drone to make it more stable.

[0078] The technical solution provided in this embodiment determines the movement parameters of the counterweight block according to the second inclination angle data, and controls the counterweight block driving device accordingly, which is conducive to accurately adjusting the center of gravity distribution of the UAV, thereby facilitating fine adjustment of the UAV attitude through the movement of the counterweight block when the power allocation cannot completely offset the influence of the wind, thereby improving the stability of the UAV in a low-altitude wind shear environment.

[0079] In an exemplary embodiment, controlling the counterweight driving device to drive the counterweight to move specifically includes the following contents: controlling the first servo mechanism to drive the first counterweight to move in a first direction; controlling the second servo mechanism to drive the second counterweight to move in a second direction perpendicular to the first direction.

[0080] Wherein, the counterweight block driving device includes a first servo mechanism and a second servo mechanism; the counterweight block includes a first counterweight block and a second counterweight block.

[0081] The first servo mechanism may be a device for driving the first counterweight to move, for example, the first servo mechanism may be a servo motor and a transmission mechanism thereof installed on the front side of the lower surface of the drone.

[0082] The second servo mechanism may be a device for driving the second counterweight to move, for example, the second servo mechanism may be a servo motor and a transmission mechanism thereof installed on the rear side of the lower surface of the drone.

[0083] The first counterweight block may be a first movable object used to adjust the center of gravity of the drone. For example, the first counterweight block may be a metal block installed on the front side of the lower surface of the drone.

[0084] The second counterweight block may be a second movable object used to adjust the center of gravity of the drone. For example, the second counterweight block may be a metal block installed on the rear side of the lower surface of the drone.

[0085] The first direction may be a direction in which the first counterweight moves, for example, the first direction may be a front-rear direction of the drone.

[0086] The second direction may be a direction in which the second counterweight moves, for example, the second direction may be a left-right direction of the drone.

[0087] Optionally, the drone control system determines the movement parameters of the first counterweight and the second counterweight according to the second inclination data. The drone control system controls the first servo mechanism to drive the first counterweight to move in the first direction, and controls the second servo mechanism to drive the second counterweight to move in the second direction. Through this combination of vertical counterweight movement, the drone control system can adjust the center of gravity distribution of the drone in two dimensions, thereby more accurately adjusting the attitude of the drone.

[0088] The technical solution provided in this embodiment, by using two counterweights that move in two vertical directions, is conducive to adjusting the center of gravity distribution of the drone in two dimensions at the same time, thereby facilitating more precise control of the attitude of the drone.

[0089] In an exemplary embodiment, after obtaining the second inclination angle data of the UAV after power allocation, it also includes the following content: judging whether the second inclination angle data is greater than a preset inclination angle threshold; when the second inclination angle data is less than or equal to the preset inclination angle threshold, controlling the UAV to land.

[0090] Optionally, after obtaining the second tilt angle data of the drone after power allocation, the drone control system determines whether the second tilt angle data is greater than a preset tilt angle threshold. The drone control system compares the second tilt angle data with the preset tilt angle threshold. If the second tilt angle data is less than or equal to the preset tilt angle threshold, the drone control system considers that the drone attitude has reached the requirement for safe landing, and then controls the drone to perform a landing operation. If the second tilt angle data is greater than the preset tilt angle threshold, the drone control system continues to perform attitude adjustment operations until the safe landing conditions are met.

[0091] The technical solution provided in this embodiment helps to ensure that the UAV can perform landing operations with a stable attitude by judging whether the inclination angle of the UAV after power allocation meets the preset safety threshold, thereby helping to improve the landing safety of the UAV in a low-altitude wind shear environment and reduce the risk of landing accidents caused by unstable attitude.

[0092] In an exemplary embodiment, after obtaining the third inclination angle data of the UAV after the counterweight block moves, it also includes the following content: judging whether the third inclination angle data is greater than a preset inclination angle threshold; when the third inclination angle data is greater than the preset inclination angle threshold, jumping to the step of controlling the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, until the third inclination angle data is less than or equal to the preset inclination angle threshold.

[0093] Optionally, the drone control system obtains the third inclination data of the drone after the counterweight moves, and determines whether the third inclination data is greater than a preset inclination threshold. If the third inclination data is greater than the preset inclination threshold, the drone control system controls the counterweight driving device on the drone again to drive the counterweight on the drone to move. The drone control system repeats this process until the third inclination data is less than or equal to the preset inclination threshold, to ensure that the drone reaches a stable state.

[0094] The technical solution provided in this embodiment is conducive to accurately controlling the attitude of the UAV by repeatedly adjusting the position of the counterweight block and detecting the inclination data, thereby facilitating the stable landing of the UAV in a complex low-altitude wind shear environment.

[0095] In an exemplary embodiment, obtaining air flow data around the drone specifically includes the following contents: obtaining wind speed data and wind direction data around the drone; and determining the air flow data around the drone based on the wind speed data and wind direction data.

[0096] The wind speed data may be numerical information describing the speed of air flow, for example, the wind speed data may be a numerical value in meters per second.

[0097] The wind direction data may be information describing the direction of air flow, for example, the wind direction data may be a direction expressed in an angle.

[0098] Optionally, the drone control system obtains wind speed data and wind direction data around the drone through wind speed and wind direction sensors installed on the periphery of the drone. The drone control system receives this data and performs a comprehensive analysis of the wind speed data and wind direction data to determine the air flow data around the drone. This air flow data contains comprehensive information on wind speed and wind direction, and can more comprehensively describe the air environment conditions in which the drone is located.

[0099] The technical solution provided in this embodiment is beneficial for accurately grasping the air flow conditions around the drone by acquiring wind speed and wind direction data and conducting comprehensive analysis, thereby facilitating the drone control system to make more precise attitude adjustments and landing trajectory planning.

[0100] The following is an application example to illustrate the drone control method in a low-altitude wind shear environment provided by the present application. This application example uses the method applied to a drone control system (which can also be a terminal) as an example.

[0101] After the UAV has adjusted itself dynamically, the UAV may still tilt at a large angle because its flight power system is not sufficient to overcome the impact of the wind, causing the UAV to be unstable as a whole or even break.

[0102] This application example detects the wind speed and direction of the air flow around the drone based on the wind speed and wind direction sensors, and judges the air flow conditions around the drone based on the detected wind speed and wind direction values; the drone takes off and lands vertically under windless (light breeze) conditions, or the drone takes off and lands within an inclination angle of no more than 20° (the angle between the bottom plane of the drone and the ground is the inclination angle), and the inclination of the drone is monitored in real time based on the inclination detection sensor; the flight power system of the drone is regulated based on the inclination, wind speed and wind direction data detected by the above-mentioned drone, and the power of the flight power system is adjusted so that the take-off and landing inclination angle of the drone is no more than 20°; when the take-off and landing inclination angle of the drone still tends to exceed 20° after the flight power system of the drone is adjusted, the counterweight block is driven to move based on the servo mechanism, and the counterweight of the drone is redistributed so that the counterweight block presses down the drone to maintain the stability of the drone's take-off and landing.

[0103] The steps of this application example are as follows:

[0104] Usually, low-altitude UAVs have four servos and propellers installed on the servo shafts, which form a flight power system. Low-altitude UAVs perform flight operations such as ascent, descent, forward, backward, roll, and turn based on the flight power system.

[0105] Set wind speed and direction sensors and distance measuring sensors on the periphery of the low-altitude drone;

[0106] Two counterweights are set on the lower surface of the low-altitude UAV. The two counterweights are driven to move based on two servo mechanisms. The two servo mechanisms are located at the front and rear sides of the lower surface of the low-altitude UAV. The movement trajectories of the two servo mechanisms are perpendicular to each other.

[0107] The drone carries a tilt detection sensor.

[0108] S1: Detect the wind speed and direction of the air flow around the drone based on the wind speed and wind direction sensors, and judge the air flow around the drone based on the detected wind speed and wind direction values;

[0109] S2: The drone takes off and lands vertically in the absence of wind (light breeze), or the drone takes off and lands at an inclination angle of no more than 20° (the angle between the bottom plane of the drone and the ground is the inclination angle), and the inclination angle of the drone is monitored in real time based on the inclination detection sensor;

[0110] S3: Based on the above-mentioned drone detection inclination angle, wind speed and wind direction data, the flight power system of the drone is regulated and the power of the flight power system is adjusted so that the take-off and landing inclination angle of the drone is not greater than 20°;

[0111] S4: After the UAV flight power system is adjusted, if the take-off and landing angle of the UAV still tends to exceed 20°, the counterweight block is driven to move based on the servo mechanism, and the counterweight of the UAV is redistributed so that the counterweight block presses down the UAV to maintain the stability of the UAV's take-off and landing.

[0112] The two servo mechanisms can drive the two counterweights to move, so that the two counterweights adjust the overall center of gravity of the drone, thereby making the drone wind-resistant.

[0113] refer to Figure 3 , set the front, back, left, and right sides of the drone as side A, side B, side C, and side D respectively. For example, when side B is the windward side, it is affected by the wind force of the wind direction and is likely to be blown up (lifted) or lowered. Then, the four servos of the drone's flight power system are controlled. The speed control of the four servos can enable the drone to resist the tendency of side B being blown up or lowered, thus stabilizing the drone.

[0114] When the power system controlling the drone's flight still cannot overcome the impact of wind on the drone's stability, the two servo mechanisms drive the counterweight to move, causing the counterweight to move in different positions on the bottom of the drone, thereby adjusting the force on the drone and overcoming the tilt of the drone caused by wind.

[0115] Among them, the angle between the bottom plane of the drone and the ground is the inclination angle.

[0116] The technical solution provided in this application example measures the external influence of wind force based on wind speed and wind direction sensors, and sets a distance sensor to detect the distance of the drone from the ground, thereby determining the specific position where the drone needs to be adjusted to stabilize. At high altitudes, the drone can tilt larger and lower, and the drone needs to be stable when taking off or landing; preliminary adjustments can be made through the drone flight power system, and on this basis, the two servo mechanisms are used to drive the movement of two counterweights to further adjust the stability of the drone, so that the overall stability adjustment effect is better.

[0117] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0118] Based on the same inventive concept, the embodiment of the present application also provides a drone control device for a low-altitude wind shear environment for implementing the drone control method for a low-altitude wind shear environment involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations of one or more drone control device embodiments for a low-altitude wind shear environment provided below can refer to the limitations of the drone control method for a low-altitude wind shear environment above, and will not be repeated here.

[0119] In an exemplary embodiment, Figure 4 As shown, a drone control device for a low-altitude wind shear environment is provided. The drone control device 400 for a low-altitude wind shear environment may include:

[0120] The data acquisition module 401 is used to acquire the air flow data around the UAV and the first inclination angle data of the UAV;

[0121] The first control module 402 is used to control the flight power system of the UAV to perform power allocation of the UAV according to the air flow data and the first inclination angle data, and obtain the second inclination angle data of the UAV after the power allocation;

[0122] The second control module 403 is used to control the counterweight driving device on the UAV to drive the counterweight on the UAV to move when the second inclination angle data is greater than a preset inclination angle threshold, and obtain the third inclination angle data of the UAV after the counterweight moves;

[0123] The third control module 404 is used to control the UAV to land when the third inclination angle data is less than or equal to a preset inclination angle threshold.

[0124] In an exemplary embodiment, the second control module 403 is further used to determine the movement parameters of the counterweight block according to the second inclination angle data; and control the counterweight block driving device to drive the counterweight block to move according to the movement parameters to adjust the posture of the drone.

[0125] In an exemplary embodiment, the counterweight block driving device includes a first servo mechanism and a second servo mechanism; the counterweight block includes a first counterweight block and a second counterweight block; the second control module 403 is also used to control the first servo mechanism to drive the first counterweight block to move along a first direction; and control the second servo mechanism to drive the second counterweight block to move along a second direction perpendicular to the first direction.

[0126] In an exemplary embodiment, the device 400 also includes: a first judgment module, used to judge whether the second inclination angle data is greater than a preset inclination angle threshold; when the second inclination angle data is less than or equal to the preset inclination angle threshold, controlling the drone to land.

[0127] In an exemplary embodiment, the device 400 also includes: a second judgment module, used to determine whether the third inclination angle data is greater than a preset inclination angle threshold; when the third inclination angle data is greater than the preset inclination angle threshold, jump to the step of controlling the counterweight block driving device on the drone to drive the counterweight block on the drone to move until the third inclination angle data is less than or equal to the preset inclination angle threshold.

[0128] In an exemplary embodiment, the data acquisition module 401 is also used to acquire wind speed data and wind direction data around the drone; and determine air flow data around the drone based on the wind speed data and wind direction data.

[0129] Each module in the above-mentioned UAV control device for low-altitude wind shear environment can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0130] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling a drone in a low-altitude wind shear environment is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0131] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0132] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0133] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0134] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0135] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0136] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a drone in a low-altitude wind shear environment, characterized in that: The method comprises: Acquiring air flow data around the UAV and first inclination angle data of the UAV; Controlling the flight power system of the UAV to adjust the power of the UAV according to the air flow data and the first inclination angle data, and obtaining the second inclination angle data of the UAV after the power adjustment; When the second inclination angle data is greater than a preset inclination angle threshold, controlling the counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and obtaining the third inclination angle data of the UAV after the counterweight block moves; When the third inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

2. The method according to claim 1, characterized in that The controlling the counterweight driving device on the UAV to drive the counterweight on the UAV to move includes: Determining a movement parameter of the counterweight according to the second inclination angle data; According to the movement parameters, the counterweight block driving device is controlled to drive the counterweight block to move, so as to adjust the posture of the UAV.

3. The method according to claim 2, characterized in that The counterweight block driving device includes a first servo mechanism and a second servo mechanism; the counterweight block includes a first counterweight block and a second counterweight block; The controlling the counterweight block driving device to drive the counterweight block to move comprises: Controlling the first servo mechanism to drive the first counterweight to move along a first direction; The second servo mechanism is controlled to drive the second counterweight to move along a second direction perpendicular to the first direction.

4. The method according to claim 1, characterized in that: After obtaining the second inclination angle data of the UAV after the power allocation, the method further includes: Determining whether the second inclination angle data is greater than the preset inclination angle threshold; When the second inclination angle data is less than or equal to the preset inclination angle threshold, the UAV is controlled to land.

5. The method according to claim 1, characterized in that After obtaining the third inclination angle data of the UAV after the counterweight block moves, the method further includes: Determining whether the third inclination angle data is greater than the preset inclination angle threshold; When the third inclination angle data is greater than the preset inclination angle threshold, jump to the step of controlling the counterweight block driving device on the drone to drive the counterweight block on the drone to move until the third inclination angle data is less than or equal to the preset inclination angle threshold.

6. The method according to any one of claims 1 to 5, characterized in that The obtaining of air flow data around the drone includes: Acquiring wind speed data and wind direction data around the UAV; Air flow data around the drone is determined based on the wind speed data and the wind direction data.

7. A UAV control device for low-altitude wind shear environment, characterized in that: The device comprises: A data acquisition module, used to acquire air flow data around the UAV and first inclination data of the UAV; a first control module, configured to control a flight power system of the UAV to perform power allocation of the UAV according to the air flow data and the first inclination angle data, and obtain second inclination angle data of the UAV after the power allocation; A second control module is used to control the counterweight driving device on the UAV to drive the counterweight on the UAV to move when the second inclination angle data is greater than a preset inclination angle threshold, and obtain third inclination angle data of the UAV after the counterweight moves; The third control module is used to control the UAV to land when the third inclination angle data is less than or equal to the preset inclination angle threshold.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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