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

Abstract

The application relates to a UAV control method and device in a low-altitude wind shear environment, computer equipment, a computer readable storage medium and a computer program product, which can be used in the technical field of UAVs. The method comprises the following steps: acquiring air flow data around a UAV and first inclination data of the UAV; controlling a flight power system of the UAV to perform power allocation of the UAV according to the air flow data and the first inclination data, and acquiring second inclination data of the UAV after power allocation; in the case that the second inclination data is greater than a preset inclination threshold, driving a counterweight block driving device on the UAV to drive the counterweight block on the UAV to move, and acquiring third inclination data of the UAV after the counterweight block moves; and in the case that the third inclination data is less than or equal to the preset inclination threshold, controlling the UAV to land. The method can improve the safety of UAV landing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling an unmanned aerial vehicle in a low-altitude wind shear environment, a computer device, a computer readable storage medium, and a computer program product. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles are increasingly widely used in various fields. However, in complex weather conditions, the flight control of unmanned aerial vehicles faces great challenges. How to safely control the landing of unmanned aerial vehicles has become an important research direction.

[0003] Traditional technology usually controls the landing of unmanned aerial vehicles by manual control. However, due to the low autonomous flight capability of unmanned aerial vehicles, they are easily affected by flight environments such as wind, causing the overall instability of the unmanned aerial vehicle, resulting in low safety of the unmanned aerial vehicle landing. SUMMARY

[0004] Therefore, it is necessary to provide a method and device for controlling an unmanned aerial vehicle in a low-altitude wind shear environment, which can improve the safety of the landing of the unmanned aerial vehicle.

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

[0006] obtaining air flow data around the unmanned aerial vehicle and first inclination data of the unmanned aerial vehicle;

[0007] controlling a flight power system of the unmanned aerial vehicle to perform power allocation of the unmanned aerial vehicle according to the air flow data and the first inclination data, and obtaining second inclination data of the unmanned aerial vehicle after the power allocation;

[0008] controlling a counterweight driving device on the unmanned aerial vehicle to drive a counterweight on the unmanned aerial vehicle to move, and obtaining third inclination data of the unmanned aerial vehicle after the movement of the counterweight, when the second inclination data is greater than a preset inclination threshold;

[0009] controlling the unmanned aerial vehicle to land when the third inclination data is less than or equal to the preset inclination threshold.

[0010] In one embodiment, the control of the counterweight driving device on the unmanned aerial vehicle to drive the counterweight on the unmanned aerial vehicle to move comprises:

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

[0012] According to the movement parameter, the counterweight driving device is controlled to drive the counterweight to move, so as to adjust the attitude of the unmanned aerial vehicle.

[0013] In one of the embodiments, the counterweight driving device comprises a first servo mechanism and a second servo mechanism; the counterweight comprises a first counterweight and a second counterweight.

[0014] The control of the counterweight driving device to drive the counterweight to move comprises:

[0015] The first servo mechanism is controlled to drive the first counterweight to move in a first direction;

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

[0017] In one of the embodiments, after the second inclination data of the unmanned aerial vehicle after the power adjustment is obtained, the method further comprises:

[0018] It is judged whether the second inclination data is greater than the preset inclination threshold value;

[0019] In the case that the second inclination data is less than or equal to the preset inclination threshold value, the unmanned aerial vehicle is controlled to land.

[0020] In one of the embodiments, after the third inclination data of the unmanned aerial vehicle after the counterweight moves is obtained, the method further comprises:

[0021] It is judged whether the third inclination data is greater than the preset inclination threshold value;

[0022] In the case that the third inclination data is greater than the preset inclination threshold value, the step of controlling the counterweight driving device on the unmanned aerial vehicle to drive the counterweight on the unmanned aerial vehicle to move is jumped to until the third inclination data is less than or equal to the preset inclination threshold value.

[0023] In one of the embodiments, the air flow data around the unmanned aerial vehicle is obtained by:

[0024] The wind speed data and the wind direction data around the unmanned aerial vehicle are obtained;

[0025] According to the wind speed data and the wind direction data, the air flow data around the unmanned aerial vehicle is determined.

[0026] In a second aspect, the application further provides a low-altitude wind shear environment unmanned aerial vehicle control device. The device comprises:

[0027] A data acquisition module is configured to acquire air flow data around the unmanned aerial vehicle and first inclination data of the unmanned aerial vehicle;

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

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

[0030] a third control module configured to control the UAV to land when the third tilt angle data is less than or equal to the preset tilt angle threshold.

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

[0032] obtain air flow data around the UAV and first tilt angle data of the UAV;

[0033] control a flight power system of the UAV to perform power adjustment of the UAV according to the air flow data and the first tilt angle data, and obtain second tilt angle data of the UAV after the power adjustment;

[0034] control a counterweight driving device on the UAV to drive a counterweight on the UAV to move when the second tilt angle data is greater than a preset tilt angle threshold, and obtain third tilt angle data of the UAV after the movement of the counterweight;

[0035] control the UAV to land when the third tilt angle data is less than or equal to the preset tilt angle threshold.

[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 the computer program is executed by a processor to realize the following steps:

[0037] obtain air flow data around the UAV and first tilt angle data of the UAV;

[0038] control a flight power system of the UAV to perform power adjustment of the UAV according to the air flow data and the first tilt angle data, and obtain second tilt angle data of the UAV after the power adjustment;

[0039] In a case where the second inclination data is greater than a preset inclination threshold, a counterweight driving device on the UAV is controlled to drive a counterweight on the UAV to move, and third inclination data of the UAV after the counterweight moves is acquired.

[0040] In a case where the third inclination data is less than or equal to the preset inclination 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 comprises a computer program which, when executed by a processor, implements the following steps:

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

[0043] According to the air flow data and the first inclination data, a flight power system of the UAV is controlled to perform power adjustment of the UAV, and second inclination data of the UAV after the power adjustment is acquired;

[0044] In a case where the second inclination data is greater than a preset inclination threshold, a counterweight driving device on the UAV is controlled to drive a counterweight on the UAV to move, and third inclination data of the UAV after the counterweight moves is acquired.

[0045] In a case where the third inclination data is less than or equal to the preset inclination threshold, the UAV is controlled to land.

[0046] The above-mentioned UAV control method, device, computer equipment, computer readable storage medium and computer program product in the low-altitude wind shear environment, the air flow data around the UAV and the first inclination data of the UAV are acquired; according to the air flow data and the first inclination data, the flight power system of the UAV is controlled to perform power adjustment of the UAV, and the second inclination data of the UAV after the power adjustment is acquired; in a case where the second inclination data is greater than a preset inclination threshold, a counterweight driving device on the UAV is controlled to drive a counterweight on the UAV to move, and third inclination data of the UAV after the counterweight moves is acquired; in a case where the third inclination data is less than or equal to the preset inclination threshold, the UAV is controlled to land. This scheme adjusts the attitude of the UAV by acquiring the air flow data and the inclination data, combining the power adjustment and the counterweight movement, which is beneficial to more accurately control the inclination of the UAV in the low-altitude wind shear environment, thereby improving the stability and safety of the UAV landing in complex weather conditions. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the accompanying drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0048] Figure 1 A flowchart of a method for controlling a UAV in a low-altitude wind shear environment in one embodiment;

[0049] Figure 2 A flowchart of a method for controlling a UAV in a low-altitude wind shear environment in one embodiment;

[0050] Figure 3 A schematic structural diagram of a UAV in one embodiment;

[0051] Figure 4 A schematic structural diagram of a UAV in one embodiment;

[0052] Figure 5 An internal structural diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations. The flight height and flight range of the UAV comply with relevant regulations.

[0055] In one exemplary embodiment, as Figure 1As shown, a UAV control method in a low-altitude wind shear environment is provided, and the embodiment is exemplified by the method applied to a UAV control system; it can be understood 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 realized through interaction between the terminal and the server. The terminal can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers and the like; the server can be a stand-alone physical server, or a server cluster or distributed system formed by multiple physical servers, or a cloud server providing cloud computing services. In the embodiment, the method includes the following steps:

[0056] In step S101, air flow data around the UAV and first inclination data of the UAV are acquired.

[0057] In step S102, the flight power system of the UAV is controlled to perform power allocation of the UAV according to the air flow data and the first inclination data, and second inclination data of the UAV after power allocation is acquired.

[0058] In step S103, in a case where the second inclination data is greater than a preset inclination threshold, a counterweight block driving device on the UAV is controlled to drive a counterweight block on the UAV to move, and third inclination data of the UAV after the counterweight block moves is acquired.

[0059] In step S104, in a case where the third inclination data is less than or equal to the preset inclination threshold, the UAV is controlled to land.

[0060] The low-altitude wind shear environment can be a meteorological condition of sudden change of wind speed or wind direction encountered by the UAV when flying at a low altitude, for example, the low-altitude wind shear environment can be a sharp change of wind speed or wind direction between different height layers encountered during landing of the UAV.

[0061] The air flow data can be information describing the motion state of the air around the UAV, for example, the air flow data can be wind speed and wind direction values detected by a wind speed and wind direction sensor.

[0062] The first inclination data can be a numerical value describing the inclination degree of the current attitude of the UAV, for example, the first inclination data can be an angle between a bottom plane of the UAV and the ground measured by an inclination detection sensor.

[0063] The flight power system can be a device providing flight power for the UAV, for example, the flight power system can be a system composed of four rudders and paddles installed on the rudder shaft.

[0064] The power allocation can be an adjustment made to the flight power system of the UAV, for example, the power allocation can be control of the rotation speed of the four rudders to keep the UAV stable.

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

[0066] The preset inclination threshold can be a preset limit value of the inclination degree of the UAV, for example, the preset inclination threshold can be 20°.

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

[0068] The counterweight can be an object for adjusting the center of gravity of the UAV, for example, the counterweight can be two movable weights installed on the lower surface of the UAV.

[0069] The third inclination data can be the inclination degree of the UAV after the counterweight moves, for example, the third inclination data can 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 UAV control system (which can also be a terminal) first obtains the air flow data around the UAV through the wind speed and direction sensor, and obtains the first inclination data of the UAV through the inclination detection sensor. The UAV control system controls the flight power system of the UAV to perform power adjustment according to the obtained air flow data and the first inclination data, and specifically adjusts the rotation speed of the four rudders to keep the UAV stable. After the power adjustment is completed, the UAV control system obtains the second inclination data of the UAV through the inclination detection sensor again. If the second inclination data is greater than the preset inclination threshold (for example, 20°), the UAV control system controls the counterweight driving device (i.e., the two servo mechanisms) on the UAV to drive the two counterweights on the UAV to move, so as to adjust the center of gravity of the UAV. After the counterweight moves, the UAV control system obtains the third inclination data of the UAV through the inclination detection sensor again. If the third inclination data is less than or equal to the preset inclination threshold, the UAV control system controls the UAV to perform the landing operation.

[0071] In the unmanned aerial vehicle control method in the low-altitude wind shear environment, air flow data around the unmanned aerial vehicle and first inclination data of the unmanned aerial vehicle are acquired; a flight power system of the unmanned aerial vehicle is controlled according to the air flow data and the first inclination data to perform power allocation of the unmanned aerial vehicle, and second inclination data of the unmanned aerial vehicle after the power allocation is acquired; in a case where the second inclination data is greater than a preset inclination threshold, a counterweight block driving device on the unmanned aerial vehicle is controlled to drive a counterweight block on the unmanned aerial vehicle to move, and third inclination data of the unmanned aerial vehicle after the counterweight block moves is acquired; and in a case where the third inclination data is less than or equal to the preset inclination threshold, the unmanned aerial vehicle is controlled to land. The scheme acquires the air flow data and the inclination data, adjusts the attitude of the unmanned aerial vehicle by combining the power allocation and the counterweight block movement, is beneficial to more accurately control the inclination of the unmanned aerial vehicle in the low-altitude wind shear environment, and is beneficial to improve the stability and safety of the unmanned aerial vehicle landing under complex weather conditions.

[0072] In one exemplary embodiment, with reference to Figure 2 The control of the counterweight block driving device to drive the counterweight block on the unmanned aerial vehicle to move specifically includes the following contents:

[0073] In step S201, the movement parameter of the counterweight block is determined according to the second inclination data.

[0074] In step S202, the counterweight block driving device is controlled to drive the counterweight block to move according to the movement parameter, so as to adjust the attitude of the unmanned aerial vehicle.

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

[0076] The attitude of the unmanned aerial vehicle can be a state describing the spatial position and direction of the unmanned aerial vehicle in the air, for example, the attitude of the unmanned aerial vehicle can include the inclination angle, the pitch angle and the yaw angle of the unmanned aerial vehicle.

[0077] Optionally, the unmanned aerial vehicle control system determines the movement parameter of the counterweight block according to the acquired second inclination data. The unmanned aerial vehicle control system analyzes the second inclination data, calculates the current inclination direction and inclination degree of the unmanned aerial vehicle, and then determines the direction and distance that the counterweight block needs to move as the movement parameter according to the information. After the movement parameter is determined, the unmanned aerial vehicle control system controls the counterweight block driving device (i.e. two servo mechanisms) to drive the counterweight block to move according to the parameters. The movement of the counterweight block changes the center of gravity distribution of the unmanned aerial vehicle, so as to adjust the attitude of the unmanned aerial vehicle and make it more stable.

[0078] The technical scheme provided by the embodiment is advantageous in accurately adjusting the gravity center distribution of the unmanned aerial vehicle, so as to accurately adjust the posture of the unmanned aerial vehicle by moving the counterweight blocks when the power allocation cannot completely offset the influence of the wind, and improve the stability of the unmanned aerial vehicle in the low-altitude wind shear environment.

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

[0080] The counterweight block driving device includes the first servo mechanism and the second servo mechanism; and the counterweight blocks include the first counterweight block and the second counterweight block.

[0081] The first servo mechanism can be a device for driving the first counterweight block to move, for example, the first servo mechanism can be a servo motor and its transmission mechanism installed on the front side of the lower surface of the unmanned aerial vehicle.

[0082] The second servo mechanism can be a device for driving the second counterweight block to move, for example, the second servo mechanism can be a servo motor and its transmission mechanism installed on the rear side of the lower surface of the unmanned aerial vehicle.

[0083] The first counterweight block can be a first movable object for adjusting the gravity center of the unmanned aerial vehicle, for example, the first counterweight block can be a metal block installed on the front side of the lower surface of the unmanned aerial vehicle.

[0084] The second counterweight block can be a second movable object for adjusting the gravity center of the unmanned aerial vehicle, for example, the second counterweight block can be a metal block installed on the rear side of the lower surface of the unmanned aerial vehicle.

[0085] The first direction can be the direction in which the first counterweight block moves, for example, the first direction can be the front-rear direction of the unmanned aerial vehicle.

[0086] The second direction can be the direction in which the second counterweight block moves, for example, the second direction can be the left-right direction of the unmanned aerial vehicle.

[0087] Optionally, the unmanned aerial vehicle control system determines the movement parameters of the first counterweight block and the second counterweight block according to the second inclination data. The unmanned aerial vehicle control system controls the first servo mechanism to drive the first counterweight block to move in the first direction, and controls the second servo mechanism to drive the second counterweight block to move in the second direction. By such a combination of counterweight block movements in perpendicular directions, the unmanned aerial vehicle control system can adjust the gravity center distribution of the unmanned aerial vehicle in two dimensions, so as to more accurately adjust the posture of the unmanned aerial vehicle.

[0088] The technical scheme provided in the embodiment is favorable for adjusting the gravity center distribution of the unmanned aerial vehicle in two dimensions at the same time, thereby being favorable for more accurately controlling the attitude of the unmanned aerial vehicle.

[0089] In an exemplary embodiment, after the second inclination data of the unmanned aerial vehicle after power allocation is acquired, the following is further included: judging whether the second inclination data is greater than a preset inclination threshold; in the case that the second inclination data is less than or equal to the preset inclination threshold, controlling the unmanned aerial vehicle to land.

[0090] Optionally, after the second inclination data of the unmanned aerial vehicle after power allocation is acquired, the unmanned aerial vehicle control system judges whether the second inclination data is greater than a preset inclination threshold. The unmanned aerial vehicle control system compares the second inclination data with the preset inclination threshold, and if the second inclination data is less than or equal to the preset inclination threshold, the unmanned aerial vehicle control system considers that the attitude of the unmanned aerial vehicle has reached the requirement for safe landing, and then controls the unmanned aerial vehicle to land. If the second inclination data is greater than the preset inclination threshold, the unmanned aerial vehicle control system continues to perform the attitude adjustment operation until the safe landing condition is met.

[0091] The technical scheme provided in the embodiment is favorable for ensuring that the unmanned aerial vehicle lands in the case of stable attitude, thereby being favorable for improving the landing safety of the unmanned aerial vehicle in the low-altitude wind shear environment and reducing the risk of landing accidents caused by unstable attitude.

[0092] In an exemplary embodiment, after the third inclination data of the unmanned aerial vehicle after the movement of the counterweight is acquired, the following is further included: judging whether the third inclination data is greater than a preset inclination threshold; in the case that the third inclination data is greater than the preset inclination threshold, jumping to the step of controlling the counterweight driving device on the unmanned aerial vehicle to drive the movement of the counterweight on the unmanned aerial vehicle until the third inclination data is less than or equal to the preset inclination threshold.

[0093] Optionally, the unmanned aerial vehicle control system acquires the third inclination data of the unmanned aerial vehicle after the movement of the counterweight, and judges 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 unmanned aerial vehicle control system controls the counterweight driving device on the unmanned aerial vehicle to drive the movement of the counterweight on the unmanned aerial vehicle again. The unmanned aerial vehicle control system repeatedly performs this process until the third inclination data is less than or equal to the preset inclination threshold, so as to ensure that the unmanned aerial vehicle reaches a stable state.

[0094] The technical scheme provided in the embodiment is favorable for accurately controlling the attitude of the unmanned aerial vehicle by repeatedly adjusting the position of the counterweight and detecting the inclination data, thereby being favorable for realizing the stable landing of the unmanned aerial vehicle in a complex low-altitude wind shear environment.

[0095] In one example embodiment, the air flow data around the UAV is acquired, specifically including the following: acquiring wind speed data and wind direction data around the UAV; and determining the air flow data around the UAV according to the wind speed data and the wind direction data.

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

[0097] The wind direction data can be information describing the direction of air flow, for example, the wind direction data can be a direction represented by an angle.

[0098] Optionally, the UAV control system acquires the wind speed data and the wind direction data around the UAV through wind speed and wind direction sensors arranged on the periphery of the UAV. The UAV control system receives these data and comprehensively analyzes the wind speed data and the wind direction data, thereby determining the air flow data around the UAV. This air flow data contains comprehensive information of wind speed and wind direction, and can more comprehensively describe the air environment condition in which the UAV is located.

[0099] The technical solution provided in this embodiment is advantageous in accurately grasping the air flow condition around the UAV by acquiring and comprehensively analyzing the wind speed and wind direction data, thereby facilitating the UAV control system to make more accurate attitude adjustment and landing trajectory planning.

[0100] The following is an application example illustrating the UAV control method in a low-altitude wind shear environment provided in the present application. The application example illustrates the method applied to a UAV control system (which can also be a terminal).

[0101] After the UAV dynamically adjusts itself, the UAV still has a large angle of inclination due to the insufficient flight power system of the UAV to overcome the influence of wind, causing the UAV to be unstable as a whole, and even to be damaged.

[0102] The application example detects the wind speed and wind direction of the air flow around the UAV based on wind speed and wind direction sensors, and judges the air flow condition around the UAV based on the detected wind speed and wind direction values. The UAV vertically takes off under windless (gentle breeze) conditions, or takes off within an inclination angle of not greater than 20° (the angle between the bottom plane of the UAV and the ground is the inclination angle), and the inclination angle of the UAV is monitored in real time based on an inclination angle detection sensor. The flight power system of the UAV is regulated based on the above-mentioned UAV detection inclination angle, wind speed and wind direction data, and the power of the flight power system is allocated, so that the inclination angle of the UAV during takeoff and landing is not greater than 20°. When the inclination angle of the UAV during takeoff and landing still has a tendency to exceed 20° after the flight power system of the UAV is regulated, the counterweight block is driven to move based on a servo mechanism, and the counterweight of the UAV is redistributed, so that the counterweight block presses the UAV, and the stability of the UAV during takeoff and landing is maintained.

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

[0104] The low-altitude unmanned aerial vehicle generally has four rudders and paddles installed on the rudder shafts, which form a flight power system. The low-altitude unmanned aerial vehicle performs flight operations such as ascending, descending, advancing, retreating, tilting, and turning based on the flight power system.

[0105] A wind speed and direction sensor is arranged on the periphery of the low-altitude unmanned aerial vehicle, and a distance measuring sensor is arranged.

[0106] Two counterweights are arranged on the lower surface of the low-altitude unmanned aerial vehicle, and the two counterweights are driven to move based on two servo mechanisms. The two servo mechanisms are located on the front and rear sides of the lower surface of the low-altitude unmanned aerial vehicle, and the moving tracks of the two servo mechanisms are perpendicular to each other.

[0107] The unmanned aerial vehicle carries an inclination detection sensor.

[0108] S1: Detect the wind speed and direction of the air flow around the unmanned aerial vehicle based on the wind speed and direction sensor, and determine the air flow condition around the unmanned aerial vehicle based on the detected wind speed and direction values.

[0109] S2: The unmanned aerial vehicle vertically takes off under windless (light wind) conditions, or the unmanned aerial vehicle takes off within an inclination range of not greater than 20° (the angle between the bottom plane of the unmanned aerial vehicle and the ground is the inclination), and the inclination of the unmanned aerial vehicle is monitored in real time based on the inclination detection sensor.

[0110] S3: Control the flight power system of the unmanned aerial vehicle based on the detected inclination, wind speed, and wind direction data of the unmanned aerial vehicle, and adjust the power of the flight power system so that the take-off inclination of the unmanned aerial vehicle is not greater than 20°.

[0111] S4: When the take-off inclination of the unmanned aerial vehicle still has a tendency to exceed 20° after the flight power system of the unmanned aerial vehicle is adjusted, drive the counterweights to move based on the servo mechanisms, and redistribute the counterweights of the unmanned aerial vehicle to keep the unmanned aerial vehicle stable during take-off.

[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 unmanned aerial vehicle, thereby making the unmanned aerial vehicle have wind resistance effect.

[0113] Reference Figure 3 , the front, rear, left, and right of the unmanned aerial vehicle are respectively set as A face, B face, C face, and D face. For example, when the B face is the windward face, it is affected by the wind force of the wind direction, and the B face may be blown up (lifted up) or lowered. Therefore, the four rudders of the flight power system of the unmanned aerial vehicle are controlled, and the rotation speed of the four rudders is controlled to make the unmanned aerial vehicle have the tendency to resist the B face being blown up or lowered, so that the unmanned aerial vehicle is stable.

[0114] When the control unmanned aerial vehicle flight power system still cannot overcome the influence of wind on the stability of the unmanned aerial vehicle, the counterweight is moved by the two servo mechanisms, so that the counterweight moves at different positions on the underside of the unmanned aerial vehicle, so that the unmanned aerial vehicle is adjusted in force, thereby overcoming the inclination of the unmanned aerial vehicle caused by the wind.

[0115] Wherein, the angle between the bottom plane of the unmanned aerial vehicle and the ground is the inclination angle.

[0116] The technical scheme provided by the application example measures the influence of external wind through a wind speed and direction sensor, and a distance measuring sensor is arranged to detect the distance of the unmanned aerial vehicle from the ground, so as to determine the specific position where the unmanned aerial vehicle needs to be adjusted to be stable. In the air, the unmanned aerial vehicle can be tilted to a large extent, and when taking off or landing, the unmanned aerial vehicle needs to be stable. The unmanned aerial vehicle flight power system can be preliminarily adjusted, and on this basis, two servo mechanisms are used to move two counterweights to further adjust the stability of the unmanned aerial vehicle, so that the overall stability adjustment effect is better.

[0117] It should be understood that, although each step in the flowchart involved in each of the above-described embodiments is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above-described embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

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

[0119] In one exemplary embodiment, as shown in Figure 4 A low-altitude wind shear environment unmanned aerial vehicle control device 400 can be provided, which can include:

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

[0121] The first control module 402 is configured to control a flight power system of the UAV to perform power adjustment of the UAV according to the air flow data and the first inclination data, and acquire second inclination data of the UAV after the power adjustment.

[0122] The second control module 403 is configured to control a counterweight driving device on the UAV to drive a counterweight on the UAV to move when the second inclination data is greater than a preset inclination threshold, and acquire third inclination data of the UAV after the movement of the counterweight.

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

[0124] In an example embodiment, the second control module 403 is further configured to determine a movement parameter of the counterweight according to the second inclination data, and control the counterweight driving device to drive the counterweight to move according to the movement parameter, so as to adjust a posture of the UAV.

[0125] In an example embodiment, the counterweight driving device includes a first servo mechanism and a second servo mechanism, and the counterweight includes a first counterweight and a second counterweight. The second control module 403 is further configured to control the first servo mechanism to drive the first counterweight to move in a first direction, and control the second servo mechanism to drive the second counterweight to move in a second direction perpendicular to the first direction.

[0126] In an example embodiment, the device 400 further includes a first judgment module configured to judge whether the second inclination data is greater than the preset inclination threshold, and control the UAV to land when the second inclination data is less than or equal to the preset inclination threshold.

[0127] In an example embodiment, the device 400 further includes a second judgment module configured to judge whether the third inclination data is greater than the preset inclination threshold, and jump to the step of controlling the counterweight driving device on the UAV to drive the counterweight on the UAV to move until the third inclination data is less than or equal to the preset inclination threshold when the third inclination data is greater than the preset inclination threshold.

[0128] In an example embodiment, the data acquisition module 401 is further configured to acquire wind speed data and wind direction data around the UAV, and determine the air flow data around the UAV according to the wind speed data and the wind direction data.

[0129] The modules in the unmanned aerial vehicle control device in the low-level wind shear environment can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the modules.

[0130] In an example embodiment, a computer device, which can be a terminal, is provided, and an internal structure diagram of the computer device can be as shown in Figure 5 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 configured 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 running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (Near Field Communication), or other technologies. The computer program is executed by the processor to implement a low-level wind shear environment unmanned aerial vehicle control method. The display unit of the computer device is configured 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. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

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

[0132] In an example embodiment, a computer device is also provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0133] In an exemplary embodiment, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the steps of any of the above method embodiments.

[0134] In an exemplary embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of any of the above method embodiments.

[0135] A person of ordinary skill in the art can understand that all or part of the processes in the above method embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium and can include the processes of the above method embodiments when executed. Any reference to a memory, database, or other medium in the embodiments provided in the present application can include at least one of a non-volatile and volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not as a limitation, the RAM can be in various forms such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0136] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered as within the scope of the present disclosure.

[0137] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent of the present application. It should be noted that, for those of ordinary skill in the art, several modifications 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 should be subject to the appended claims.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV) in a low-altitude wind shear environment, characterized in that, The method includes: Acquire airflow data around the drone and the drone's first tilt angle data; Based on the airflow data and the first tilt angle data, the flight propulsion system of the UAV is controlled to perform power adjustment of the UAV, and the second tilt angle data of the UAV after power adjustment is obtained. When the second tilt angle data is greater than the preset tilt angle threshold, the current tilt direction and tilt degree of the drone are calculated based on the second tilt angle data. The direction and distance that the counterweight on the drone needs to move are determined based on the tilt direction and tilt degree, which are used as the movement parameters of the counterweight. Based on the movement parameters, the counterweight drive device on the drone is controlled to drive the counterweight to move, so as to adjust the attitude of the drone, and the third tilt angle data of the drone after the counterweight moves is obtained. If the third tilt angle data is less than or equal to the preset tilt angle threshold, the drone is controlled to land.

2. The method according to claim 1, characterized in that, The counterweight drive device includes a first servo mechanism and a second servo mechanism; the counterweight includes a first counterweight and a second counterweight. The control of the counterweight drive device on the drone to drive the counterweight to move includes: Control the first servo mechanism to drive the first counterweight to move along the first direction; The second servo mechanism is controlled to drive the second counterweight to move along a second direction perpendicular to the first direction.

3. The method according to claim 1, characterized in that, After acquiring the second tilt angle data of the UAV after power adjustment, the process also includes: Determine whether the second tilt angle data is greater than the preset tilt angle threshold; If the second tilt angle data is less than or equal to the preset tilt angle threshold, the drone is controlled to land.

4. The method according to claim 1, characterized in that, After acquiring the third tilt angle data of the drone after the counterweight has moved, the process also includes: Determine whether the third tilt angle data is greater than the preset tilt angle threshold; If the third tilt angle data is greater than the preset tilt angle threshold, the process jumps to the step of controlling the counterweight driving device on the drone to drive the counterweight on the drone to move, until the third tilt angle data is less than or equal to the preset tilt angle threshold.

5. The method according to any one of claims 1 to 4, characterized in that, The acquisition of airflow data around the drone includes: Acquire wind speed and wind direction data around the drone; Based on the wind speed data and the wind direction data, the airflow data around the drone is determined.

6. A UAV control device for low-altitude wind shear environments, characterized in that, The device includes: The data acquisition module is used to acquire airflow data around the drone and the drone's first tilt angle data; The first control module is used to control the flight power system of the UAV to perform power adjustment of the UAV based on the airflow data and the first tilt angle data, and to obtain the second tilt angle data of the UAV after power adjustment. The second control module is used to calculate the current tilt direction and tilt degree of the drone based on the second tilt angle data when the second tilt angle data is greater than the preset tilt angle threshold, determine the direction and distance that the counterweight on the drone needs to move based on the tilt direction and tilt degree, use the movement parameters of the counterweight as the movement parameters, control the counterweight drive device on the drone to drive the counterweight to move based on the movement parameters, so as to adjust the attitude of the drone, and obtain the third tilt angle data of the drone after the counterweight moves. The third control module is used to control the drone to land when the third tilt angle data is less than or equal to the preset tilt angle threshold.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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